CN114877876B - Unmanned aerial vehicle hovering precision evaluation method - Google Patents

Unmanned aerial vehicle hovering precision evaluation method Download PDF

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CN114877876B
CN114877876B CN202210812561.6A CN202210812561A CN114877876B CN 114877876 B CN114877876 B CN 114877876B CN 202210812561 A CN202210812561 A CN 202210812561A CN 114877876 B CN114877876 B CN 114877876B
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CN114877876A (en
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王珉
唐小聪
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Nanjing Institute of Measurement and Testing Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant

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Abstract

The invention discloses an unmanned aerial vehicle hovering precision evaluation method, and belongs to the technical field of laser tracking measurement evaluation. Hovering the unmanned aerial vehicle at a position with a set height; respectively measuring the space position coordinates of an A target ball, a B target ball and a C target ball on the unmanned aerial vehicle; respectively calculating the standard deviation and the range of the target balls A, B and C in the direction of X, Y, Z under the current hovering height of the unmanned aerial vehicle; respectively calculating the average value of the standard deviations of the target balls A, B and C in the direction of X, Y, Z and the maximum value of the extreme difference in the direction of X, Y, Z under the current hovering height of the unmanned aerial vehicle; realizing hovering precision evaluation under the current hovering height based on the average value of the standard deviation and the maximum value of the range; and setting other hovering heights, and repeating the steps to obtain hovering precision evaluation under any hovering height. The invention realizes the accurate assessment of the hovering precision of the unmanned aerial vehicle within the hovering height range of 3-15 meters.

Description

Unmanned aerial vehicle hovering precision evaluation method
Technical Field
The invention belongs to the technical field of laser tracking measurement and evaluation, and particularly relates to an unmanned aerial vehicle hovering precision evaluation method.
Background
In traditional surveying and mapping work, the field data are generally collected manually by workers by means of various instruments and equipment, a large amount of manpower and material resources are required to be invested, and the traditional surveying and mapping means is difficult to complete for measuring some complicated terrain areas. Along with the development in unmanned aerial vehicle field, the corresponding aerial survey technique of cooperation contrasts artifical the measurement, and unmanned aerial vehicle can easily accomplish the measurement work to dangerous complex area, has shown huge advantage in the survey and drawing field. However, the existing unmanned aerial vehicle cannot hover at a fixed point with high precision, which undoubtedly brings deviation to the surveying and mapping result, and the hovering precision of the unmanned aerial vehicle must be measured to obtain a surveying and mapping result with higher precision, so that the deviation compensation is performed on the surveying and mapping result.
At present, most of relevant technical standards or specifications for unmanned aerial vehicles are focused on design and manufacturing links of unmanned aerial vehicles, and technical standards for unmanned aerial vehicle detection are mainly focused on aspects of electric electromagnetic performance, materials, component sizes and the like. In addition, many high-altitude operation unmanned aerial vehicles are based on the GPS positioning technology, and the definition of the position accuracy is to compare the actual position of the unmanned aerial vehicle with a preset position, and does not involve measurement and evaluation of the accuracy in a static hovering state. Therefore, it is necessary to evaluate the low-altitude suspension accuracy of the unmanned aerial vehicle.
Disclosure of Invention
In view of this, the invention provides an unmanned aerial vehicle hovering precision evaluation method, which can evaluate the hovering precision of an unmanned aerial vehicle.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention discloses an unmanned aerial vehicle hovering precision evaluation method, which comprises the following steps:
s1, hovering the unmanned aerial vehicle at a set height;
s2, measuring the space position coordinates of the target ball A, the target ball B and the target ball C on the unmanned aerial vehicle respectively, measuring once every 1 minute, measuring five times in total, and recording the space position coordinates as
Figure 921758DEST_PATH_IMAGE001
、
Figure 638042DEST_PATH_IMAGE002
、
Figure 833400DEST_PATH_IMAGE003
Wherein k =1,2 … 5;
s3, under the hovering height of the step S1, generating a space position schematic diagram of the unmanned aerial vehicle by computer fitting of the position coordinates obtained in the step S2;
s4, calculating standard deviations and range deviations of the target balls A, B and C in the X, Y, Z direction under the hovering height of the unmanned aerial vehicle S1 respectively;
s5, calculating the average value of standard deviations of the A target ball, the B target ball and the C target ball in the X, Y, Z direction and the maximum value of the X, Y, Z direction range of the unmanned plane at the hovering height of S1 respectively;
s6, realizing hovering precision evaluation under the current hovering height based on the average value of the standard deviation and the maximum value of the range;
s7, setting other hovering heights, and repeating the steps S1-S6, namely, the hovering precision evaluation at any hovering height can be measured.
The target balls A, B and C are fixed on the unmanned aerial vehicle, the laser tracking head of the laser tracker is used for respectively measuring the space coordinates of the target balls A, B and C fixed on the unmanned aerial vehicle, and the coordinates are recorded in a set file format;
the weight balancing block is the same as any one of the target balls A, B and C so as to offset the influence of the asymmetry of the target balls on the balance of the unmanned aerial vehicle when the unmanned aerial vehicle hovers; wherein A, B, C the three target balls are identical.
And the height of the target ball A is taken as a standard to represent the hovering height of the unmanned aerial vehicle, and the hovering height ranges from 3 meters to 15 meters.
Step S4 specifically includes:
a. calculating the standard deviation of the A target ball in the direction of X, Y, Z at the hovering height
Figure 417965DEST_PATH_IMAGE004
、
Figure 415002DEST_PATH_IMAGE005
、
Figure 426820DEST_PATH_IMAGE006
:
Figure 125786DEST_PATH_IMAGE007
Figure 514042DEST_PATH_IMAGE008
Figure 864121DEST_PATH_IMAGE009
Wherein:
Figure 46840DEST_PATH_IMAGE010
，
Figure 498681DEST_PATH_IMAGE011
，
Figure 425049DEST_PATH_IMAGE012
b. obtaining the maximum coordinate values of the A target ball in three directions
Figure 128169DEST_PATH_IMAGE013
And minimum coordinate value
Figure 481790DEST_PATH_IMAGE014
The extreme difference of the target ball A in the direction X, Y, Z is calculated
Figure 420928DEST_PATH_IMAGE015
、
Figure 885407DEST_PATH_IMAGE016
、
Figure 944499DEST_PATH_IMAGE017
：
Figure 406704DEST_PATH_IMAGE018
，
Figure 692192DEST_PATH_IMAGE019
，
Figure 586461DEST_PATH_IMAGE020
；
c. Similarly, the standard deviation of the B target ball in the X, Y, Z direction at the hovering height is calculated
Figure 375425DEST_PATH_IMAGE021
、
Figure 211794DEST_PATH_IMAGE022
、
Figure 718999DEST_PATH_IMAGE023
And extreme difference
Figure 915494DEST_PATH_IMAGE024
、
Figure 90123DEST_PATH_IMAGE025
、
Figure 831814DEST_PATH_IMAGE026
；
d. Similarly, the standard deviation of the C target ball in the X, Y, Z direction at the hovering height is calculated
Figure 535239DEST_PATH_IMAGE027
、
Figure 145211DEST_PATH_IMAGE028
、
Figure 49714DEST_PATH_IMAGE029
And extreme difference
Figure 821360DEST_PATH_IMAGE030
、
Figure 693370DEST_PATH_IMAGE031
、
Figure 310297DEST_PATH_IMAGE032
。
Step S5 includes:
respectively calculating the average value of the standard deviation of the target balls A, B and C in the direction X, Y, Z at the hovering height
Figure 820038DEST_PATH_IMAGE033
、
Figure 700269DEST_PATH_IMAGE034
、
Figure 856313DEST_PATH_IMAGE035
：
Figure 683454DEST_PATH_IMAGE036
，
Figure 687182DEST_PATH_IMAGE037
，
Figure 423801DEST_PATH_IMAGE038
；
The maximum value of the extreme difference of X, Y, Z directions is obtained
Figure 880190DEST_PATH_IMAGE039
、
Figure 511023DEST_PATH_IMAGE040
、
Figure 369257DEST_PATH_IMAGE041
：
Figure 574979DEST_PATH_IMAGE042
，
Figure 518665DEST_PATH_IMAGE043
，
Figure 687609DEST_PATH_IMAGE044
。
The step S6 specifically includes:
setting a first threshold and a second threshold for the average value of the standard deviation, and setting a third threshold and a fourth threshold for the maximum value of the range; wherein the first threshold is greater than the second threshold, and the third threshold is greater than the fourth threshold; when any average value
Figure 400350DEST_PATH_IMAGE045
、
Figure 481701DEST_PATH_IMAGE046
、
Figure 568474DEST_PATH_IMAGE047
Greater than a first threshold or any maximum
Figure 275530DEST_PATH_IMAGE048
、
Figure 842778DEST_PATH_IMAGE049
、
Figure 623259DEST_PATH_IMAGE050
When the hovering precision evaluation level is higher than the third threshold value, if the hovering precision evaluation level is low, the control algorithm needs to be optimized again;
when mean value
Figure 213640DEST_PATH_IMAGE051
、
Figure 583441DEST_PATH_IMAGE052
、
Figure 395409DEST_PATH_IMAGE047
Are all less than a second threshold value, and a maximum value
Figure 926884DEST_PATH_IMAGE048
、
Figure 224135DEST_PATH_IMAGE053
、
Figure 725524DEST_PATH_IMAGE054
When the hovering precision evaluation level is higher than the fourth threshold value, the evaluation is finished;
otherwise, the hovering precision evaluation level is middle.
The values of the first threshold, the second threshold, the third threshold and the fourth threshold are respectively 80mm, 30mm, 200mm and 100 mm.
In the step S3, a schematic diagram of the corresponding position of the unmanned aerial vehicle in the space is generated by computer fitting, and the position and the range of deviation of the unmanned aerial vehicle (1) in the height suspension can be intuitively reflected.
The invention has the beneficial effects that:
1. according to the unmanned aerial vehicle suspension coordinate system, the target ball and the balancing weight are fixed below the rotor wing of the unmanned aerial vehicle, the space point coordinate data of the target ball fixed below the rotor wing of the unmanned aerial vehicle is measured and collected through the laser tracker, the standard deviation and the range deviation of the coordinates of the unmanned aerial vehicle during suspension are calculated, the equipment is simple, and the operation is convenient;
2. the measured and collected data are directly imported into a computer, space position schematic diagrams at different moments when the unmanned aerial vehicle hovers are generated through automatic fitting, the range of position transformation and deviation when the unmanned aerial vehicle hovers is visually shown, and high-level, medium-level and low-level hovering precision evaluation is achieved by combining the average value of standard deviation and the maximum value of range deviation.
Drawings
FIG. 1 is a schematic view of the installation positions of a target ball A, a target ball B, a target ball C and a balancing weight;
FIG. 2 is a schematic diagram of a laser tracker measuring hovering precision of an unmanned aerial vehicle;
the reference numbers are respectively as follows: 1. unmanned aerial vehicle, 2, A target ball, 3, B target ball, 4, C target ball, 5, balancing weight, 6, laser tracking head, 7, control box, 8, computer, 9, environmental sensor.
Detailed Description
In order to make the above objects, features and advantages of the present invention more obvious and understandable, the following takes the measurement of the hovering precision of the drone 1 at a height of 5 meters as an embodiment, and the technical solution in the embodiment of the present invention is clearly and completely described with reference to the drawings in the embodiment of the present invention.
As shown in fig. 1, the target balls 2, 3 and 4 are fixed at the positions corresponding to the unmanned aerial vehicle 1, and in order to eliminate the influence on the balance of the unmanned aerial vehicle 1 due to the asymmetry caused by the addition of the three target balls, a counterweight 5 is installed at the other position where no target ball is installed, and the weight is the same as that of any target ball.
As shown in fig. 2, the unmanned aerial vehicle 1 (a target ball 2) is raised to 5 meters height and hovers, the laser tracking head 6 emits laser to the a target ball 2, the B target ball 3 and the C target ball 4, the laser is reflected back to the laser tracking head 6, when the target moves, the laser tracking head 6 adjusts the beam direction to aim at the target, meanwhile, the returned beam is received by the detection system for measuring and calculating the space position of the target, and the measured data is read and displayed on the computer 8 through the control box 7.
The spatial position coordinates of A, B, C target balls on the unmanned aerial vehicle 1 are measured respectively, the measurement is carried out once every 1 minute, and the measurement is carried out five times in total, and the measurement data are as follows:
target ball a 2: (2100.01,3000.02,5049.32)
（2200.23,3100.34,5120.24）
（2230.01,3060.02,5177.28）
（2252.23,3080.34,5130.32）
（2232.23,3180.34,5070.32）
B target ball 3: (2000.01,3200.02,5030.32)
（2010.23,3300.34,5118.24）
（2100.01,3260.02,5198.28）
（2152.23,3230.34,5099.32）
（2032.23,3380.34,5050.32）
C target ball 4: (1900.01,3000.02,5100.32)
（1800.23,3100.34,5120.98）
（1960.23,3060.02,5210.28）
(1940.03,3180.34,5200.16)
(1949.37,3100.16,5080.32)
The data are analyzed and calculated to obtain mean values of standard deviations of X, Y, Z of the target balls A2, B3 and C4, wherein the mean values of the standard deviations are 63.05, 67.022 and 55.397, and the larger the value of the mean value of the standard deviations is, the larger the deviation of the unmanned aerial vehicle 1 in the direction is, the smaller the value is, and the smaller the deviation of the unmanned aerial vehicle 1 in the direction is.
Determining the coordinate of the maximum and minimum position of the unmanned aerial vehicle 1, and obtaining the coordinates of three target balls at the maximum position of the unmanned aerial vehicle 1 as follows: (2252.23,3180.34,5177.28), (2152.23,3380.34,5198.28), (1960.23,3180.34,5210.28), the coordinates of the three target balls at the minimum position are: (2100.01,3000.02,5049.32), (2000.01,3200.02,5030.32), (1800.23,3000.02,5080.32), which are the two extreme positions at which the drone 1 hovers at this altitude, so it is known that at this altitude the drone 1 hovers in the area between these two positions.
The extreme differences of the target ball 2A in the X, Y, Z direction are calculated to be 152.22, 180.32 and 127.96 respectively; the range of the target ball 3 in the X, Y, Z direction is 152.22, 180.32 and 167.96; the range of the C target ball 4 in the X, Y, Z direction was 160.0, 180.32, 129.96, respectively. The range of the maximum position change of the unmanned aerial vehicle 1 is reflected by the range of the maximum position change of the unmanned aerial vehicle 1, and the larger the range of the maximum position change of the unmanned aerial vehicle 1 is, the larger the range of the maximum position change of the unmanned aerial vehicle 1 is; conversely, the smaller the range of variation of the position of the drone 1.
In order to further realize accurate assessment of the hovering precision, the hovering precision is jointly assessed by adopting the average value of the standard deviation and the maximum value of the range. Setting a first threshold value and a second threshold value for the average value of the standard deviation, wherein the first threshold value is 80mm, and the second threshold value is 30 mm; and setting a third threshold and a fourth threshold for the maximum value of the range, wherein the third threshold is 200mm, and the fourth threshold is 100 mm. In the application with the hovering height of 5m, X, Y, Z standard deviation averages 63.05, 67.022 and 55.397 in three directions are obtained, and maximum values of range differences are 160.0, 180.32 and 167.96. Based on the evaluation table of table 1, the current evaluation grade was found to be medium.
TABLE 1 hovering accuracy evaluation level table
Figure 205047DEST_PATH_IMAGE055
Further, a three-dimensional space position diagram consisting of each group of coordinates of three target balls of the unmanned aerial vehicle 1 and the maximum and minimum coordinates thereof at the height is generated by computer fitting, and the state and the offset degree of the unmanned aerial vehicle 1 during suspension are visually seen through graphs.
The hovering precision when measuring other hovering heights of the unmanned aerial vehicle 1 is consistent with the above process.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.

Claims (5)

1. An unmanned aerial vehicle hovering precision evaluation method is characterized in that: the method comprises the following steps:
s1, hovering the unmanned aerial vehicle (1) at a set height;
s2, measuring the space position coordinates of the target ball A (2), the target ball B (3) and the target ball C (4) on the unmanned aerial vehicle (1) respectively, measuring once every 1 minute, measuring five times in total, and recording the space position coordinates as
Figure 286067DEST_PATH_IMAGE001
、
Figure 244533DEST_PATH_IMAGE002
、
Figure 756417DEST_PATH_IMAGE003
Wherein k =1,2 … 5;
s3, under the hovering height of the step S1, the position coordinates obtained in the step S2 are fitted by the computer (8) to generate a space position schematic diagram of the unmanned aerial vehicle (1);
s4, calculating the standard deviation and the range of the A target ball (2), the B target ball (3) and the C target ball (4) in the X, Y, Z direction respectively under the hovering height of the unmanned aerial vehicle (1) in the step S1;
s5, calculating the average value of standard deviations of the A target ball (2), the B target ball (3) and the C target ball (4) in the X, Y, Z direction and the maximum value of the X, Y, Z direction range respectively under the hovering height of the unmanned aerial vehicle (1) in the step S1;
s6, realizing hovering precision evaluation under the current hovering height based on the average value of the standard deviation and the maximum value of the range;
s7, setting other hovering heights, and repeating S1-S6 to measure hovering precision evaluation at any hovering height;
step S4 specifically includes:
a. calculating the position of the target ball (2) A at X,Standard deviation in Y, Z direction
Figure 768236DEST_PATH_IMAGE004
、
Figure 467201DEST_PATH_IMAGE005
、
Figure 855457DEST_PATH_IMAGE006
:
Figure 956268DEST_PATH_IMAGE007
Figure 404567DEST_PATH_IMAGE008
Figure 357873DEST_PATH_IMAGE009
Wherein:
Figure 284241DEST_PATH_IMAGE010
，
Figure 239559DEST_PATH_IMAGE011
，
Figure 999704DEST_PATH_IMAGE012
；
b. obtaining the maximum coordinate values of the A target ball (2) in three directions
Figure 797896DEST_PATH_IMAGE013
And minimum coordinate value
Figure 403321DEST_PATH_IMAGE014
The range of the target ball (2) in the X, Y, Z direction is calculated
Figure 337779DEST_PATH_IMAGE015
、
Figure 501782DEST_PATH_IMAGE016
、
Figure 52849DEST_PATH_IMAGE017
：
Figure 196385DEST_PATH_IMAGE018
，
Figure 250929DEST_PATH_IMAGE019
，
Figure 87298DEST_PATH_IMAGE020
；
c. Similarly, the standard deviation of the B target ball (3) in the X, Y, Z direction under the hovering height is calculated
Figure 594503DEST_PATH_IMAGE021
、
Figure 541730DEST_PATH_IMAGE022
、
Figure 358770DEST_PATH_IMAGE023
And extreme difference
Figure 225094DEST_PATH_IMAGE024
、
Figure 626120DEST_PATH_IMAGE025
、
Figure 236093DEST_PATH_IMAGE026
；
d. Similarly, the standard deviation of the C target ball (4) in the X, Y, Z direction at the hovering height is calculated
Figure 140595DEST_PATH_IMAGE027
、
Figure 318766DEST_PATH_IMAGE028
、
Figure 66143DEST_PATH_IMAGE029
And extreme difference
Figure 853708DEST_PATH_IMAGE030
、
Figure 737350DEST_PATH_IMAGE031
、
Figure 352002DEST_PATH_IMAGE032
；
Step S5 includes:
respectively calculating the average value of the standard deviation of the target ball A (2), the target ball B (3) and the target ball C (4) in the direction X, Y, Z under the hovering height
Figure 321095DEST_PATH_IMAGE033
、
Figure 148237DEST_PATH_IMAGE034
、
Figure 151965DEST_PATH_IMAGE035
：
Figure 671939DEST_PATH_IMAGE036
，
Figure 505159DEST_PATH_IMAGE037
，
Figure 260626DEST_PATH_IMAGE038
；
The maximum value of the extreme difference of X, Y, Z directions is obtained
Figure 259806DEST_PATH_IMAGE039
、
Figure 75315DEST_PATH_IMAGE040
、
Figure 894367DEST_PATH_IMAGE041
：
Figure 187945DEST_PATH_IMAGE042
，
Figure 41631DEST_PATH_IMAGE043
，
Figure 401943DEST_PATH_IMAGE044
；
Step S6 specifically includes:
setting a first threshold and a second threshold for the average value of the standard deviation, and setting a third threshold and a fourth threshold for the maximum value of the range; wherein the first threshold is greater than the second threshold, and the third threshold is greater than the fourth threshold; when any average value
Figure 832924DEST_PATH_IMAGE045
、
Figure 805560DEST_PATH_IMAGE046
、
Figure 372807DEST_PATH_IMAGE047
Greater than a first threshold or any maximum
Figure 671064DEST_PATH_IMAGE048
、
Figure 589342DEST_PATH_IMAGE049
、
Figure 100089DEST_PATH_IMAGE050
When the hovering precision evaluation level is higher than the third threshold value, if the hovering precision evaluation level is low, the control algorithm needs to be optimized again;
when mean value
Figure 787422DEST_PATH_IMAGE051
、
Figure 769764DEST_PATH_IMAGE052
、
Figure 785125DEST_PATH_IMAGE047
Are all less than a second threshold value, and a maximum value
Figure 489776DEST_PATH_IMAGE048
、
Figure 906982DEST_PATH_IMAGE053
、
Figure 406096DEST_PATH_IMAGE054
When the hovering precision evaluation level is higher than the fourth threshold value, the evaluation is finished;
otherwise, the hovering precision evaluation level is middle.
2. The unmanned aerial vehicle hovering precision evaluation method according to claim 1, wherein: the A target ball (2), the B target ball (3) and the C target ball (4) are fixed on the unmanned aerial vehicle (1), the laser tracking head (6) of the laser tracker is utilized to measure the space coordinates of the A target ball (2), the B target ball (3) and the C target ball (4) fixed on the unmanned aerial vehicle (1) respectively, and the coordinates are recorded in a set file format;
the A target ball (2), the B target ball (3), the C target ball (4) and the balancing weight (5) are respectively fixed below four rotors of the unmanned aerial vehicle (1), and the balancing weight (5) is the same as any one of the A target ball (2), the B target ball (3) and the C target ball (4) in weight so as to offset the influence of asymmetry of the target balls on balance when the unmanned aerial vehicle (1) hovers; wherein A, B, C the three target balls are identical.
3. The unmanned aerial vehicle hovering precision evaluation method according to claim 1, wherein:
the height of the target ball A (2) is used as a standard to represent the hovering height of the unmanned aerial vehicle (1), and the hovering height ranges from 3 meters to 15 meters.
4. The unmanned aerial vehicle hovering precision evaluation method according to claim 1, wherein the first threshold, the second threshold, the third threshold, and the fourth threshold have values of 80mm, 30mm, 200mm, and 100mm, respectively.
5. The unmanned aerial vehicle hovering precision evaluation method according to claim 1, wherein in step S3, a schematic diagram of the corresponding position of the unmanned aerial vehicle (1) in space is generated by fitting with a computer (8), so as to visually reflect the position and the range of deviation of the unmanned aerial vehicle (1) at the height of hovering.
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