CN113188541A - Method and device for acquiring airspeed of unmanned aerial vehicle, storage medium and processor - Google Patents
Method and device for acquiring airspeed of unmanned aerial vehicle, storage medium and processor Download PDFInfo
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- CN113188541A CN113188541A CN202010037647.7A CN202010037647A CN113188541A CN 113188541 A CN113188541 A CN 113188541A CN 202010037647 A CN202010037647 A CN 202010037647A CN 113188541 A CN113188541 A CN 113188541A
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01C21/165—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 combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
- G01P5/14—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring differences of pressure in the fluid
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Abstract
The application discloses a method, a device, a storage medium and a processor for acquiring airspeed of an unmanned aerial vehicle. Wherein, the method comprises the following steps: acquiring the resistance borne by the body of the unmanned aerial vehicle in the flight process based on inertial navigation data; and inquiring in a relation function based on the resistance to obtain the airspeed of the unmanned aerial vehicle, wherein the relation function represents the incidence relation between different resistances and corresponding airspeeds. This application has been solved because airspeed meter breaks down or does not install the airspeed meter in the unmanned aerial vehicle, causes the technical problem that can't acquire unmanned aerial vehicle's airspeed.
Description
Technical Field
The application relates to the field of airspeed measurement of unmanned aerial vehicles, in particular to a method, a device, a storage medium and a processor for acquiring airspeed of an unmanned aerial vehicle.
Background
In the field of airspeed measurement of unmanned aerial vehicles, the existing method for measuring airspeed generally measures by an airspeed meter, i.e., an airspeed sensor. However, the airspeed sensor cannot measure airspeed after being damaged, and is high in noise and low in precision. In addition, in the prior art, in order to reduce the dead weight of the unmanned aerial vehicle, an airspeed meter is not installed in some unmanned aerial vehicles, and in this case, it is difficult to obtain an accurate airspeed.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the application provides a method, a device, a storage medium and a processor for acquiring the airspeed of an unmanned aerial vehicle, so that the technical problem that the airspeed of the unmanned aerial vehicle cannot be acquired due to the fact that the airspeed meter in the unmanned aerial vehicle breaks down or the airspeed meter is not installed in the unmanned aerial vehicle is solved at least.
According to an aspect of the embodiments of the present application, there is provided a method for acquiring an airspeed of an unmanned aerial vehicle, including: acquiring the resistance borne by the body of the unmanned aerial vehicle in the flight process based on inertial navigation data; the airspeed of the drone is determined based on the resistance and a relationship function, wherein the relationship function characterizes an association between different resistances and corresponding airspeeds.
Optionally, obtaining, based on the inertial navigation data, a resistance borne by the body of the unmanned aerial vehicle during the flight process includes: measuring the acceleration of the unmanned aerial vehicle in an inertial reference system through an accelerometer; obtaining inertial navigation data based on the measured acceleration, wherein the inertial navigation data is as follows: air resistance, the resistance that unmanned aerial vehicle fuselage received in flight promptly.
Optionally, before querying in the relation function based on the resistance to obtain the airspeed of the drone, the method further comprises: acquiring an initial airspeed of the unmanned aerial vehicle and resistance borne by a fuselage, wherein the initial airspeed is a pre-acquired airspeed value; and acquiring a relation function based on the initial airspeed and the resistance borne by the airframe.
Optionally, the relationship function is characterized by the following formula: v. of2K1 × T, where k1 is 2/ρ, ρ is the air density, ρ is 2T/V2, and V isFirst stageRepresenting the initial airspeed and T representing the resistance experienced by the fuselage.
Optionally, before obtaining the initial airspeed of the drone and the resistance experienced by the fuselage, the method further comprises: prestore initial airspeed in unmanned aerial vehicle, wherein, initial airspeed is that unmanned aerial vehicle detects through the airspeed meter in the test procedure before dispatching from the factory and obtains.
Optionally, before obtaining the initial airspeed of the drone and the resistance experienced by the fuselage, the method further comprises: in the process of initializing the unmanned aerial vehicle, if the unmanned aerial vehicle is provided with an airspeed meter, controlling the airspeed meter to work, taking the current detection result of the airspeed meter as the initial airspeed, and controlling the airspeed meter to stop working; if the unmanned aerial vehicle does not install the airspeed meter, then read the initial airspeed that prestores in the unmanned aerial vehicle.
Optionally, if an airspeed meter installed in the drone is detected to be faulty, an initial airspeed pre-stored in the drone is read.
Optionally, if the flight speed of the unmanned aerial vehicle is within the preset range, the relationship function is obtained by performing approximate fitting using a unitary equation of degree n, where the relationship function is characterized by the following formula: v ═ f (t) ═ an*Tn+an-1*Tn-1+…+a1*T+a0Wherein a is0、a1……an-1The fitting parameters of the unmanned aerial vehicle at different airspeeds in a preset time period are shown, and T is the resistance borne by the body of the unmanned aerial vehicle at different airspeeds.
Optionally, the above relation function is a pre-stored correlation between different air resistances of the unmanned aerial vehicle and corresponding airspeeds.
Optionally, after obtaining the airspeed of the drone, the method further comprises: based on unmanned aerial vehicle's airspeed and groundspeed, confirm the wind speed of the current environment of unmanned aerial vehicle, wherein, if unmanned aerial vehicle receives at present is the non-crosswind, and the wind speed exceeds the threshold value, and airspeed through the functional relationship calculation has the error, then measures through the airspeed meter of the installation in the unmanned aerial vehicle and obtains new airspeed.
Optionally, if the drone has no or a fault with an installed airspeed meter, the remote request gets a new airspeed, where the new airspeed is a previously tested airspeed value.
Optionally, a first airspeed is calculated based on the above-mentioned relation function, a second airspeed is calculated through an airspeed meter, the first airspeed and the second airspeed are compared, and whether the airspeed meter fails or not is judged according to a comparison result.
According to an optional embodiment of the present application, a method for obtaining an airspeed of an unmanned aerial vehicle is provided, which includes: acquiring the resistance borne by the body of the unmanned aerial vehicle in the flight process based on inertial navigation data; inquiring in a relation function based on the resistance to obtain the airspeed of the unmanned aerial vehicle, wherein the relation function is obtained by using a unitary n-th order equation to perform approximate fitting, and the relation function is represented by the following formula: v ═ f (t) ═ an*Tn+an-1*Tn-1+…+a1*T+a0Wherein a is0、a1……an-1The fitting parameters of the unmanned aerial vehicle at different airspeeds in a preset time period are shown, and T is the resistance borne by the body of the unmanned aerial vehicle at different airspeeds.
According to an optional embodiment of the present application, a method for obtaining an airspeed of an unmanned aerial vehicle is provided, which includes: acquiring the resistance borne by the body of the unmanned aerial vehicle in the flight process based on inertial navigation data; and inquiring in a relation function based on the resistance to obtain the airspeed of the unmanned aerial vehicle, wherein the relation function is the pre-stored incidence relation between different air resistances of the unmanned aerial vehicle and the corresponding airspeed.
According to the optional embodiment of this application, provide a device of obtaining unmanned aerial vehicle's airspeed, its characterized in that includes: the acquisition module is used for acquiring the resistance borne by the body of the unmanned aerial vehicle in the flight process based on the inertial navigation data; and the query module is used for querying in the relation function based on the resistance to obtain the airspeed of the unmanned aerial vehicle, wherein the relation function represents the incidence relation between different resistances and corresponding airspeeds.
According to an alternative embodiment of the present application, there is provided a storage medium, where the storage medium includes a stored program, and where the program is executed to control a device on which the storage medium is located to perform the method for acquiring the airspeed of the drone of any one of claims 1 to 11.
In accordance with an alternative embodiment of the present application, there is provided a processor, wherein the processor is configured to execute a program stored in a memory, wherein the program when executed performs the method of obtaining the airspeed of a drone of any one of claims 1 to 16.
In the embodiment of the application, the resistance borne by the body of the unmanned aerial vehicle in the flight process is obtained; inquire in the relation function based on the resistance, obtain unmanned aerial vehicle's airspeed to realized when unmanned aerial vehicle breaks down, unable technological effect that obtains the airspeed, and then solved because airspeed meter breaks down the scheduling problem, cause the technical problem that can't acquire unmanned aerial vehicle's airspeed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flow chart of a method for obtaining an airspeed of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a schematic flow chart illustrating an alternative method for obtaining the airspeed of an unmanned aerial vehicle according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart of an alternative method for obtaining the airspeed of an unmanned aerial vehicle according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an alternative apparatus for acquiring an airspeed of an unmanned aerial vehicle according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For a better understanding of the embodiments of the present application, the related terms referred to in the embodiments of the present application are explained below:
inertial navigation technology (INS, inertial navigation for short): the autonomous navigation system does not depend on external information and radiates energy to the outside. The working environment of the device not only comprises the air and the ground, but also can be underwater. The basic working principle of inertial navigation is based on Newton's law of mechanics, and by measuring the acceleration of a carrier in an inertial reference system, integrating the acceleration with time and transforming the acceleration into a navigation coordinate system, information such as speed, yaw angle and position in the navigation coordinate system can be obtained.
In accordance with an embodiment of the present application, there is provided an embodiment of a method for acquiring airspeed of a drone, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system, such as a set of computer-executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a method for acquiring an airspeed of an unmanned aerial vehicle according to an embodiment of the present application, and as shown in fig. 1, the method includes the following steps:
and S102, acquiring the resistance borne by the body of the unmanned aerial vehicle in the flight process based on the inertial navigation data.
In the optional embodiment of this application, when obtaining the resistance data power that unmanned aerial vehicle fuselage bore in flight process based on inertial navigation data, can carry out following operation process: the acceleration of the unmanned aerial vehicle in an inertial reference system is measured through an accelerometer, and inertial navigation data are obtained according to the acceleration measured in a preset time period, wherein the inertial navigation data are as follows: air resistance, the resistance that unmanned aerial vehicle fuselage received in flight promptly.
Specifically, inertial navigation data is obtained based on an inertial navigation technology (INS, inertial navigation for short), which is an autonomous navigation system that does not depend on external information and does not radiate energy to the outside. The working environment of the device not only comprises the air and the ground, but also can be underwater. The basic working principle of inertial navigation is based on Newton's law of mechanics, and by measuring the acceleration of a carrier in an inertial reference system, integrating the acceleration with time and transforming the acceleration into a navigation coordinate system, information such as speed, yaw angle and position in the navigation coordinate system can be obtained.
And step S104, determining the airspeed of the unmanned aerial vehicle based on the resistance and a relation function, wherein the relation function represents the incidence relation between different resistances and corresponding airspeeds.
Specifically, the above relationship function can be characterized by the following formula: v. of2K 1T, where k1 is 2/ρ, ρ is the air density, and ρ is 2T/VFirst stage 2，VFirst stageRepresenting the initial airspeed and T representing the resistance experienced by the fuselage.
In the embodiment of the application, before the resistance is queried in the relation function and the airspeed of the unmanned aerial vehicle is obtained, the method can further be performed through the following steps: obtain unmanned aerial vehicle's initial airspeed and the resistance that the fuselage bore to based on initial airspeed VFirst stageAnd the resistance T born by the fuselage, and obtaining a relation function. Wherein, the initial airspeed is a preset airspeed value.
There are many factors that affect the amount of resistance that the fuselage bears, such as the shape of the drone, the flight speed of the drone, and the flight environment of the drone. Specifically, the shape of the drone may be regular or irregular. When the shape of the unmanned aerial vehicle is a regular streamline shape, the resistance applied during flying is small; when unmanned aerial vehicle is polygon or irregular shape, the resistance that receives during the flight is big.
In an optional embodiment of the present application, before obtaining the initial airspeed of the drone and the resistance borne by the fuselage, the above method may further perform the following operations: prestore initial airspeed in unmanned aerial vehicle, wherein, initial airspeed can be that unmanned aerial vehicle passes through the airspeed meter detection and obtains before dispatching from the factory in the test procedure.
When the unmanned aerial vehicle is officially used after leaving the factory, the airspeed is measured by an airspeed meter and stored as the standby initial airspeed; and an empirical value of the initial airspeed may be obtained through a third party platform, which may be a browser such as hundredths, ***, etc.
In an optional embodiment of the present application, before obtaining the initial airspeed of the drone and the resistance borne by the fuselage, the above method may further perform the following operations: in the process of initializing the unmanned aerial vehicle, if the unmanned aerial vehicle is provided with an airspeed meter, controlling the airspeed meter to work, taking the current detection result of the airspeed meter as an initial airspeed, storing the measured initial airspeed in a storage unit of the unmanned aerial vehicle, and controlling the airspeed meter to stop working; if the unmanned aerial vehicle does not install the airspeed meter, then read the initial airspeed that prestores in the unmanned aerial vehicle.
Specifically, when an airspeed meter exists, if an airspeed meter installed in the unmanned aerial vehicle is detected to be in fault, an initial airspeed pre-stored in the unmanned aerial vehicle can be read; if because the very big electric quantity of operating condition consumption always at unmanned aerial vehicle flight hourly space velocity meter, can use the initial airspeed that prestores before, perhaps also can only let airspeed meter operation use once detect an initial airspeed when unmanned aerial vehicle begins to fly to with this initial airspeed storage in memory cell, make airspeed meter stop work afterwards. It should be noted here that the airspeed measured in real time using an airspeed meter is the most accurate value, since the airspeed is affected by many factors.
In an optional embodiment of the present application, if the flight speed of the unmanned aerial vehicle is within a preset range, the relationship function is obtained by performing approximate fitting using a unitary equation of order n, where the relationship function is represented by the following formula: v ═ f (t) ═ an*Tn+an-1*Tn-1+…+a1*T+a0Wherein a is0、a1……an-1The fitting parameters of the unmanned aerial vehicle at different airspeeds in a preset time period are shown, and T is the resistance borne by the body of the unmanned aerial vehicle at different airspeeds. Wherein, the preset range of the flying speed can be 0-20 m/s.
In an optional embodiment of the present application, the above relationship function is a pre-stored relationship between different air resistances of the unmanned aerial vehicle and corresponding airspeeds. After obtaining the airspeed of the drone, the method may further perform the following operations: based on the airspeed and the ground speed of unmanned aerial vehicle, determine the wind speed of the environment in which unmanned aerial vehicle is currently located, wherein, if unmanned aerial vehicle receives at present non-crosswind, and the wind speed exceeds the threshold value, then measure through the airspeed meter of installation in the unmanned aerial vehicle and obtain new airspeed. It should be noted here that the logistic function formula used for obtaining the airspeed or the method of approximate fitting by using the unary N-th order equation are only applicable to the case of horizontal wind and not applicable to the case of non-horizontal wind.
The non-crosswind condition is that the wind speed exceeds a threshold value, specifically, the wind speed is too high, and the wind speed direction is not fixed. Optionally, if the drone has no or a fault with an installed airspeed meter, the remote request gets a new airspeed, where the new airspeed is a previously tested airspeed value.
In some embodiments of this application, can calculate first airspeed based on above-mentioned relation function, calculate the second airspeed through the airspeed meter, compare first airspeed and second airspeed, judge whether the airspeed meter is broken down according to the comparison result.
Specifically, the method for judging whether the airspeed meter has a fault according to the comparison result comprises the following steps: setting an error range, and judging that the airspeed is in a normal working state when the absolute value of the difference value of the first airspeed and the second airspeed is within the error range; and when the absolute value of the difference value between the first airspeed and the second airspeed exceeds a set error range, judging that the airspeed is in a fault state. For example: setting the error range to be 0-3m/s, if the calculated first airspeed is 13m/s, the second airspeed measured by the airspeed meter is 15m/s, the absolute value of the difference between the first airspeed and the second airspeed is 2m/s, and the airspeed meter is in a normal working state at the moment because the absolute value of the difference is within the error range; if the calculated first airspeed is 13m/s, the second airspeed measured by the airspeed meter is 17m/s, and the absolute value of the difference between the first airspeed and the second airspeed is 4m/s, the airspeed meter is in a fault state at the moment because the absolute value of the difference exceeds the error range.
Through the steps, the technical effect that the airspeed cannot be obtained due to the fact that no airspeed timer is installed in the unmanned aerial vehicle or the unmanned aerial vehicle fails is achieved, and therefore the technical problem that the airspeed of the unmanned aerial vehicle cannot be obtained due to the fact that the airspeed timer fails and the like is solved.
Fig. 2 is a method for acquiring an airspeed of an unmanned aerial vehicle according to an embodiment of the present application, and as shown in fig. 2, the method includes the following steps:
and S202, acquiring the resistance borne by the body of the unmanned aerial vehicle in the flight process based on the inertial navigation data.
In the optional embodiment of this application, when obtaining the resistance data power that unmanned aerial vehicle fuselage bore in flight process based on inertial navigation data, can carry out following operation process: the acceleration of the unmanned aerial vehicle in the inertial reference system is measured through the accelerometer, and the inertial navigation data are obtained according to the acceleration measured in the preset time period, wherein the inertial navigation data T at least comprise: air resistance f1 and wind resistance f 2. According to the wind resistance and the air resistance, the resistance born by the unmanned aerial vehicle body in the flying process can be calculated.
Specifically, the inertial navigation data is obtained based on an inertial navigation technology (INS, inertial navigation for short): the autonomous navigation system does not depend on external information and radiates energy to the outside. The working environment of the device not only comprises the air and the ground, but also can be underwater. The basic working principle of inertial navigation is based on Newton's law of mechanics, and by measuring the acceleration of a carrier in an inertial reference system, integrating the acceleration with time and transforming the acceleration into a navigation coordinate system, information such as speed, yaw angle and position in the navigation coordinate system can be obtained.
Step S204, inquiring in a relation function based on the resistance to obtain the airspeed of the unmanned aerial vehicle, wherein the relation function is obtained by using a unitary n-th order equation to perform approximate fitting, and the relation function is represented by the following formula: v ═ f (t) ═ an*Tn+an-1*Tn-1+…+a1*T+a0Wherein a is0、a1……an-1The fitting parameters of the unmanned aerial vehicle at different airspeeds in a preset time period are shown, and T is the resistance borne by the body of the unmanned aerial vehicle at different airspeeds.
The preferred embodiment of this embodiment can refer to the description related to the embodiment of fig. 1, and is not described herein again.
Fig. 3 is a method for acquiring an airspeed of an unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 2, the method includes the following steps:
and S302, acquiring the resistance borne by the body of the unmanned aerial vehicle in the flight process based on the inertial navigation data.
In the optional embodiment of this application, when obtaining the resistance data power that unmanned aerial vehicle fuselage bore in flight process based on inertial navigation data, can carry out following operation process: and measuring the acceleration of the unmanned aerial vehicle in an inertial reference system through an accelerometer, and obtaining inertial navigation data according to the measured acceleration in a preset time period.
And S304, inquiring in a relation function based on the resistance to obtain the airspeed of the unmanned aerial vehicle, wherein the relation function is the pre-stored incidence relation between different resistances of the unmanned aerial vehicle and the corresponding airspeed.
It should be noted here that the airspeed value obtained by using the above-mentioned relation function is only a reference value, and may have a large error from the actual airspeed value.
The preferred embodiment of this embodiment can refer to the description related to the embodiment of fig. 1 and fig. 2, and will not be described herein again.
Fig. 4 is a device for acquiring the airspeed of a drone according to an embodiment of the present application, and as shown in fig. 4, the method includes the following modules:
and the obtaining module 40 is used for obtaining the resistance borne by the body of the unmanned aerial vehicle in the flight process based on the inertial navigation data.
In the optional embodiment of this application, when obtaining the resistance data power that unmanned aerial vehicle fuselage bore in flight process based on inertial navigation data, can carry out following operation process: and measuring the acceleration of the unmanned aerial vehicle in an inertial reference system through an accelerometer, and obtaining inertial navigation data according to the measured acceleration in a preset time period.
And the query module 42 is configured to query in a relation function based on the resistance to obtain an airspeed of the unmanned aerial vehicle, where the relation function represents an association relationship between different air resistances and corresponding airspeeds.
It should be noted here that the airspeed value obtained by using the above-mentioned relation function is only a reference value, and may have a large error from the actual airspeed value.
The preferred embodiment of this embodiment can refer to the description related to the embodiment of fig. 1 and fig. 2, and will not be described herein again.
According to an alternative embodiment of the present application, a storage medium is provided, which includes a stored program, where the method for acquiring the airspeed of the drone, executed by a device where the storage medium is located, is controlled when the program runs. For example, the following programs may be stored: acquiring the resistance borne by the body of the unmanned aerial vehicle in the flight process based on inertial navigation data; and inquiring in a relation function based on the resistance to obtain the airspeed of the unmanned aerial vehicle, wherein the relation function represents the incidence relation between different resistances and corresponding airspeeds.
According to an alternative embodiment of the present application, there is provided a processor for executing a program stored in a memory, wherein the method of obtaining the airspeed of a drone is performed while the program is running. For example, the following programs may be stored: acquiring the resistance borne by the body of the unmanned aerial vehicle in the flight process based on inertial navigation data; and inquiring in a relation function based on the resistance to obtain the airspeed of the unmanned aerial vehicle, wherein the relation function represents the incidence relation between different resistances and corresponding airspeeds.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (16)
1. A method for obtaining airspeed of an unmanned aerial vehicle, comprising:
acquiring the resistance borne by the body of the unmanned aerial vehicle in the flight process based on inertial navigation data;
determining an airspeed of the drone based on the resistance and a relationship function, wherein the relationship function characterizes a correlation between different resistances and corresponding airspeeds.
2. The method of claim 1, wherein obtaining the resistance experienced by the fuselage of the drone during flight based on inertial navigation data comprises:
measuring the acceleration of the unmanned aerial vehicle in an inertial reference frame through an accelerometer;
and obtaining the inertial navigation data based on the acceleration obtained by measurement, wherein the inertial navigation data is air resistance, namely the resistance of the unmanned aerial vehicle on the body in the flight process.
3. The method of claim 1, wherein prior to querying in a relationship function based on the resistance to derive the airspeed of the drone, the method further comprises:
acquiring an initial airspeed of the unmanned aerial vehicle and resistance borne by the body, wherein the initial airspeed is a preset airspeed value;
and acquiring the relation function based on the initial airspeed and the resistance borne by the airframe.
4. The method of claim 3, wherein the relationship function is characterized by the formula: v. of2K 1T, where k1 is 2/ρ, ρ is the air density,ρ＝2T/Vfirst stage 2，VFirst stageRepresenting the initial airspeed and T representing the resistance experienced by the fuselage.
5. The method of claim 3, wherein prior to obtaining an initial airspeed of the drone and a resistance experienced by the fuselage, the method further comprises:
prestoring the initial airspeed in the unmanned aerial vehicle, wherein, the initial airspeed is that the unmanned aerial vehicle is detected through the airspeed meter in the test procedure before leaving the factory and is obtained.
6. The method of claim 5, wherein prior to obtaining an initial airspeed of the drone and a resistance experienced by the fuselage, the method further comprises:
in the process of initializing the unmanned aerial vehicle, if the unmanned aerial vehicle is provided with the airspeed meter, controlling the airspeed meter to work, taking the current detection result of the airspeed meter as the initial airspeed, and controlling the airspeed meter to stop working;
if the unmanned aerial vehicle is not provided with the airspeed meter, the initial airspeed prestored in the unmanned aerial vehicle is read.
7. The method of claim 6, wherein if a failure of the airspeed meter installed in the drone is detected, reading an initial airspeed pre-stored in the drone.
8. The method of claim 1, wherein if the flight speed of the drone is within a preset range, the relationship function is obtained by an approximate fit using a unitary equation of degree n, wherein the relationship function is characterized by the following formula: v ═ f (t) ═ an*Tn+an-1*Tn-1+…+a1*T+a0Wherein, the a0、a1……an-1Is the fitting parameter of the unmanned aerial vehicle at different airspeeds in a preset time period, and T is the fitting parameter of the unmanned aerial vehicle at different airspeedsThe resistance born by the fuselage at airspeed.
9. The method of claim 1, wherein after deriving the airspeed of the drone, the method further comprises: based on unmanned aerial vehicle's airspeed and groundspeed, confirm the wind speed of the current environment of unmanned aerial vehicle, wherein, if unmanned aerial vehicle receives at present is the non-crosswind, just the wind speed exceeds the threshold value, through there is the error in the airspeed that the functional relationship calculated, then passes through airspeed meter of installation among the unmanned aerial vehicle measures and obtains new airspeed.
10. The method of claim 9, further comprising: and if the unmanned aerial vehicle is not provided with an airspeed meter or the mounted airspeed meter has a fault, remotely requesting the new airspeed from a server, wherein the new airspeed is an airspeed value obtained by a pre-test.
11. The method of claim 1, wherein a first airspeed is calculated based on the relationship function, a second airspeed is calculated by an airspeed meter, the first airspeed and the second airspeed are compared, and whether the airspeed meter is faulty or not is determined according to the comparison result.
12. A method for obtaining airspeed of an unmanned aerial vehicle, comprising:
acquiring the resistance borne by the body of the unmanned aerial vehicle in the flight process based on inertial navigation data;
inquiring in a relation function based on the resistance to obtain the airspeed of the unmanned aerial vehicle, wherein the relation function is obtained by performing approximate fitting by using a unitary n-th order equation, and the relation function is represented by the following formula: v ═ f (t) ═ an*Tn+an-1*Tn-1+…+a1*T+a0Wherein, the a0、a1……an-1Is the fitting parameter of the unmanned aerial vehicle at different airspeeds in a preset time period, and T is the fitting parameter of the unmanned aerial vehicle at different airspeedsThe resistance born by the fuselage at airspeed.
13. A method for obtaining airspeed of an unmanned aerial vehicle, comprising:
acquiring the resistance borne by the body of the unmanned aerial vehicle in the flight process based on inertial navigation data;
and inquiring in a relation function based on the resistance to obtain the airspeed of the unmanned aerial vehicle, wherein the relation function is the incidence relation between the pre-stored resistance of the unmanned aerial vehicle and the corresponding airspeed.
14. The utility model provides an acquire device of unmanned aerial vehicle's airspeed which characterized in that includes:
the acquisition module is used for acquiring the resistance borne by the body of the unmanned aerial vehicle in the flight process based on the inertial navigation data;
and the query module is used for querying in a relation function based on the resistance to obtain the airspeed of the unmanned aerial vehicle, wherein the relation function represents the incidence relation between different resistances and corresponding airspeeds.
15. A storage medium, characterized in that the storage medium includes a stored program, and when the program runs, the apparatus on which the storage medium is located is controlled to execute the method for acquiring the airspeed of the drone of any one of claims 1 to 13.
16. A processor for executing a program stored in a memory, wherein the program when executed performs the method of obtaining the airspeed of a drone of any one of claims 1 to 13.
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