CN106885568A - Unmanned Aerial Vehicle Data treating method and apparatus - Google Patents
Unmanned Aerial Vehicle Data treating method and apparatus Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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Abstract
The invention discloses a kind of Unmanned Aerial Vehicle Data treating method and apparatus, it is related to Data fusion technique field.The method includes：Measure the state of flight of unmanned plane in real time using multiple sensors；The change procedure of the state of flight according to unmanned plane determines state equation；State-transition matrix is obtained according to state equation；According to state-transition matrix, the measured value of multiple sensors is carried out by data fusion using EKF, so that it is determined that the attitude information of unmanned plane.The method and device improve the real-time and precision of UAV Attitude information determination.
Description
Technical field
The present invention relates to Data fusion technique field, more particularly to a kind of Unmanned Aerial Vehicle Data treating method and apparatus.
Background technology
In recent years, unmanned plane is widely used in dual-use every field.For example, carrying out goods using unmanned plane
Dispatching is more more quick than automobile dispatching, and distribution cost is substantially reduced.In order that unmanned plane can smoothly, smoothly complete to appoint
How business, accurately obtain the attitude information of unmanned plane in real time, is unmanned aerial vehicle (UAV) control so as to carry out high-precision control to unmanned plane
The key issue of technology.
At present, the attitude information of unmanned plane is determined more than prior art using gyroscope, but, for gyro apparatus measuring value
Filtering method be all based on average filter or glide filter greatly, the output time delay of this kind of filtering technique is serious, poor real；Separately
Outward, some prior arts add other sensors and the measured value of gyroscope are modified, but, the zero of gyro apparatus measuring value
Point drift still than larger, causes the UAV Attitude precision of information for obtaining low, so as to seriously reduce the control essence of unmanned plane
Degree.
The content of the invention
The inventors found that above-mentioned problems of the prior art, and therefore in described problem at least
One problem proposes a kind of new technical scheme.
It is an object of the present invention to provide a kind of Unmanned Aerial Vehicle Data treatment technology scheme, it is possible to increase UAV Attitude is believed
Cease the real-time and precision for determining.
According to the first aspect of the invention, there is provided a kind of Unmanned Aerial Vehicle Data processing method, including：Using multiple sensors
The state of flight of unmanned plane is measured in real time；The state of flight process of changing with time according to the unmanned plane determines state
Equation；State-transition matrix is obtained according to the state equation；According to the state-transition matrix, using EKF (Extended
Kalman Filter, extended Kalman filter) measured value of the multiple sensor is carried out into data fusion, so that it is determined that
The attitude information of the unmanned plane.
Alternatively, the state of flight for measuring unmanned plane in real time using multiple sensors includes：Using gyroscope and plus
Speedometer measures the angular speed and acceleration of the unmanned plane in real time respectively；Measured in real time residing for the unmanned plane using magnetometer
Geomagnetic field intensity.
Alternatively, the state of flight process of changing with time according to the unmanned plane determines state equation bag
Include：With the angular speed of the unmanned plane, angular acceleration and the acceleration and its residing geomagnetic field intensity as shape
State variable；The state equation is determined according to the state variable process of changing with time.
Alternatively, it is described to be included according to state equation acquisition state-transition matrix：The state equation is entered into line
Propertyization treatment, so as to the implied expression formula comprising the state-transition matrix to be converted into the explicit table of the state-transition matrix
Up to formula, and the state-transition matrix is obtained from the explicit expression.
Alternatively, it is described that the state equation is carried out into linearization process, so as to by comprising the state-transition matrix
Implied expression formula is converted into the explicit expression of the state-transition matrix, and the state is obtained from the explicit expression
Transfer matrix includes：By the state equation the state variable be equal to current time state variable priori estimates at pair
The state variable seeks local derviation, so as to obtain between the state variable at current time and the state variable of subsequent time
The state-transition matrix.
Alternatively, it is described according to the state-transition matrix, using extended Kalman filter EKF by the multiple sensing
The measured value of device carries out data fusion, so that it is determined that the attitude information of the unmanned plane includes：According to the state-transition matrix,
The measured value of the gyroscope, the accelerometer and the magnetometer is carried out by data fusion using EKF, so that it is determined that described
The attitude information of unmanned plane.The measured value of the gyroscope can include：Three axles of the angular speed under body axis system point
Amount.The measured value of the accelerometer can include：Three axle components of the acceleration under the body axis system.The magnetic
The measured value of power meter can include：Three axle components of the geomagnetic field intensity under the body axis system.The attitude information
Can include：The angle of pitch of the unmanned plane, yaw angle and roll angle.
Alternatively, the span of the process noise covariance in the EKF data fusion process can be：Qω∈
[0.00008,0.00012]rad/s、Qa∈ [0.0072,0.0108] μ g and Qm∈
[0.004,0.006] mG, wherein Qω、QaAnd QmRespectively described angular speed, the angular acceleration, the acceleration and institute
State the process noise covariance of geomagnetic field intensity.The span of the measurement noise covariance in EKF data fusion process can be with
For：Rω∈[0.00064,0.00096]rad/s、Ra∈ [8000,12000] μ g and Rm∈ [80,120] mG, wherein Rω、RaAnd Rm
The measurement noise covariance of respectively described angular speed, the acceleration and the geomagnetic field intensity.
According to another aspect of the present invention, there is provided a kind of Unmanned Aerial Vehicle Data processing unit, including：State of flight measurement is single
Unit, for controlling multiple sensors to measure the state of flight of unmanned plane in real time；State-transition matrix determining unit, for according to institute
The state of flight process of changing with time for stating unmanned plane determines state equation, and obtains state according to the state equation
Transfer matrix；Attitude information determining unit, for the measured value of the multiple sensor to be carried out into data fusion using EKF, from
And determine the attitude information of the unmanned plane.
Alternatively, the state of flight measuring unit includes：Tachometric survey subelement, for controlling gyroscope and acceleration
Meter measures the angular speed and acceleration of unmanned plane in real time respectively；Magnetic-field measurement subelement, for controlling magnetometer to measure nothing in real time
Man-machine residing geomagnetic field intensity.
Alternatively, the state-transition matrix determining unit includes：State equation determination subelement, for by it is described nobody
The angular speed of machine, angular acceleration and the acceleration and its residing geomagnetic field intensity are state variable, and according to
The state variable process of changing with time determines the state equation；State-transition matrix determination subelement, for by institute
Stating state equation carries out linearization process, so as to the implied expression formula comprising the state-transition matrix is converted into the state
The explicit expression of transfer matrix, and the state-transition matrix is obtained from the explicit expression.
Alternatively, the state-transition matrix determination subelement, for by the state equation in described state variable etc.
Local derviation is asked to the state variable at the state variable priori estimates at current time, so as to obtain the shape at current time
The state-transition matrix between state variable and the state variable of subsequent time.
Alternatively, the attitude information determining unit, for according to the state-transition matrix, using EKF by the top
The measured value of spiral shell instrument, the accelerometer and the magnetometer carries out data fusion, so that it is determined that the attitude letter of the unmanned plane
Breath.
According to a further aspect of the invention, there is provided a kind of Unmanned Aerial Vehicle Data processing unit, including：Memory and coupling
To the processor of the memory, the processor is configured as the instruction in the memory devices based on storage, performs
Foregoing Unmanned Aerial Vehicle Data processing method.
According to a further aspect of the invention, there is provided a kind of computer-readable recording medium, it is stored thereon with computer journey
Sequence, it is characterised in that the program is when executed by realizing foregoing Unmanned Aerial Vehicle Data processing method.
An advantage of the invention that, the measured value of multiple sensors is carried out at real-time data fusion using EKF
Reason, improves the real-time of UAV Attitude information determination, while being modified to the measured value of gyroscope, reduces zero point drift
Move, so as to improve the precision of UAV Attitude information determination.
Brief description of the drawings
The Description of Drawings embodiments of the invention of a part for specification are constituted, and is used to solve together with the description
Release principle of the invention.
Referring to the drawings, according to following detailed description, the present invention can be more clearly understood from, wherein：
Fig. 1 shows the flow chart of one embodiment of Unmanned Aerial Vehicle Data processing method of the invention.
Fig. 2 shows the flow chart of another embodiment of Unmanned Aerial Vehicle Data processing method of the invention.
Fig. 3 show the flow chart of another embodiment of Unmanned Aerial Vehicle Data processing method of the invention.
Fig. 4 shows the structure chart of one embodiment of Unmanned Aerial Vehicle Data processing unit of the invention.
Fig. 5 shows the structure chart of another embodiment of Unmanned Aerial Vehicle Data processing unit of the invention.
Fig. 6 shows the structure chart of another embodiment of Unmanned Aerial Vehicle Data processing unit of the invention.
Fig. 7 shows the structure chart of the further embodiment of Unmanned Aerial Vehicle Data processing unit of the invention.
Specific embodiment
Describe various exemplary embodiments of the invention in detail now with reference to accompanying drawing.It should be noted that：Unless had in addition
Body illustrates that the part and the positioned opposite of step, numerical expression and numerical value for otherwise illustrating in these embodiments do not limit this
The scope of invention.
Simultaneously, it should be appreciated that for the ease of description, the size of the various pieces shown in accompanying drawing is not according to reality
Proportionate relationship draw.
The description only actually at least one exemplary embodiment is illustrative below, never as to the present invention
And its any limitation applied or use.
May be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing a part for specification.
In all examples shown here and discussion, any occurrence should be construed as merely exemplary, without
It is as limitation.Therefore, the other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it need not be further discussed in subsequent accompanying drawing.
Fig. 1 shows the flow chart of one embodiment of Unmanned Aerial Vehicle Data processing method of the invention.
As shown in figure 1, step 101, the state of flight of unmanned plane is measured using multiple sensors in real time.For example, can be with profit
With inertial sensor, such as gyroscope and accelerometer, the angular speed and acceleration of unmanned plane are measured in real time.
Step 102, the state of flight process of changing with time according to unmanned plane determines state equation.For example, can be with root
According to unmanned plane angular speed and acceleration and the functional relation of time, state equation is determined.
Step 103, state-transition matrix is obtained according to state equation.If for example, state equation is：Wherein,It is the prior estimate of k+1 moment state variables, XkIt is the value of k moment state variables,
Then directly extract HkIt is state-transition matrix；If state equation is：Line then is entered to state equation
Property, state-transition matrix is then extracted again.
Step 104, data fusion is carried out using EKF by the measured value of multiple sensors, determines the attitude information of unmanned plane.
For example, the measured value of multiple sensors can be the three axle components of the angular speed and acceleration of unmanned plane under body axis system,
The estimate of current time state variable can be obtained by EKF, and is translated into attitude information, attitude information can be nothing
The man-machine angle of pitch, yaw angle and roll angle.
In above-described embodiment, real-time Data Fusion, a side are carried out to the measured value of multiple sensors using EKF
Face, it is only necessary to carry out recurrence calculation using the estimate of previous moment, and unlimited number of historical data need not be used, improve nobody
The real-time that machine attitude information determines；On the other hand, other sensors can be modified to the measured value of gyroscope, reduce
The null offset of gyroscope, so as to improve the precision of UAV Attitude information determination.
Fig. 2 shows the flow chart of another embodiment of Unmanned Aerial Vehicle Data processing method of the invention.
As shown in Fig. 2 step 201, measures the angular speed of unmanned plane and adds in real time respectively using gyroscope and accelerometer
Speed.
Step 202, the geomagnetic field intensity residing for unmanned plane is measured using magnetometer in real time.
In one embodiment, the measured value according to gyroscope, accelerometer and magnetometer determines the calculation matrix at k moment
For：Zk=[Ωmk,Amk,Mmk]T, wherein, ΩmkIt is the unmanned plane angular speed that the gyroscope k moment measures, andWherein ωmxk、ωmykAnd ωmxkRespectively k moment unmanned planes angular velocity measurement value exists
Three axle components under body axis system；AmkIt is the unmanned plane acceleration that the accelerometer k moment measures, andWherein amxk、amykAnd amzkRespectively k moment unmanned planes acceleration measurement is in body
Three axle components under coordinate system；MmkIt is the unmanned plane acceleration that the accelerometer k moment measures, andWherein mmxk、mmykAnd mmzkEarth magnetism field intensity respectively residing for k moment unmanned planes
Three axle components of the degree measured value under body axis system.
Step 203, shape is determined according to angular speed, angular acceleration and acceleration and the geomagnetic field intensity process of changing with time
State equation.For example, can be using angular speed, angular acceleration and acceleration and geomagnetic field intensity as state variable, then the shape at k moment
The value of state variable can be expressed as：
Wherein, Ωsk、AskAnd MskRespectively k moment angular speed, angular acceleration and acceleration and geomagnetic field intensity shape
The value of state variable, andWherein ωsxk、ωsykAnd ωsxkRespectively k moment unmanned planes angle
Three axle components of the value of speed state variable under body axis system；WhereinWithRespectively three axles of the value of k moment unmanned planes angular acceleration state variable under body axis system divide
Amount；Wherein asxk、asykAnd aszkThe respectively value of k moment unmanned planes acceleration condition variable
The three axle components under body axis system；Wherein msxk、msykAnd mszkDuring respectively k
Carve the three axle components of the value under body axis system of the geomagnetic field intensity state variable residing for unmanned plane.
By the functional relation of above-mentioned state variable and time, it may be determined that state equation is：
Wherein, Δ t is the renewal time；NΩk、NAkAnd NMkRespectively angular speed, angular acceleration, acceleration and earth magnetism
The corresponding process noise of field intensity, is white Gaussian noise；WkIt is posture changing matrix.
Step 204, state-transition matrix is obtained according to state equation.
In one embodiment, Fig. 3 show another embodiment of Unmanned Aerial Vehicle Data processing method of the invention
Flow chart.
As shown in figure 3, step 304, linearization process is carried out by state equation, so as to by comprising the hidden of state-transition matrix
Formula expression formula is converted into the explicit expression of state-transition matrix, and state-transition matrix is obtained from explicit expression.
For example, by state equation Place is to state variable XkLocal derviation is sought, whereinIt is the state variable priori estimates at current time, so as to obtain the state variable at current time and the state of subsequent time
The state-transition matrix between variable is：
Wherein,WithThe respectively state variable estimate of acceleration and geomagnetic field intensity at the k moment, I is single
Bit vector.
Step 205 (step 305), carries out data and melts using EKF by the measured value of gyroscope, accelerometer and magnetometer
Close, determine the attitude information of unmanned plane.
In one embodiment, the expression formula according to above-mentioned state variable and calculation matrix can determine the measurement of EKF
Equation is：
Wherein, δΩ、δAAnd δMThe respectively measurement noise of gyroscope, accelerometer and magnetometer.In EKF filterings
Can be with the span of the covariance of setting measurement noise：Rω∈[0.00064,0.00096]rad/s、Ra∈[8000,
12000] μ g and Rm∈ [80,120] mG, wherein Rω、RaAnd RmThe measurement of respectively angular speed, acceleration and geomagnetic field intensity is made an uproar
Sound covariance；Process noise NΩk、NAkAnd NMkThe span of covariance can be set as：Qω∈[0.00008,
0.00012]rad/s、Qa∈ [0.0072,0.0108] μ g and Qm∈[0.004,
0.006] mG, wherein Qω、QaAnd QmThe respectively process noise of angular speed, angular acceleration, acceleration and geomagnetic field intensity
Covariance.After being filtered through EKF, estimate X of the state variable at the k moment can be obtainedk, so that it is determined that the attitude letter of unmanned plane
Breath.Attitude information can be the current angle of pitch of unmanned plane, roll angle and yaw angle or other can characterize UAV Attitude
Physical quantity.
In above-described embodiment, the state of flight of unmanned plane is linearized, obtained state-transition matrix, and will by EKF
The measured value of gyroscope, accelerometer and magnetometer carries out data fusion, can thus utilize accelerometer and magnetometer pair
The measured value of gyroscope is modified, and reduces the null offset of gyroscope, improves bias instaility, and then obtain high accuracy
UAV Attitude information, for unmanned aerial vehicle (UAV) control provides reliable Informational support.
Fig. 4 shows the structure chart of one embodiment of Unmanned Aerial Vehicle Data processing unit of the invention.
As shown in figure 4, the device includes：State of flight measuring unit 41, state-transition matrix determining unit 42 and attitude
Information determination unit 43.
State of flight measuring unit 41 controls multiple sensors to measure the state of flight of unmanned plane in real time.For example, can adopt
With inertial sensor, such as gyroscope and accelerometer, the state of flights such as the angular speed and acceleration of unmanned plane are measured.
In one embodiment, Fig. 5 shows another embodiment of Unmanned Aerial Vehicle Data processing unit of the invention
Structure chart.
As shown in figure 5, state of flight measuring unit 51 includes：Tachometric survey subelement 511 and magnetic-field measurement subelement
512.For example, the angular speed and acceleration of the control gyroscope of tachometric survey subelement 511 and accelerometer measures unmanned plane, magnetic field
The measurement control magnetometer measures geomagnetic field intensity of subelement 512.Such that it is able to obtain each sensor to unmanned plane during flying state
The real-time measurement values at a certain moment, in this, as the basis of the moment state variable estimate.
State-transition matrix determining unit 42 determines state side according to the state of flight process of changing with time of unmanned plane
Journey, and state-transition matrix is obtained according to state equation.For example, the functional relation of speed according to unmanned plane and time, can be with
The transformational relation between the value of current time state variable and the value of subsequent time state variable is determined, so that it is determined that state side
Journey.
The measured value of multiple sensors is carried out data fusion by attitude information determining unit 43 using EKF, so that it is determined that nothing
Man-machine attitude information.For example, with the real-time measurement values composition measurement value matrix of gyroscope, accelerometer and magnetometer, with angle
Speed, angular acceleration, acceleration and geomagnetic field intensity composition state variable matrix, and according to calculation matrix and state variable matrix
Between relation determine measurement equation.With reference to above-mentioned state equation and state-transition matrix, the reality of state variable is determined by EKF
When estimate, and be further converted into the attitude information of unmanned plane.
In above-described embodiment, the present invention is entered using EKF by attitude information determining unit to the measured value of multiple sensors
The real-time Data Fusion of row, on the one hand, only need to pass the estimate at current time using the estimate of previous moment
Calculating is pushed away, and unlimited number of historical data need not be used, improve the real-time of UAV Attitude information determination；On the other hand,
Other sensors can be modified to the measured value of gyroscope, reduce the null offset of gyroscope, so as to improve nobody
The precision that machine attitude information determines.
Fig. 6 shows the structure chart of another embodiment of Unmanned Aerial Vehicle Data processing unit of the invention.
As shown in fig. 6, the device includes：State of flight measuring unit 51, state-transition matrix determining unit 62 and attitude
Information determination unit 43.Wherein, state of flight measuring unit 51 includes：Tachometric survey subelement 511 and magnetic-field measurement subelement
512；State-transition matrix determining unit 62 includes：State equation determination subelement 621 and state-transition matrix determination subelement
622.Wherein, the function of state of flight measuring unit 51 and attitude information determining unit 43 is referred to the correspondence of above-described embodiment
Description, no longer describes herein for brevity.
State equation determination subelement 621 is by the angular speed of unmanned plane, angular acceleration and acceleration and its residing earth magnetism
Field intensity is state variable, and determines the state equation according to the change procedure of state variable.For example, with unmanned plane angle speed
Degree, angular acceleration, acceleration and geomagnetic field intensity are state variable, speed, residing geomagnetic field intensity according to unmanned plane and when
Between functional relation, it may be determined that conversion between the value of current time state variable and the value of subsequent time state variable is closed
System, so that it is determined that state equation.
State equation is carried out linearization process by state-transition matrix determination subelement 622, so as to will be shifted comprising state
The implied expression formula of matrix is converted into the explicit expression of state-transition matrix, and state transfer square is obtained from explicit expression
Battle array.
In one embodiment, in state variable be equal to state equation current by state-transition matrix determination subelement 622
Local derviation is asked to state variable at the state variable priori estimates at moment, so as to obtain the state variable at current time and lower a period of time
State-transition matrix between the state variable at quarter.
For example, state equation determination subelement 621 according to obtain UAV Attitude information the need for state variable is determined
Afterwards, changed with time process generation state equation according to state variable, and it is true that the equation is transferred into state-transition matrix
Stator unit 622；Then, state-transition matrix determination subelement 622 according to attitude information determining unit 43 in EKF filterings
In last moment for obtaining linearization process is carried out to state equation to the priori estimates of current time state variable so that
To state-transition matrix, and by the Transfer-matrix to attitude information determining unit 43；Finally, attitude information determining unit 43
Multiple biographies that the state-transition matrix and state of flight measuring unit 51 provided according to state-transition matrix determination subelement 622 are provided
The real-time measurement values of sensor carry out EKF data fusions, so as to obtain the attitude information of unmanned plane.
In above-described embodiment, device of the invention linearizes the state of flight of unmanned plane, has obtained state-transition matrix,
And the measured value of gyroscope, accelerometer and magnetometer is carried out by data fusion by EKF, can thus utilize accelerometer
The measured value of gyroscope is modified with magnetometer, reduces the null offset of gyroscope, improve bias instaility, and then
High-precision UAV Attitude information is obtained, for unmanned aerial vehicle (UAV) control provides reliable Informational support.
Fig. 7 shows the structure chart of the further embodiment of Unmanned Aerial Vehicle Data processing unit of the invention.
As shown in fig. 7, the device 70 of the embodiment includes：Memory 701 and it is coupled to the processor of the memory 701
702, processor 702 is configured as the instruction in memory 701 based on storage, in the execution present invention in any one embodiment
Unmanned Aerial Vehicle Data processing method.
Wherein, memory 701 for example can be including system storage, fixed non-volatile memory medium etc..System is stored
Device is for example stored with operating system, application program, Boot loader (Boot Loader), database and other programs etc..
Those skilled in the art should be understood that embodiments of the invention can be provided as method, system or computer journey
Sequence product.Therefore, in terms of the present invention can be using complete hardware embodiment, complete software embodiment or combination software and hardware
The form of embodiment.And, the present invention can be used and wherein include the calculating of computer usable program code at one or more
Machine can use the meter implemented on non-transient storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of calculation machine program product.
So far, Unmanned Aerial Vehicle Data treating method and apparatus of the invention are described in detail.In order to avoid masking
Design of the invention, without description some details known in the field.Those skilled in the art as described above, completely
It can be appreciated how implementing technical scheme disclosed herein.
The method of the present invention and system may be achieved in many ways.For example, can by software, hardware, firmware or
Software, hardware, any combinations of firmware realize the method for the present invention and system.The said sequence of the step of for methods described
Order described in detail above is not limited to merely to illustrate, the step of the method for the present invention, it is special unless otherwise
Do not mentionlet alone bright.Additionally, in certain embodiments, also the present invention can be embodied as recording program in the recording medium, these programs
Including the machine readable instructions for realizing the method according to the invention.Thus, the present invention also covering storage is for performing basis
The recording medium of the program of the method for the present invention.
It should be noted that the computer-readable medium shown in the present invention can be computer-readable signal media or meter
Calculation machine readable storage medium storing program for executing or the two are combined.Computer-readable recording medium for example can be --- but not
Be limited to --- the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or device, or it is any more than combination.Meter
The more specifically example of calculation machine readable storage medium storing program for executing can be included but is not limited to：Electrical connection with one or more wires, just
Take formula computer disk, hard disk, random access storage device (RAM), read-only storage (ROM), erasable type and may be programmed read-only storage
Device (EPROM or flash memory), optical fiber, portable compact disc read-only storage (CD-ROM), light storage device, magnetic memory device,
Or above-mentioned any appropriate combination.In this application, computer-readable recording medium can be it is any comprising or storage journey
The tangible medium of sequence, the program can be commanded execution system, device or device and use or in connection.And at this
In application, computer-readable signal media can include the data-signal propagated in a base band or as a carrier wave part,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but not limit
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Read any computer-readable medium beyond storage medium, the computer-readable medium can send, propagates or transmit to be used for
Used by instruction execution system, device or device or program in connection.Included on computer-readable medium
Program code can be transmitted with any appropriate medium, including but not limited to：Wirelessly, electric wire, optical cable, RF etc., or it is above-mentioned
Any appropriate combination.
Although being described in detail to some specific embodiments of the invention by example, the skill of this area
Art personnel it should be understood that above example is merely to illustrate, rather than in order to limit the scope of the present invention.The skill of this area
Art personnel to above example it should be understood that can modify without departing from the scope and spirit of the present invention.This hair
Bright scope is defined by the following claims.
Claims (14)
1. a kind of Unmanned Aerial Vehicle Data processing method, including：
Measure the state of flight of unmanned plane in real time using multiple sensors；
The state of flight process of changing with time according to the unmanned plane determines state equation；
State-transition matrix is obtained according to the state equation；
According to the state-transition matrix, the measured value of the multiple sensor is carried out using extended Kalman filter EKF
Data fusion, so that it is determined that the attitude information of the unmanned plane.
2. method according to claim 1, wherein, the state of flight for measuring unmanned plane in real time using multiple sensors
Including：
Measure the angular speed and acceleration of the unmanned plane in real time respectively using gyroscope and accelerometer；
Measure the geomagnetic field intensity residing for the unmanned plane in real time using magnetometer.
3. method according to claim 2, wherein, the state of flight according to the unmanned plane with the time change
Change process determines that state equation includes：
With the angular speed of the unmanned plane, angular acceleration and the acceleration and its residing geomagnetic field intensity as shape
State variable；
The state equation is determined according to the state variable process of changing with time.
4. method according to claim 3, wherein, it is described state-transition matrix is obtained according to the state equation to include：
The state equation is carried out into linearization process, so as to the implied expression formula comprising the state-transition matrix be converted into
The explicit expression of the state-transition matrix, and the state-transition matrix is obtained from the explicit expression.
5. method according to claim 4, wherein, it is described that the state equation is carried out into linearization process, so that will bag
Implied expression formula containing the state-transition matrix is converted into the explicit expression of the state-transition matrix, and from described explicit
The state-transition matrix is obtained in expression formula to be included：
The state equation is equal at the state variable priori estimates at current time to the state in the state variable
Variable seeks local derviation, so as to obtain the shape between the state variable at current time and the state variable of subsequent time
State transfer matrix.
6. method according to claim 5, wherein, it is described according to the state-transition matrix, filtered using spreading kalman
The measured value of the multiple sensor is carried out data fusion by ripple device EKF, so that it is determined that the attitude information of the unmanned plane includes：
According to the state-transition matrix, using EKF by the measured value of the gyroscope, the accelerometer and the magnetometer
Data fusion is carried out, so that it is determined that the attitude information of the unmanned plane；
The measured value of the gyroscope includes：Three axle components of the angular speed under body axis system；
The measured value of the accelerometer includes：Three axle components of the acceleration under the body axis system；
The measured value of the magnetometer includes：Three axle components of the geomagnetic field intensity under the body axis system；
The attitude information includes：The angle of pitch of the unmanned plane, yaw angle and roll angle.
7. method according to claim 6, wherein：
The span of the process noise covariance in the EKF data fusion process is：Qω∈[0.00008,0.00012]
rad/s、Qa∈ [0.0072,0.0108] μ g and Qm∈ [0.004,0.006] mG its
Middle Qω、QaAnd QmThe process of respectively described angular speed, the angular acceleration, the acceleration and the geomagnetic field intensity
Noise covariance；
The span of the measurement noise covariance in EKF data fusion process is：Rω∈[0.00064,0.00096]rad/s、
Ra∈ [8000,12000] μ g and Rm∈ [80,120] mG, wherein Rω、RaAnd RmRespectively described angular speed, the acceleration and
The measurement noise covariance of the geomagnetic field intensity.
8. a kind of Unmanned Aerial Vehicle Data processing unit, including：
State of flight measuring unit, for controlling multiple sensors to measure the state of flight of unmanned plane in real time；
State-transition matrix determining unit, for according to the state of flight of the unmanned plane change with time process determine
State equation, and state-transition matrix is obtained according to the state equation；
Attitude information determining unit, for the measured value of the multiple sensor to be carried out into data fusion using EKF, so that it is determined that
The attitude information of the unmanned plane.
9. device according to claim 8, wherein, the state of flight measuring unit includes：
Tachometric survey subelement, for controlling the angular speed of measurement unmanned plane and the acceleration in real time respectively of gyroscope and accelerometer
Degree；
Magnetic-field measurement subelement, for controlling magnetometer to measure the geomagnetic field intensity residing for unmanned plane in real time.
10. device according to claim 9, wherein, the state-transition matrix determining unit includes：
State equation determination subelement, for by the angular speed of the unmanned plane, angular acceleration and the acceleration and its
The residing geomagnetic field intensity is state variable, and determines the state according to the state variable process of changing with time
Equation；
State-transition matrix determination subelement, for the state equation to be carried out into linearization process, so that will be comprising the shape
The implied expression formula of state transfer matrix is converted into the explicit expression of the state-transition matrix, and from the explicit expression
Obtain the state-transition matrix.
11. devices according to claim 10, wherein,
The state-transition matrix determination subelement, for the state equation to be equal into current time in the state variable
Local derviation is asked to the state variable at state variable priori estimates, thus obtain the state variable at current time with it is next
The state-transition matrix between the state variable at moment.
12. devices according to claim 11, wherein,
The attitude information determining unit, for according to the state-transition matrix, using EKF by the gyroscope, it is described plus
The measured value of speedometer and the magnetometer carries out data fusion, so that it is determined that the attitude information of the unmanned plane.
A kind of 13. Unmanned Aerial Vehicle Data processing units, it is characterised in that including：
Memory；And
The processor of the memory is coupled to, the processor is configured as the finger in the memory devices based on storage
Order, performs the Unmanned Aerial Vehicle Data processing method as any one of claim 1-7.
A kind of 14. computer-readable recording mediums, are stored thereon with computer program, it is characterised in that the program is by processor
The Unmanned Aerial Vehicle Data processing method as any one of claim 1-7 is realized during execution.
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