WO2018094576A1 - 无人飞行器的控制方法、飞行控制器及无人飞行器 - Google Patents
无人飞行器的控制方法、飞行控制器及无人飞行器 Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims abstract description 181
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- 238000004364 calculation method Methods 0.000 claims description 10
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- 238000012545 processing Methods 0.000 claims description 8
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- 238000012876 topography Methods 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/042—Control of altitude or depth specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0646—Rate of change of altitude or depth specially adapted for aircraft to follow the profile of undulating ground
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Definitions
- Embodiments of the present invention relate to the field of drones, and in particular, to a control method for an unmanned aerial vehicle, a flight controller, and an unmanned aerial vehicle.
- a radar is installed on the unmanned aerial vehicle, and the radar is used to detect the ground around the unmanned aerial vehicle to prevent the UAV from colliding with the ground.
- sensors such as radar, ultrasonic waves, etc. are disposed directly under the UAV to detect the distance between the ground directly below the UAV and the UAV, especially the agricultural unmanned aerial vehicle, directly below the agricultural unmanned aerial vehicle.
- the radar is set to detect the distance between the crop and the agricultural unmanned aerial vehicle, and to ensure that the agricultural unmanned aerial vehicle maintains a certain distance from the crop during the flight, so that the medicine is evenly sprayed on the surface of the crop.
- the radar-sensed agricultural unmanned aerial vehicle is faster than the height of the crop, and the agricultural unmanned aerial vehicle
- the power system cannot adjust the flying height of the agricultural unmanned aerial vehicle in real time according to the height of the radar sensing, so that the power system always lags the flying height of the agricultural unmanned aerial vehicle, and the agricultural unmanned aerial vehicle cannot accurately follow the terrain.
- Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle, a flight controller, and an unmanned aerial vehicle, and the accuracy of terrain following by the unmanned aerial vehicle.
- An aspect of an embodiment of the present invention provides a control method for an unmanned aerial vehicle, the unmanned aerial vehicle comprising a first detecting device and a second detecting device, wherein the first detecting device and the second detecting device are respectively used for Measuring a height of the UAV from the ground, a detection direction of the first detecting device is at a preset angle with a yaw axis direction of the UAV, and a detection direction of the second detecting device is along the unmanned The yaw axis direction of the aircraft is set;
- the method includes:
- Another aspect of an embodiment of the present invention is to provide a flight controller including one or more processors that work separately or in cooperation, the processor being used to:
- the unmanned aerial vehicle includes a first detecting device and a second detecting device, wherein the first detecting device and the second detecting device are respectively configured to measure a height of the unmanned aerial vehicle from the ground, the first detecting The detection direction of the device is at a predetermined angle with the yaw axis direction of the UAV, and the detection direction of the second detection device is set along the yaw axis direction of the UAV.
- a power system mounted to the fuselage for providing flight power
- a first detecting device and a second detecting device are mounted on the body for measuring a height of the UAV from the ground, a detecting direction of the first detecting device and a yaw axis of the UAV
- the direction of the second detecting device is set along a yaw axis direction of the unmanned aerial vehicle;
- a flight controller communicatively coupled to the power system for controlling the UAV flight;
- the flight controller includes one or more processors, the processor for:
- the control method, the flight controller and the unmanned aerial vehicle of the unmanned aerial vehicle provided by the embodiment respectively detect the unmanned aerial vehicle from the front of the unmanned aerial vehicle through two detecting devices provided on the unmanned aerial vehicle
- the height and the vertical height of the UAV from its oblique front ground determine the height of the UAV from the ground below it, ie the height of the UAV from the ground below it is not only related to the height of the UAV from the ground directly below it.
- the vertical height of the UAV from its oblique front ground It is also related to the vertical height of the UAV from its oblique front ground.
- the local shape is large, the UAV is flying at a high speed, or the UAV is flying and defending, according to the height of the UAV from the ground directly below it.
- the vertical height from the obliquely front ground determines the height from the ground below it.
- the calculation accuracy of the unmanned aerial vehicle from the ground height below is improved, and the detection result is avoided.
- Get real-time power system can adjust the altitude unmanned aircraft, thereby improving the accuracy of the unmanned aircraft to follow the terrain.
- FIG. 1 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention
- FIG. 2 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
- FIG. 3 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
- FIG. 4 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention.
- FIG. 5 is a structural diagram of a joint Kalman filter of a fusion feedback mode according to an embodiment of the present disclosure
- FIG. 6 is a schematic diagram of radar data fusion of an agricultural unmanned aerial vehicle according to an embodiment of the present invention.
- FIG. 7 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention.
- FIG. 8 is a structural diagram of a flight controller according to an embodiment of the present invention.
- FIG. 9 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
- a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
- Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle.
- FIG. 1 is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention
- FIG. 2 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention
- FIG. 3 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
- the unmanned aerial vehicle includes a first detecting device and a second detecting device, where the first detecting device and the second detecting device are respectively used to measure the height of the unmanned aerial vehicle from the ground.
- the detection direction of the first detecting device and the yaw axis of the unmanned aerial vehicle The direction of the second detection device is set along the yaw axis of the UAV.
- the method in this embodiment may include:
- Step S101 Acquire a first detection value of the first detecting device, and a second detection value of the second detecting device.
- 21 denotes a fuselage of an unmanned aerial vehicle, or a water tank representing an agricultural unmanned aerial vehicle, and the present embodiment does not limit the specific shape of the airframe and the water tank.
- This embodiment takes the fuselage of the unmanned aerial vehicle as an example.
- 22 and 23 are respectively two detecting devices disposed on the body 21.
- the detecting device may specifically be at least one of the following: a radar sensor, an ultrasonic sensor, a time of flight (TOF) ranging sensor, and a visual sensor.
- the detecting device 22 and the detecting device 23 are respectively used for measuring the height of the unmanned aerial vehicle from the ground, except that the detecting direction of the detecting device 22 is different from the detecting direction of the detecting device 23, as shown in FIG.
- the yaw axis of the human aircraft, the detection direction of the detection device 22 is at a predetermined angle ⁇ with the yaw axis 24 of the UAV, and the detection direction of the detection device 23 is set along the yaw axis 24 of the UAV.
- the detection device 22 can detect the point A on the terrace, and the detection device 23 can detect the point B on the terrace.
- the detection direction of the detection device 22 and the detection of the detection device 23 The direction may be scattered. As shown in FIG.
- the detection direction of the detecting device 22 is scattered within a certain angular range, and the detecting direction of the detecting device 23 is also scattered within a certain angular range, and the detecting device 22 can detect the area A on the terrace.
- the detecting device 23 can detect the area B on the terrace.
- the execution body of the embodiment may be a flight controller or other control module in the unmanned aerial vehicle.
- the flight controller is used as the main body
- the first detecting device is the detecting device 22 as shown in FIG. 2 or FIG.
- the second detecting device is the detecting device 23 as shown in FIG. 2 or FIG. 3 .
- the detecting value of the detecting device 22 that the flight controller can acquire is recorded as the first detected value
- the detected value of the detecting device 23 is recorded as the first detecting device.
- Two detection values may specifically be the distance between the UAV and the point A or the area A
- the second detection value may specifically be the distance between the UAV and the point B or the area B.
- the centers of the detecting device 22 and the detecting device 23 are both recorded as point 0, so that the distance between the detecting device 22 and the point A or the area A, that is, the slanting distance OA, represents the unmanned aerial vehicle and the point A or the area A.
- the distance between the detection device 23 and the point B or the area B, OB represents the distance between the UAV and the point B or the area B.
- Step S102 Determine, according to the first detection value and the second detection value, a height of the unmanned aerial vehicle from a ground below the unmanned aerial vehicle.
- the flight controller After acquiring the first detection value of the detecting device 22 and the second detecting value of the detecting device 23, the flight controller calculates, according to the first detecting value and the second detecting value, the unmanned aerial vehicle from the ground below the unmanned aerial vehicle. Height, specifically, data fusion may be performed according to the first detection value and the second detection value to obtain a fusion height.
- the point A or the area A may be a ground or an obstacle obliquely ahead of the unmanned aerial vehicle when flying, and the point B or the area B may be directly below the unmanned aerial vehicle during flight. Ground or obstacles.
- the slant range OA can be decomposed into a horizontal component and a vertical component. As shown in FIG. 2, the vertical component of the slant range OA is OC, and the vertical component OC represents the vertical height of the UAV from the point A or the area A.
- An achievable manner of data fusion according to the first detection value and the second detection value is: data fusion according to the vertical component OC of the slant range OA and the vertical height OB of the UAV distance point B or the area B After the data is fused, a fusion height is obtained, which can be used as the height of the unmanned aerial vehicle from the ground below the unmanned aerial vehicle.
- the two detecting devices provided on the UAV respectively detect the height of the UAV from the ground directly below and the distance from the ground in front of it, and determine the distance according to the distance of the UAV from the ground in front of it.
- the vertical height of the UAV from its oblique front ground based on the height of the UAV from the ground directly below it and the vertical height of the UAV from its oblique front ground, determines the height of the UAV from the ground below it, ie
- the height of the human aircraft from the ground below it is not only related to the height of the unmanned aerial vehicle from the ground directly below it, but also related to the vertical height of the unmanned aerial vehicle from the ground in front of it.
- the local shape is large and the flying speed of the unmanned aerial vehicle is large.
- the altitude of the ground below the unmanned aerial vehicle is determined according to the height of the ground directly below the ground and the vertical height of the ground from the oblique front, compared to a detecting device in the prior art. Detection height increases the height of the unmanned aerial vehicle from below it Accuracy, avoiding the detection result with the topography or unmanned aircraft flight speed of the change, so that the power system can instantly adjust the flying height of the unmanned aerial vehicle, thereby improving the accuracy of unmanned aircraft terrain following.
- Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle.
- Figure 4 is another embodiment of the present invention
- FIG. 5 is a structural diagram of a joint Kalman filter of a fusion feedback mode according to an embodiment of the present invention
- FIG. 6 is an agricultural unmanned aerial vehicle provided by an embodiment of the present invention
- Schematic diagram of radar data fusion As shown in FIG. 4, on the basis of the embodiment shown in FIG. 1, the method in this embodiment may include:
- Step S201 Acquire a first detection value of the first detecting device, and a second detection value of the second detecting device.
- Step S201 is consistent with step S101, and the specific method is not described herein again.
- Step S202 Determine, according to the first detection value, a first height, where the first height is a vertical height of the unmanned aerial vehicle from the first ground, and the first ground is in a detection direction of the first detecting device on.
- the first detecting device is the detecting device 22 as shown in FIG. 2, and the first ground is in the detecting direction of the first detecting device, that is, the detecting device 22, that is, the first ground is a point as shown in FIG. A, or the area A as shown in FIG. 3; the first height is the vertical component OC as shown in FIG. 2, that is, the vertical height of the UAV from the point A or the area A.
- the detecting device 22 can output the first time in real time.
- the detected value, the first detected value represents a measure of the distance between the UAV and point A or area A.
- the achievable manner of determining the first height is as follows:
- the first one includes the following steps 11-13:
- Step 11 Determine an estimated value of the first height at a current time according to the fusion height before the current time;
- the error may be the error generated by the detecting device itself, or may be the error caused by the surrounding environment of the detecting device.
- the first height may be estimated according to the current time. The value and the measured value of the first height of the current time, determining the actual value of the first height at the current time, and determining an estimated value of the first height at the current time is: determining according to the fusion height according to the current time The estimated value of the first height at the current time.
- Step 12 Determine, according to the first detection value of the current moment, a measured value of the first height at the current moment;
- the first detected value at the current time indicates that the current time detected by the detecting device 22 is unmanned.
- the distance between the device and the point A or the area A that is, the measured value of the slanting distance OA, can be calculated based on the measured value of the slanting distance OA and the preset angle ⁇ between the detecting direction of the detecting device 22 and the yaw axis.
- the measured value of the vertical component OC of the OA specifically, in the present embodiment, the preset angle ⁇ is an angle of 45 degrees, and according to the sine and cosine rule, the measured value of the vertical component OC of the slant range OA can be calculated.
- Step 13 Determine, according to the estimated value of the first height and the measured value at the current time, a new spread of the first height at the current time.
- the second method includes the following steps 21-23:
- Step 21 Determine an estimated value of the first height at the current time according to the estimated value of the first height at a previous moment of the current time;
- the estimated value of the first height is obtained by filtering the first detection value by using a first sub-filter.
- another achievable manner of determining the estimated value of the first height at the current time is: determining the vertical component OC of the slant range OA at each time according to the measured value of the first detected value, that is, the slant range OA, which is output by the detecting device 22 in real time.
- the measured value of the vertical component OC is filtered by the first sub-filter to obtain a local optimal estimate of the first height at each moment, the first sub-filter is specifically Kalman filtering, and each time A height local optimum estimate can be used as an estimate of the first height at each moment, assuming that the estimated value of the first height at the current time is X 1 (k), and the estimated value of the first height at the previous moment of the current time is X 1 (k-1), Example may be X 1 (k-1) based on the estimated value of the first time of the current height of the previous embodiment of the present time, determining a first estimate of the current time point height X 1 (k), a particular The relationship between X 1 (k) and X 1 (k-1) can be expressed as formula (1):
- W 1 (k-1) represents the Gaussian white noise at the previous moment.
- Step 22 Determine, according to the first detection value of the current moment, a measured value of the first height at the current moment;
- Step 22 is the same as step 12, and the specific method is not described here.
- Step 23 Determine, according to the estimated value of the first height and the measured value at the current time, a new interest rate difference of the first height at the current time.
- Step 23 is the same as step 13. The specific method is not described here.
- Step S203 Determine, according to the second detection value, a second height, where the second height is a vertical height of the UAV from the second ground, and the second ground is in a detection direction of the second detecting device. on.
- the second detecting device is the detecting device 23 as shown in FIG. 2; the second ground is in the detecting direction of the second detecting device, that is, the detecting device 23, that is, the second ground is a point as shown in FIG. B, or area B as shown in FIG.
- the second height is the vertical height OB as shown in FIG. 2, that is, the vertical height of the UAV from the point B or the area B.
- the detecting device 23 can output the second detection value in real time, and the second detection value indicates the unmanned aerial vehicle and A measure of the distance between point B or area B.
- the achievable manner of determining the second height is as follows:
- the first one includes the following steps 31-33:
- Step 31 Determine an estimated value of the second height at the current time according to the fusion height before the current time;
- the error may be an error generated by the detection device itself, or may be an error caused by the environment surrounding the detection device.
- the second height may be estimated according to the current time. The value and the measured value of the second height of the current time, determining the actual value of the second height at the current time, and determining an estimable value of the second height of the current time is: determining according to the fusion height according to the current time The estimated value of the second height at the current time.
- Step 32 Determine, according to the second detection value at the current moment, a measured value of the second height at the current moment;
- the second detected value of the current time represents the distance between the unmanned aerial vehicle and the point B or the area B at the current moment detected by the detecting device 23, that is, the measured value of the OB.
- Step 33 Determine, according to the estimated value of the second height and the measured value at the current time, a new interest rate difference of the second height at the current time.
- the second type includes the following steps 41-43:
- Step 41 Determine an estimated value of the second height at the current time according to the estimated value of the second height at a previous moment of the current time;
- the estimated value of the second height is obtained by filtering the second detection value by using a second sub-filter.
- another achievable manner of determining the estimated value of the second height at the current time is: filtering the second detection value outputted by the detecting device 23 in real time by using the second sub-filter to obtain a local portion of the second height at each moment.
- the optimal estimation, the second sub-filter is specifically Kalman filtering, and the local optimum estimation of the second height at each moment can be used as an estimation value of the second height at each moment, assuming the estimated value of the second height at the current moment.
- the estimated value of the second height at the previous moment of the current time is X 2 (k-1), and the embodiment may be based on the estimated value of the second height at the previous moment of the current time X 2 (k- 1), determining an estimated value X 2 (k) of the second height at the current time, specifically, the relationship between X 2 (k) and X 2 (k-1) can be expressed as formula (2):
- W 2 (k-1) represents the Gaussian white noise at the previous moment
- W 2 (k-1) and W 1 (k-1) may be the same and may be different.
- Step 42 Determine, according to the second detection value of the current moment, a measured value of the second height at the current moment;
- Step 42 is the same as step 32. The specific method is not described here.
- Step 43 Determine, according to the estimated value of the second height and the measured value at the current time, a new interest rate difference of the second height at the current time.
- Step 43 is the same as step 33. The specific method is not described here.
- Step S204 Perform data fusion according to the first height and the second height.
- the fusion ratio of the estimated value of the first height is determined according to the new interest difference g 1 (k) of the first height at the current time and the new interest difference g 2 (k) of the second height at the current time.
- a fusion weight of the estimated value of the second height assuming that the fusion weight of the estimated value X 1 (k) of the first height at the current time is w1(k), and the estimated value of the second height at the current time is X 2 (k)
- the fusion weight is w2(k), then w1(k) can be determined according to formula (3), and w2(k) can be determined according to formula (4):
- a fusion specific gravity w1(k) according to the measured value of the first height, an estimated value X 1 (k) of the first height at the current time, a fusion specific gravity w2(k) of the estimated value of the second height, and a current
- the estimated value X 2 (k) of the second height at the time is calculated as the fusion height of the current time. Assuming that the fusion height is X g (k), then X g (k) can be determined according to equation (5):
- the fusion specific gravity w1(k) of the measured value of the first height by the main filter, the estimated value X 1 (k) of the first height at the current time, and the second height may be used.
- the fusion calculation is performed by the fusion specific gravity w2(k) of the estimated value and the estimated value X 2 (k) of the second height at the current time.
- the first sub-filter, the second sub-filter, and the main filter form a joint Kalman filter of a fusion feedback mode.
- the radar sensor 1 may be the detecting device 22 in the above embodiment
- the radar sensor 2 may be the detecting device 23 in the above embodiment
- the radar sensor 1 may be the detecting device 23 in the above embodiment
- the radar sensor 2 may be the detecting device 22 in the above embodiment.
- the radar sensor 1 is the detecting device 22, and the radar sensor 2 is the detecting device 23.
- the first detected value of the real-time output of the radar sensor 1 may be performed first.
- Data pre-processing specifically, the measured value of the vertical component OC of the slant range OA at each time is determined according to the measured value of the first detected value, that is, the slant range OA, which is output in real time by the detecting device 22; the sub-filter 1 is in the above embodiment.
- the first sub-filter uses the sub-filter 1 to filter the measured value of the vertical component OC to obtain a local optimum estimate of the first height at each moment, such as a local optimum estimate X 1 of the first height at the current time ( k), and the new interest difference of the first height at the current time is g 1 (k).
- the second detection value of the real-time output of the radar sensor 2 is preprocessed to obtain the measured value of the vertical height OB at each moment;
- the sub-filter 2 is the second sub-filter in the above embodiment, and the sub-filter is adopted. 2 Filtering the measured values of the vertical height OB to obtain a local optimum estimate of the second height at each moment, such as a local optimal estimate X 2 (k) of the second height at the current time, and a second height at the current time
- the new spread is g 2 (k).
- the sub-filter 1 transmits the local optimum estimate X 1 (k) of the first height at the current time, and the new spread of the first height at the current time, g 1 (k), to the main filter, and the sub-filter 2
- the local optimum estimate X 2 (k) of the second height at the current time, and the new spread of the second height at the current time are g 2 (k) are transmitted to the main filter, and the main filter is according to the above formula (3) ( 4) (5) Calculate the fusion height X g (k) at the current time.
- the main filter feeds back the fusion height X g (k) of the current time to the sub-filter 1 and the sub-filter 2.
- the unmanned aerial vehicle described in the foregoing embodiment may be an agricultural unmanned aerial vehicle.
- the radar sensor 1 is the detecting device 23 in the above embodiment
- the radar sensor 2 may be the detecting device in the above embodiment.
- H1 represents the vertical height of the UAV from the point B or the area B
- H2 represents the vertical height of the UAV from the point A or the area A
- the data is combined with the Kalman fusion to obtain the fusion height and the data fusion described in step S204
- the method is the same, and will not be described in detail.
- the first detection value is filtered by the first sub-filter to obtain an estimated value of the first height and a new interest difference of the first height
- the second detection value is filtered by the second sub-filter.
- a sub-filter sends an estimate of the first height and a new spread of the first height to the main filter
- the second sub-filter transmits the estimated value of the second height and the new spread of the second height to the main filter
- the main filter determines the fusion specific gravity of the estimated value of the first height and the fusion specific gravity of the estimated value of the second height according to the new spread of the first height and the new spread of the second height, and measures the first height
- the fusion weight of the value, the estimated value of the first height at the current time, the fusion weight of the estimated value of the second height, and the estimated value of the second height at the current time are fused, and the fusion height is obtained, and the fusion height is obtained.
- the joint Kalman filter of the fusion feedback mode formed by the first sub-filter, the second sub-filter and the main filter improves the filter estimation accuracy of the first sub-filter and the second sub-filter Further improve the calculation accuracy fusion height.
- Embodiments of the present invention provide a method for controlling an unmanned aerial vehicle.
- FIG. 7 is a flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention. As shown in FIG. 7, on the basis of the embodiment shown in FIG. 1, the method in this embodiment may include:
- Step S301 Acquire a first detection value of the first detecting device, and a second detection value of the second detecting device.
- Step S301 is the same as step S101. The specific method is not described here.
- Step S302 Determine, according to the first detection value and the second detection value, a height of the unmanned aerial vehicle from a ground below the unmanned aerial vehicle.
- Step S302 is consistent with the foregoing steps S202 and S203, and the specific method is not described herein again.
- Step S303 performing terrain following according to the height of the unmanned aerial vehicle from the ground below the unmanned aerial vehicle.
- the flight controller may further control the unmanned aerial vehicle to follow the terrain according to the height of the unmanned aerial vehicle from the ground below the unmanned aerial vehicle, that is, the fusion height described in the above embodiment, that is, along the terrain.
- the height is increased, the flight controller controls the flying height of the unmanned aerial vehicle to increase.
- the flight controller controls the flying height of the unmanned aerial vehicle according to the height of the unmanned aerial vehicle from the ground below the unmanned aerial vehicle, wherein the unmanned aerial vehicle
- the calculation method of the ground height below it is consistent with the method described in the above embodiment, and the specific process is not here. Let me repeat.
- the two detecting devices provided on the UAV respectively detect the height of the UAV from the ground directly below and the distance from the ground in front of it, and determine the distance according to the distance of the UAV from the ground in front of it.
- the vertical height of the UAV from its oblique front ground based on the height of the UAV from the ground directly below it and the vertical height of the UAV from its oblique front ground, determines the height of the UAV from the ground below it, ie
- the height of the human aircraft from the ground below it is not only related to the height of the unmanned aerial vehicle from the ground directly below it, but also related to the vertical height of the unmanned aerial vehicle from the ground in front of it.
- the local shape is large and the flying speed of the unmanned aerial vehicle is large.
- the altitude of the ground below the unmanned aerial vehicle is determined according to the height of the ground directly below the ground and the vertical height of the ground from the oblique front, compared to a detecting device in the prior art. Detection height increases the height of the unmanned aerial vehicle from below it Accuracy, avoiding the detection result with the topography or unmanned aircraft flight speed of the change, so that the power system can instantly adjust the flying height of the unmanned aerial vehicle, thereby improving the accuracy of unmanned aircraft terrain following.
- Embodiments of the present invention provide a flight controller.
- the flight controller includes one or more processors, which work separately or in cooperation, and the processor is configured to: acquire a first detection value of the first detection device, and a second detection value of the second detection device; Determining, by the first detection value and the second detection value, a height of the unmanned aerial vehicle from a ground below the unmanned aerial vehicle; wherein the unmanned aerial vehicle comprises a first detecting device and a second detecting device, The first detecting device and the second detecting device are respectively configured to measure a height of the unmanned aerial vehicle from the ground, and a detecting direction of the first detecting device is at a preset angle with a yaw axis direction of the unmanned aerial vehicle.
- the detecting direction of the second detecting device is disposed along a yaw axis direction of the unmanned aerial vehicle.
- a fusion height which is a height of the unmanned aerial vehicle from a ground below the unmanned aerial vehicle.
- the two detecting devices provided on the UAV respectively detect the height of the UAV from the ground directly below and the distance from the ground in front of it, and determine the distance according to the distance of the UAV from the ground in front of it.
- the vertical height of the UAV from its oblique front ground based on the height of the UAV from the ground directly below it and the vertical height of the UAV from its oblique front ground, determines the height of the UAV from the ground below it, ie
- the height of the human aircraft from the ground below it is not only related to the height of the unmanned aerial vehicle from the ground directly below it, but also related to the vertical height of the unmanned aerial vehicle from the ground in front of it.
- the local shape is large and the flying speed of the unmanned aerial vehicle is large.
- the altitude of the ground below the unmanned aerial vehicle is determined according to the height of the ground directly below the ground and the vertical height of the ground from the oblique front, compared to a detecting device in the prior art. Detection height increases the height of the unmanned aerial vehicle from below it Accuracy, avoiding the detection result with the topography or unmanned aircraft flight speed of the change, so that the power system can instantly adjust the flying height of the unmanned aerial vehicle, thereby improving the accuracy of unmanned aircraft terrain following.
- FIG. 8 is a structural diagram of a flight controller according to an embodiment of the present invention; as shown in FIG. 8, the flight controller 40 includes the processor described in the foregoing embodiment.
- the processor is 41, and the processor 41 And performing data fusion according to the first detection value and the second detection value, specifically, determining, according to the first detection value, a first height, where the first height is a distance from the first ground to the unmanned aerial vehicle a vertical height, the first ground is in a detecting direction of the first detecting device; and determining a second height according to the second detecting value, the second height is a distance from the second ground to the unmanned aerial vehicle a vertical height, the second ground is in a detection direction of the second detecting device; and data fusion is performed according to the first height and the second height.
- the processor 41 is configured to determine, according to the first detection value, the first height, according to the fusion height before the current time, the estimated value of the first height at the current time; the first according to the current time And detecting a value, determining a measured value of the first height at the current time; determining a new interest difference of the first height at the current time according to the estimated value of the first height and the measured value at the current time.
- determining, by the processor 41, the first height according to the first detection value specifically: determining, according to the estimated value of the first height at a previous moment of the current moment, the first moment of the current moment An estimated value of the height; determining, according to the first detection value of the current time, the measured value of the first height at the current time; determining the first time of the current time according to the estimated value of the first height and the measured value at the current time High new interest margin.
- the processor 41 is configured to determine, according to the second detection value, the second height, according to the fusion height before the current time, the estimated value of the second height at the current time; the second according to the current time And detecting a value, determining a measured value of the second height at the current time; determining a new interest rate of the second height at the current time according to the estimated value of the second height and the measured value at the current time.
- determining, by the processor 41, the second height according to the second detection value specifically: determining, according to the estimated value of the second height at a previous moment of the current moment, an estimated value of the second height at the current moment; Determining, according to the second detection value of the current time, the measured value of the second height at the current time; determining the new interest rate of the second height at the current time according to the estimated value of the second height and the measured value at the current time .
- the method is specifically configured to: determine, according to the new interest rate difference of the first height at the current time and the new interest rate of the second height at the current time. a fusion specific gravity of the estimated value of the first height and a fusion specific gravity of the estimated value of the second height; a fusion specific gravity according to the measured value of the first height, an estimated value of the first height according to the current time, and a The fusion weight of the estimated value of the second height and the estimated value of the second height at the current time are calculated, and the fusion height of the current time is calculated.
- the flight controller 40 further includes: a first sub-filter 42, a second sub-filter 43 and a main filter 44 communicatively coupled to the processor, the first sub-filter 42 for the first detection The value is filtered to obtain an estimated value of the first height; the second sub-filter 43 is configured to perform filtering processing on the second detected value to obtain an estimated value of the second height; the main filter 44 is used to The fusion specific gravity of the measured value of the first height, the estimated value of the first height at the current time, the fusion specific gravity of the estimated value of the second height, and the estimated value of the second height at the current time are subjected to fusion calculation.
- the first sub-filter, the second sub-filter, and the main filter form a joint Kalman filter of a fusion feedback mode.
- the estimated value of the first height at the previous moment of the current time is the fusion height of the previous moment; the estimated value of the second height of the previous moment of the current moment is the fusion height of the previous moment.
- the first detection value is filtered by the first sub-filter to obtain an estimated value of the first height and a new interest difference of the first height
- the second detection value is filtered by the second sub-filter.
- the first sub-filter transmitting the estimated value of the first height and the new spread of the first height to the main filter
- the second sub-filter Sending the estimated value of the second height and the new spread of the second height to the main filter
- the main filter determines the fusion of the estimated values of the first height according to the new spread of the first height and the new spread of the second height a specific gravity of the specific gravity and the estimated value of the second height, and a fusion weight of the measured value of the first height, an estimated value of the first height at the current time, a fusion weight of the estimated value of the second height, and a current time
- the estimated value of the second height is subjected to fusion calculation to obtain a fusion height, and the fusion height is fed back to
- Embodiments of the present invention provide a flight controller. Based on the technical solution provided by the embodiment shown in FIG. 8, the processor 41 is further configured to: control the unmanned aerial vehicle to perform terrain following according to a height of the unmanned aerial vehicle from a ground below the unmanned aerial vehicle.
- the detecting device includes at least one of a radar sensor, an ultrasonic sensor, a TOF ranging sensor, and a visual sensor.
- the preset angle is an angle of 45 degrees.
- the two detecting devices provided on the UAV respectively detect the height of the UAV from the ground directly below and the distance from the ground in front of it, and determine the distance according to the distance of the UAV from the ground in front of it.
- the vertical height of the UAV from its oblique front ground based on the height of the UAV from the ground directly below it and the vertical height of the UAV from its oblique front ground, determines the height of the UAV from the ground below it, ie People
- the height of the aircraft from the ground below it is not only related to the height of the unmanned aerial vehicle from the ground directly below it, but also to the vertical height of the unmanned aerial vehicle from the front of the slope.
- the local shape is large and the UAV is flying at a high speed or
- the height of the unmanned aerial vehicle from the ground directly below it and the vertical height of the ground obliquely from the ground are determined according to the height of the ground below it, compared to a detecting device in the prior art.
- the detection height improves the calculation accuracy of the unmanned aerial vehicle from the ground level below it, and avoids the problem that the detection result changes rapidly with the terrain fluctuation or the UAV flight speed, so that the power system can instantly adjust the flying height of the UAV, thereby improving The accuracy of the unmanned aerial vehicle terrain following.
- FIG. 9 is a structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
- the unmanned aerial vehicle 100 includes: a fuselage, a power system, a first detecting device 22, a second detecting device 23, and a flight controller 118.
- the power system includes at least one of a motor 107, a propeller 106, and an electronic governor 117, the power system being mounted to the fuselage for providing flight power.
- the first detecting device 22 and the second detecting device 23 are mounted on the body for measuring the height of the UAV 100 from the ground, and the detecting direction of the first detecting device 22 is opposite to the yaw axis direction of the UAV 100.
- the detection angle of the second detecting device 23 is set along the yaw axis direction of the unmanned aerial vehicle 100 at a preset angle.
- a flight controller 118 is communicatively coupled to the power system for controlling the UAV flight; wherein the flight controller 118 includes an inertial measurement unit and a gyroscope.
- the inertial measurement unit and the gyroscope are configured to detect an acceleration, a pitch angle, a roll angle, a yaw angle, and the like of the drone.
- the unmanned aerial vehicle 100 further includes: a communication system 110, a supporting device 102, and a photographing device 104, wherein the supporting device 102 may specifically be a pan/tilt, and the communication system 110 may specifically include a receiver, and the receiver
- the wireless signal transmitted at the antenna 114 of the receiving ground station 112, 116, represents the electromagnetic waves generated during communication between the receiver and the antenna 114.
- the two detecting devices provided on the UAV respectively detect the height of the UAV from the ground directly below and the distance from the ground in front of it, and determine the distance according to the distance of the UAV from the ground in front of it.
- the vertical height of the unmanned aerial vehicle from its obliquely forward ground, according to the height of the unmanned aerial vehicle from the ground directly below it and the distance of the unmanned aerial vehicle The vertical height of the front ground determines the height of the UAV from the ground below it, that is, the height of the UAV from the ground below it is not only related to the height of the unmanned aerial vehicle from the ground below it, but also to the unmanned aerial vehicle.
- the vertical height of the front ground is related to the vertical height of the ground, the flying speed of the unmanned aerial vehicle or the flying defense operation of the unmanned aerial vehicle.
- the height of the unmanned aerial vehicle and the vertical height of the ground in front of it Determining the height from the ground below it, compared with the detection height of a detection device in the prior art, improving the calculation accuracy of the UAV from the ground height below it, avoiding the detection result with terrain fluctuation or UAV flight
- the problem of rapid speed change enables the power system to instantly adjust the flying height of the unmanned aerial vehicle, thereby improving the accuracy of the UAV terrain following.
- the disclosed apparatus and method may be implemented in other manners.
- the device embodiments described above are merely illustrative.
- the division of the unit is only a logical function division.
- there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
- the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
- the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
- each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
- the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
- the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
- the above software functional unit 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, etc.) or a processor to perform the methods of the various embodiments of the present invention. Part of the steps.
- the foregoing storage medium includes: a U disk, a mobile hard disk, and a read only memory. (Read-Only Memory, ROM), Random Access Memory (RAM), disk or optical disk, and other media that can store program code.
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Abstract
一种无人飞行器(100)的控制方法、飞行控制器(40)及无人飞行器(100),该方法包括:获取第一探测设备(22)的第一探测值,以及第二探测设备(23)的第二探测值(S101);根据第一探测值和第二探测值,确定无人飞行器(100)距离下方地面的高度(S102)。通过无人飞行器(100)上设置的两个探测设备(22,23)分别探测无人飞行器(100)距离其正下方地面的高度,以及距离其斜前方地面的距离,根据无人飞行器(100)距离其正下方地面的高度和距离其斜前方地面的垂直高度,确定出无人飞行器(100)距离其下方地面的高度,提高了无人飞行器(100)距离其下方地面高度的计算精度,根据该高度进行地形跟随,提高了无人飞行器(100)地形跟随的精确度。
Description
本发明实施例涉及无人机领域,尤其涉及一种无人飞行器的控制方法、飞行控制器及无人飞行器。
现有技术中无人飞行器上安装有雷达,雷达用于检测无人飞行器的周围的地面,避免无人飞行器与地面碰撞。
通常,无人飞行器的正下方设置有传感器例如雷达、超声波等,用于检测无人飞行器正下方的地面与无人飞行器之间的距离,特别是农业无人飞行器,通过农业无人飞行器正下方设置的雷达,检测农作物和农业无人飞行器之间的距离,并保证农业无人飞行器在飞行过程中与农作物保持一定的距离,使得药物均匀的喷洒在农作物表面。
但是,当地形起伏较大,农业无人飞行器飞行速度较大或者农业无人飞行器进行飞防作业时,雷达感测到的农业无人飞行器距离农作物的高度变化速度较快,而农业无人飞行器的动力***不能依据雷达感测的高度实时调节农业无人飞行器的飞行高度,使得动力***总是滞后调节农业无人飞行器的飞行高度,导致农业无人飞行器无法精确的进行地形跟随。
发明内容
本发明实施例提供一种无人飞行器的控制方法、飞行控制器及无人飞行器,以无人飞行器进行地形跟随的精度。
本发明实施例的一个方面是提供一种无人飞行器的控制方法,所述无人飞行器包括第一探测设备和第二探测设备,所述第一探测设备和所述第二探测设备分别用于测量所述无人飞行器距离地面的高度,所述第一探测设备的探测方向与所述无人飞行器的偏航轴方向成预设角度,所述第二探测设备的探测方向沿所述无人飞行器的偏航轴方向设置;
所述方法包括:
获取所述第一探测设备的第一探测值,以及所述第二探测设备的第二探测值;
根据所述第一探测值和所述第二探测值,确定所述无人飞行器距离所述无人飞行器的下方地面的高度。
本发明实施例的另一个方面是提供一种飞行控制器,包括一个或多个处理器,单独或协同工作,所述处理器用于:
获取所述第一探测设备的第一探测值,以及所述第二探测设备的第二探测值;
根据所述第一探测值和所述第二探测值,确定所述无人飞行器距离所述无人飞行器的下方地面的高度;
其中,所述无人飞行器包括第一探测设备和第二探测设备,所述第一探测设备和所述第二探测设备分别用于测量所述无人飞行器距离地面的高度,所述第一探测设备的探测方向与所述无人飞行器的偏航轴方向成预设角度,所述第二探测设备的探测方向沿所述无人飞行器的偏航轴方向设置。
本发明实施例的另一个方面是提供一种无人飞行器,包括:
机身;
动力***,安装在所述机身,用于提供飞行动力;
第一探测设备和第二探测设备,安装在所述机身,分别用于测量所述无人飞行器距离地面的高度,所述第一探测设备的探测方向与所述无人飞行器的偏航轴方向成预设角度,所述第二探测设备的探测方向沿所述无人飞行器的偏航轴方向设置;
飞行控制器,与所述动力***通讯连接,用于控制所述无人飞行器飞行;所述飞行控制器包括一个或多个处理器,所述处理器用于:
获取所述第一探测设备的第一探测值,以及所述第二探测设备的第二探测值;
根据所述第一探测值和所述第二探测值,确定所述无人飞行器距离所述无人飞行器的下方地面的高度。
本实施例提供的无人飞行器的控制方法、飞行控制器及无人飞行器,通过无人飞行器上设置的两个探测设备分别探测无人飞行器距离其正下
方地面的高度,以及距离其斜前方地面的距离,根据无人飞行器距离其斜前方地面的距离,确定出无人飞行器距离其斜前方地面的垂直高度,根据无人飞行器距离其正下方地面的高度和无人飞行器距离其斜前方地面的垂直高度,确定出无人飞行器距离其下方地面的高度,即无人飞行器距离其下方地面的高度不仅与无人飞行器距离其正下方地面的高度有关,还与无人飞行器距离其斜前方地面的垂直高度有关,当地形起伏较大、无人飞行器飞行速度较大或者无人飞行器进行飞防作业时,根据无人飞行器距离其正下方地面的高度和距离其斜前方地面的垂直高度,确定出距离其下方地面的高度,相比于现有技术中一个探测设备的探测高度,提高了无人飞行器距离其下方地面高度的计算精度,避免了探测结果随地形起伏或无人飞行器飞行速度变化快的问题,使得动力***能够即时调节无人飞行器的飞行高度,从而提高了无人飞行器地形跟随的精确度。
为了更清楚地说明本发明实施例中的技术方案,下面将对实施例描述中所需要使用的附图作一简单地介绍,显而易见地,下面描述中的附图是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的无人飞行器的控制方法的流程图;
图2为本发明实施例提供的无人飞行器的结构示意图;
图3为本发明实施例提供的无人飞行器的结构示意图;
图4为本发明另一实施例提供的无人飞行器的控制方法的流程图;
图5为本发明实施例提供的融合反馈模式的联合卡尔曼滤波器的结构示图;
图6为本发明实施例提供的农业无人飞行器雷达数据融合的原理图;
图7为本发明另一实施例提供的无人飞行器的控制方法的流程图;
图8为本发明实施例提供的飞行控制器的结构图;
图9为本发明实施例提供的无人飞行器的结构图。
附图标记:
21-无人飞行器的机身 22-第一探测设备 23-第二探测设备
24-无人飞行器的偏航轴 40-飞行控制器 41-处理器
42-第一子滤波器 43-第二子滤波器 44-主滤波器
100-无人飞行器 107-电机 106-螺旋桨
117-电子调速器 118-飞行控制器 110-通信***
102-支撑设备 104-拍摄设备 112-地面站
114-天线 116-电磁波
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。
需要说明的是,当组件被称为“固定于”另一个组件,它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件,它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义,本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的,不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图,对本发明的一些实施方式作详细说明。在不冲突的情况下,下述的实施例及实施例中的特征可以相互组合。
本发明实施例提供一种无人飞行器的控制方法。图1为本发明实施例提供的无人飞行器的控制方法的流程图;图2为本发明实施例提供的无人飞行器的结构示意图;图3为本发明实施例提供的无人飞行器的结构示意图。在本实施例中,所述无人飞行器包括第一探测设备和第二探测设备,所述第一探测设备和所述第二探测设备分别用于测量所述无人飞行器距离地面的高度,所述第一探测设备的探测方向与所述无人飞行器的偏航轴
方向成预设角度,所述第二探测设备的探测方向沿所述无人飞行器的偏航轴方向设置,如图1所示,本实施例中的方法,可以包括:
步骤S101、获取所述第一探测设备的第一探测值,以及所述第二探测设备的第二探测值。
如图2所示,21表示无人飞行器的机身,或者表示农业无人飞行器的水箱,且本实施例不限定机身和水箱的具体形状,本实施例以无人飞行器的机身为例,22和23分别是设置在机身21上的两个探测设备,探测设备具体可以是如下至少一种:雷达传感器、超声波传感器、飞行时间(Time of flight,简称TOF)测距传感器、视觉传感器。探测设备22和探测设备23分别用于测量所述无人飞行器距离地面的高度,不同之处在于,探测设备22的探测方向和探测设备23的探测方向不同,如图2所示,24表示无人飞行器的偏航轴,探测设备22的探测方向与无人飞行器的偏航轴24成预设角度θ,探测设备23的探测方向沿无人飞行器的偏航轴24设置。例如,无人飞行器飞行在梯田上空,探测设备22可以探测到梯田上的A点,探测设备23可以探测到梯田上的B点,实际情况中,探测设备22的探测方向和探测设备23的探测方向会发生散射,如图3所示,探测设备22的探测方向散射在一定角度范围内,探测设备23的探测方向也散射在一定角度范围内,则探测设备22可以探测到梯田上的区域A,探测设备23可以探测到梯田上的区域B。
本实施例的执行主体可以是飞行控制器或无人飞行器中的其他控制模块,本实施例以飞行控制器为执行主体,第一探测设备为如图2或图3所示的探测设备22,第二探测设备为如图2或图3所示的探测设备23,具体的,飞行控制器可获取到探测设备22的探测值记为第一探测值,以及探测设备23的探测值记为第二探测值。第一探测值具体可以是无人飞行器与点A或区域A之间的距离,第二探测值具体可以是无人飞行器与点B或区域B之间的距离。
在本实施例中,假设探测设备22和探测设备23的中心均记为点0,以探测设备22与点A或区域A之间的距离即斜距OA表示无人飞行器与点A或区域A之间的距离,以探测设备23与点B或区域B之间的距离即OB表示无人飞行器与点B或区域B之间的距离。
步骤S102、根据所述第一探测值和所述第二探测值,确定所述无人飞行器距离所述无人飞行器的下方地面的高度。
飞行控制器获取到探测设备22的第一探测值和探测设备23的第二探测值之后,根据第一探测值和第二探测值,计算出无人飞行器距离所述无人飞行器的下方地面的高度,具体的,可以根据所述第一探测值和所述第二探测值进行数据融合,得到融合高度。
如图2或图3所示,点A或区域A可以是无人飞行器在飞行时,其斜前方的地面或障碍物,点B或区域B可以是无人飞行器在飞行时,其正下方的地面或障碍物。斜距OA可以分解成水平分量和垂直分量,如图2所示,斜距OA的垂直分量为OC,垂直分量OC表示无人飞行器距离点A或区域A的垂直高度,在本实施例中,根据所述第一探测值和所述第二探测值进行数据融合的一种可实现方式是:根据斜距OA的垂直分量OC和无人飞行器距离点B或区域B的垂直高度OB进行数据融合,数据融合之后得到融合高度,该融合高度可作为无人飞行器距离所述无人飞行器的下方地面的高度。
本实施例通过无人飞行器上设置的两个探测设备分别探测无人飞行器距离其正下方地面的高度,以及距离其斜前方地面的距离,根据无人飞行器距离其斜前方地面的距离,确定出无人飞行器距离其斜前方地面的垂直高度,根据无人飞行器距离其正下方地面的高度和无人飞行器距离其斜前方地面的垂直高度,确定出无人飞行器距离其下方地面的高度,即无人飞行器距离其下方地面的高度不仅与无人飞行器距离其正下方地面的高度有关,还与无人飞行器距离其斜前方地面的垂直高度有关,当地形起伏较大、无人飞行器飞行速度较大或者无人飞行器进行飞防作业时,根据无人飞行器距离其正下方地面的高度和距离其斜前方地面的垂直高度,确定出距离其下方地面的高度,相比于现有技术中一个探测设备的探测高度,提高了无人飞行器距离其下方地面高度的计算精度,避免了探测结果随地形起伏或无人飞行器飞行速度变化快的问题,使得动力***能够即时调节无人飞行器的飞行高度,从而提高了无人飞行器地形跟随的精确度。
本发明实施例提供一种无人飞行器的控制方法。图4为本发明另一实
施例提供的无人飞行器的控制方法的流程图;图5为本发明实施例提供的融合反馈模式的联合卡尔曼滤波器的结构示图;图6为本发明实施例提供的农业无人飞行器雷达数据融合的原理图。如图4所示,在图1所示实施例的基础上,本实施例中的方法,可以包括:
步骤S201、获取所述第一探测设备的第一探测值,以及所述第二探测设备的第二探测值。
步骤S201与步骤S101一致,具体方法此处不再赘述。
步骤S202、根据所述第一探测值,确定第一高度,所述第一高度是所述无人飞行器距离第一地面的垂直高度,所述第一地面在所述第一探测设备的探测方向上。
在本实施例中,第一探测设备为如图2所示的探测设备22,第一地面在第一探测设备即探测设备22的探测方向上,即第一地面为如图2所示的点A,或如图3所示的区域A;第一高度是如图2所示的垂直分量OC,即无人飞行器距离点A或区域A的垂直高度,另外,探测设备22可实时输出第一探测值,第一探测值表示无人飞行器与点A或区域A之间的距离的测量值。
在本实施例中,根据所述第一探测值,确定第一高度的可实现方式有如下两种:
第一种包括如下步骤11-13:
步骤11、根据当前时刻之前的所述融合高度,确定当前时刻所述第一高度的估计值;
由于探测设备探测距离时存在一定的误差,该误差可能是探测设备自身产生的误差,也有可能是探测设备周围环境造成的误差,为了提高探测结果的准确性,可根据当前时刻第一高度的估计值和当前时刻第一高度的测量值,确定当前时刻第一高度的实际值,确定当前时刻第一高度的估计值的一种可实现方式是:根据根据当前时刻之前的所述融合高度,确定当前时刻所述第一高度的估计值。
步骤12、根据当前时刻的所述第一探测值,确定当前时刻所述第一高度的测量值;
当前时刻的第一探测值表示探测设备22探测出的当前时刻无人飞行
器与点A或区域A的距离,即斜距OA的测量值,根据斜距OA的测量值,以及探测设备22的探测方向与偏航轴之间的预设角度θ,可计算出斜距OA的垂直分量OC的测量值,具体的,在本实施例中,预设角度θ为45度角,根据正余弦定则,可计算出斜距OA的垂直分量OC的测量值。
步骤13、根据当前时刻所述第一高度的估计值以及测量值,确定当前时刻所述第一高度的新息差。
根据上述步骤11确定的当前时刻所述第一高度的估计值,以及步骤12确定的当前时刻所述第一高度的测量值,可确定出当前时刻所述第一高度的新息差,假设当前时刻为k,当前时刻所述第一高度的估计值为X1(k),当前时刻所述第一高度的测量值为Z1(k),当前时刻所述第一高度的新息差为g1(k),则g1(k)=Z1(k)-X1(k)。
第二种包括如下步骤21-23:
步骤21、根据当前时刻的前一时刻所述第一高度的估计值,确定当前时刻所述第一高度的估计值;
在本实施例中,所述第一高度的估计值是采用第一子滤波器对所述第一探测值进行滤波处理得到的。
另外,确定当前时刻第一高度的估计值的另一种可实现方式是:根据探测设备22实时输出的第一探测值即斜距OA的测量值,确定每一时刻斜距OA的垂直分量OC的测量值;采用第一子滤波器对垂直分量OC的测量值进行滤波处理,得到每一时刻第一高度的局部最优估计,该第一子滤波器具体为卡尔曼滤波,每一时刻第一高度的局部最优估计可作为每一时刻第一高度的估计值,假设当前时刻所述第一高度的估计值为X1(k),当前时刻的前一时刻第一高度的估计值为X1(k-1),本实施例可根据当前时刻的前一时刻第一高度的估计值X1(k-1),确定当前时刻第一高度的估计值X1(k),具体的,X1(k)和X1(k-1)之间的关系可以表示为公式(1):
X1(k)=X1(k-1)+W1(k-1) (1)
其中,W1(k-1)表示前一时刻的高斯白噪声。
步骤22、根据当前时刻的所述第一探测值,确定当前时刻所述第一高度的测量值;
步骤22与步骤12一致,具体方法,此处不再赘述。
步骤23、根据当前时刻所述第一高度的估计值以及测量值,确定当前时刻所述第一高度的新息差。
步骤23与步骤13一致,具体方法,此处不再赘述。
步骤S203、根据所述第二探测值,确定第二高度,所述第二高度是所述无人飞行器距离第二地面的垂直高度,所述第二地面在所述第二探测设备的探测方向上。
在本实施例中,第二探测设备为如图2所示的探测设备23;第二地面在第二探测设备即探测设备23的探测方向上,即第二地面为如图2所示的点B,或如图3所示的区域B。第二高度是如图2所示的垂直高度OB,即无人飞行器距离点B或区域B的垂直高度,另外,探测设备23可实时输出第二探测值,第二探测值表示无人飞行器与点B或区域B之间的距离的测量值。
在本实施例中,根据所述第二探测值,确定第二高度的可实现方式有如下两种:
第一种包括如下步骤31-33:
步骤31、根据当前时刻之前的所述融合高度,确定当前时刻所述第二高度的估计值;
由于探测设备探测距离时存在一定的误差,该误差可能是探测设备自身产生的误差,也有可能是探测设备周围环境造成的误差,为了提高探测结果的准确性,可根据当前时刻第二高度的估计值和当前时刻第二高度的测量值,确定当前时刻第二高度的实际值,确定当前时刻第二高度的估计值的一种可实现方式是:根据根据当前时刻之前的所述融合高度,确定当前时刻所述第二高度的估计值。
步骤32、根据当前时刻的所述第二探测值,确定当前时刻所述第二高度的测量值;
当前时刻的第二探测值表示探测设备23探测出的当前时刻无人飞行器与点B或区域B的距离,即OB的测量值。
步骤33、根据当前时刻所述第二高度的估计值以及测量值,确定当前时刻所述第二高度的新息差。
根据上述步骤31确定的当前时刻所述第二高度的估计值,以及步骤
32确定的当前时刻所述第二高度的测量值,可确定出当前时刻所述第二高度的新息差,假设当前时刻为k,当前时刻所述第二高度的估计值为X2(k),当前时刻所述第二高度的测量值为Z2(k),当前时刻所述第二高度的新息差为g2(k),则g2(k)=Z2(k)-X2(k)。
第二种包括如下步骤41-43:
步骤41、根据当前时刻的前一时刻所述第二高度的估计值,确定当前时刻所述第二高度的估计值;
在本实施例中,所述第二高度的估计值是采用第二子滤波器对所述第二探测值进行滤波处理得到的。
另外,确定当前时刻第二高度的估计值的另一种可实现方式是:采用第二子滤波器对探测设备23实时输出的第二探测值进行滤波处理,得到每一时刻第二高度的局部最优估计,该第二子滤波器具体为卡尔曼滤波,每一时刻第二高度的局部最优估计可作为每一时刻第二高度的估计值,假设当前时刻所述第二高度的估计值为X2(k),当前时刻的前一时刻第二高度的估计值为X2(k-1),本实施例可根据当前时刻的前一时刻第二高度的估计值X2(k-1),确定当前时刻第二高度的估计值X2(k),具体的,X2(k)和X2(k-1)之间的关系可以表示为公式(2):
X2(k)=X2(k-1)+W2(k-1) (2)
其中,W2(k-1)表示前一时刻的高斯白噪声;W2(k-1)和W1(k-1)可以相同,可以不同。
步骤42、根据当前时刻的所述第二探测值,确定当前时刻所述第二高度的测量值;
步骤42与步骤32一致,具体方法,此处不再赘述。
步骤43、根据当前时刻所述第二高度的估计值以及测量值,确定当前时刻所述第二高度的新息差。
步骤43与步骤33一致,具体方法,此处不再赘述。
步骤S204、根据所述第一高度和所述第二高度,进行数据融合。
具体的,根据当前时刻所述第一高度的新息差g1(k)和当前时刻所述第二高度的新息差g2(k),确定所述第一高度的估计值的融合比重、以及所述第二高度的估计值的融合比重;假设当前时刻第一高度的估计值X1(k)的融
合比重为w1(k),当前时刻第二高度的估计值X2(k)的融合比重为w2(k),则w1(k)可根据公式(3)确定,w2(k)可根据公式(4)确定:
根据所述第一高度的测量值的融合比重w1(k)、当前时刻所述第一高度的估计值X1(k)、所述第二高度的估计值的融合比重w2(k)、当前时刻所述第二高度的估计值X2(k),计算当前时刻的融合高度。假设融合高度为Xg(k),则Xg(k)可根据公式(5)确定:
Xg(k)=w1(k)*X1(k)+w2(k)*X2(k) (5)
具体的,本实施例可以采用主滤波器对所述第一高度的测量值的融合比重w1(k)、当前时刻所述第一高度的估计值X1(k)、所述第二高度的估计值的融合比重w2(k)、当前时刻所述第二高度的估计值X2(k)进行融合计算。
在一些实施例中,所述第一子滤波器、所述第二子滤波器和所述主滤波器构成融合反馈模式的联合卡尔曼滤波器。如图5所示,雷达传感器1可以是上述实施例中的探测设备22,雷达传感器2可以是上述实施例中的探测设备23,或者,雷达传感器1可以是上述实施例中的探测设备23,雷达传感器2可以是上述实施例中的探测设备22,本实施例以雷达传感器1是探测设备22,雷达传感器2是探测设备23为例,对雷达传感器1实时输出的第一探测值可先进行数据预处理,具体的,根据探测设备22实时输出的第一探测值即斜距OA的测量值,确定每一时刻斜距OA的垂直分量OC的测量值;子滤波器1为上述实施例中的第一子滤波器,采用子滤波器1对垂直分量OC的测量值进行滤波处理,得到每一时刻第一高度的局部最优估计,例如当前时刻第一高度的局部最优估计X1(k),以及当前时刻所述第一高度的新息差为g1(k)。同理,对雷达传感器2实时输出的第二探测值进行数据预处理,得到每一时刻垂直高度OB的测量值;子滤波器2为上述实施例中的第二子滤波器,采用子滤波器2对垂直高度OB的
测量值进行滤波处理,得到每一时刻第二高度的局部最优估计,例如当前时刻第二高度的局部最优估计X2(k),以及当前时刻所述第二高度的新息差为g2(k)。子滤波器1将当前时刻第一高度的局部最优估计X1(k),以及当前时刻所述第一高度的新息差为g1(k)传输给主滤波器,子滤波器2将当前时刻第二高度的局部最优估计X2(k),以及当前时刻所述第二高度的新息差为g2(k)传输给主滤波器,主滤波器根据上述公式(3)(4)(5)计算出当前时刻的融合高度Xg(k)。主滤波器将当前时刻的融合高度Xg(k)反馈给子滤波器1和子滤波器2。子滤波器1根据当前时刻的融合高度Xg(k),确定下一时刻第一高度的局部最优估计X1(k+1),子滤波器2根据当前时刻的融合高度Xg(k),确定下一时刻第二高度的局部最优估计X2(k+1),即X1(k+1)=Xg(k)+W1(k)、X2(k+1)=Xg(k)+W2(k),其中,W1(k)和W2(k)表示当前时刻的高斯白噪声。
对于公式(1),还可以用前一时刻的融合高度Xg(k-1)代替当前时刻的前一时刻所述第一高度的估计值X1(k-1),即X1(k)=Xg(k-1)+W1(k-1)。
对于公式(2),还可以用前一时刻的融合高度Xg(k-1)代替当前时刻的前一时刻所述第二高度的估计值X2(k-1),即X2(k)=Xg(k-1)+W2(k-1)。
另外,上述实施例所述的无人飞行器具体可以是农业无人飞行器,如图6所示,雷达传感器1是上述实施例中的探测设备23,雷达传感器2可以是上述实施例中的探测设备22,H1表示无人飞行器距离点B或区域B的垂直高度,H2表示无人飞行器距离点A或区域A的垂直高度,数据联合卡尔曼融合得到融合高度的过程与步骤S204所述的数据融合的方法一致,具体不再赘述。
本实施例通过第一子滤波器对所述第一探测值进行滤波处理得到第一高度的估计值以及第一高度的新息差,通过第二子滤波器对所述第二探测值进行滤波处理得到所述第二高度的估计值以及第二高度的新息差,第
一子滤波器将第一高度的估计值以及第一高度的新息差发送给主滤波器,第二子滤波器将第二高度的估计值以及第二高度的新息差发送给主滤波器,主滤波器根据第一高度的新息差和第二高度的新息差,确定第一高度的估计值的融合比重、以及第二高度的估计值的融合比重,并对第一高度的测量值的融合比重、当前时刻所述第一高度的估计值、所述第二高度的估计值的融合比重、当前时刻所述第二高度的估计值进行融合计算,得到融合高度,并将融合高度反馈给第一子滤波器和第二子滤波器,以便第一子滤波器和第二子滤波器根据融合高度,确定下一时刻第一高度的估计值和第二高度的估计值,基于所述第一子滤波器、所述第二子滤波器和所述主滤波器构成的融合反馈模式的联合卡尔曼滤波器,提高了第一子滤波器和第二子滤波器的滤波估计精度,进一步提高了融合高度的计算精度。
本发明实施例提供一种无人飞行器的控制方法。图7为本发明另一实施例提供的无人飞行器的控制方法的流程图。如图7所示,在图1所示实施例的基础上,本实施例中的方法,可以包括:
步骤S301、获取所述第一探测设备的第一探测值,以及所述第二探测设备的第二探测值。
步骤S301与步骤S101一致,具体方法,此处不再赘述。
步骤S302、根据所述第一探测值和所述第二探测值,确定所述无人飞行器距离所述无人飞行器的下方地面的高度。
步骤S302与上述步骤S202和步骤S203一致,具体方法此处不再赘述。
步骤S303、根据所述无人飞行器距离所述无人飞行器的下方地面的高度,进行地形跟随。
在本实施例中,飞行控制器还可以根据所述无人飞行器距离所述无人飞行器的下方地面的高度即上述实施例所述的融合高度,控制无人飞行器进行地形跟随,即随着地形高度的增加,飞行控制器控制无人飞行器的飞行高度增加,具体的,飞行控制器根据无人飞行器距离无人飞行器的下方地面的高度,控制无人飞行器的飞行高度增加,其中,无人飞行器距离其下方地面高度的计算方法与上述实施例所述的方法一致,具体过程此处不
再赘述。
本实施例通过无人飞行器上设置的两个探测设备分别探测无人飞行器距离其正下方地面的高度,以及距离其斜前方地面的距离,根据无人飞行器距离其斜前方地面的距离,确定出无人飞行器距离其斜前方地面的垂直高度,根据无人飞行器距离其正下方地面的高度和无人飞行器距离其斜前方地面的垂直高度,确定出无人飞行器距离其下方地面的高度,即无人飞行器距离其下方地面的高度不仅与无人飞行器距离其正下方地面的高度有关,还与无人飞行器距离其斜前方地面的垂直高度有关,当地形起伏较大、无人飞行器飞行速度较大或者无人飞行器进行飞防作业时,根据无人飞行器距离其正下方地面的高度和距离其斜前方地面的垂直高度,确定出距离其下方地面的高度,相比于现有技术中一个探测设备的探测高度,提高了无人飞行器距离其下方地面高度的计算精度,避免了探测结果随地形起伏或无人飞行器飞行速度变化快的问题,使得动力***能够即时调节无人飞行器的飞行高度,从而提高了无人飞行器地形跟随的精确度。
本发明实施例提供一种飞行控制器。飞行控制器包括一个或多个处理器,单独或协同工作,所述处理器用于:获取所述第一探测设备的第一探测值,以及所述第二探测设备的第二探测值;根据所述第一探测值和所述第二探测值,确定所述无人飞行器距离所述无人飞行器的下方地面的高度;其中,所述无人飞行器包括第一探测设备和第二探测设备,所述第一探测设备和所述第二探测设备分别用于测量所述无人飞行器距离地面的高度,所述第一探测设备的探测方向与所述无人飞行器的偏航轴方向成预设角度,所述第二探测设备的探测方向沿所述无人飞行器的偏航轴方向设置。
所述处理器根据所述第一探测值和所述第二探测值,确定所述无人飞行器距离所述无人飞行器的下方地面的高度时具体用于:根据所述第一探测值和所述第二探测值进行数据融合,得到融合高度,所述融合高度为所述无人飞行器距离所述无人飞行器的下方地面的高度。
本发明实施例提供的飞行控制器的具体原理和实现方式均与图1所示实施例类似,此处不再赘述。
本实施例通过无人飞行器上设置的两个探测设备分别探测无人飞行器距离其正下方地面的高度,以及距离其斜前方地面的距离,根据无人飞行器距离其斜前方地面的距离,确定出无人飞行器距离其斜前方地面的垂直高度,根据无人飞行器距离其正下方地面的高度和无人飞行器距离其斜前方地面的垂直高度,确定出无人飞行器距离其下方地面的高度,即无人飞行器距离其下方地面的高度不仅与无人飞行器距离其正下方地面的高度有关,还与无人飞行器距离其斜前方地面的垂直高度有关,当地形起伏较大、无人飞行器飞行速度较大或者无人飞行器进行飞防作业时,根据无人飞行器距离其正下方地面的高度和距离其斜前方地面的垂直高度,确定出距离其下方地面的高度,相比于现有技术中一个探测设备的探测高度,提高了无人飞行器距离其下方地面高度的计算精度,避免了探测结果随地形起伏或无人飞行器飞行速度变化快的问题,使得动力***能够即时调节无人飞行器的飞行高度,从而提高了无人飞行器地形跟随的精确度。
本发明实施例提供一种飞行控制器。图8为本发明实施例提供的飞行控制器的结构图;如图8所示,飞行控制器40包括上述实施例所述的处理器,在本实施例中处理器记为41,处理器41根据所述第一探测值和所述第二探测值进行数据融合时具体用于:根据所述第一探测值,确定第一高度,所述第一高度是所述无人飞行器距离第一地面的垂直高度,所述第一地面在所述第一探测设备的探测方向上;根据所述第二探测值,确定第二高度,所述第二高度是所述无人飞行器距离第二地面的垂直高度,所述第二地面在所述第二探测设备的探测方向上;根据所述第一高度和所述第二高度,进行数据融合。
处理器41根据所述第一探测值,确定第一高度时具体用于:根据当前时刻之前的所述融合高度,确定当前时刻所述第一高度的估计值;根据当前时刻的所述第一探测值,确定当前时刻所述第一高度的测量值;根据当前时刻所述第一高度的估计值以及测量值,确定当前时刻所述第一高度的新息差。
或者,处理器41根据所述第一探测值,确定第一高度时具体用于:根据当前时刻的前一时刻所述第一高度的估计值,确定当前时刻所述第一
高度的估计值;根据当前时刻的所述第一探测值,确定当前时刻所述第一高度的测量值;根据当前时刻所述第一高度的估计值以及测量值,确定当前时刻所述第一高度的新息差。
处理器41根据所述第二探测值,确定第二高度时具体用于:根据当前时刻之前的所述融合高度,确定当前时刻所述第二高度的估计值;根据当前时刻的所述第二探测值,确定当前时刻所述第二高度的测量值;根据当前时刻所述第二高度的估计值以及测量值,确定当前时刻所述第二高度的新息差。
或者,处理器41根据所述第二探测值,确定第二高度时具体用于:根据当前时刻的前一时刻所述第二高度的估计值,确定当前时刻所述第二高度的估计值;根据当前时刻的所述第二探测值,确定当前时刻所述第二高度的测量值;根据当前时刻所述第二高度的估计值以及测量值,确定当前时刻所述第二高度的新息差。
处理器41根据所述第一高度和所述第二高度,进行数据融合时具体用于:根据当前时刻所述第一高度的新息差和当前时刻所述第二高度的新息差,确定所述第一高度的估计值的融合比重、以及所述第二高度的估计值的融合比重;根据所述第一高度的测量值的融合比重、当前时刻所述第一高度的估计值、所述第二高度的估计值的融合比重、当前时刻所述第二高度的估计值,计算当前时刻的融合高度。
另外,飞行控制器40还包括:与所述处理器通讯连接的第一子滤波器42、第二子滤波器43和主滤波器44,第一子滤波器42用于对所述第一探测值进行滤波处理得到所述第一高度的估计值;第二子滤波器43用于对所述第二探测值进行滤波处理得到所述第二高度的估计值;主滤波器44用于对所述第一高度的测量值的融合比重、当前时刻所述第一高度的估计值、所述第二高度的估计值的融合比重、当前时刻所述第二高度的估计值进行融合计算。
另外,在一些实施例中,所述第一子滤波器、所述第二子滤波器和所述主滤波器构成融合反馈模式的联合卡尔曼滤波器。此时,所述当前时刻的前一时刻所述第一高度的估计值为前一时刻的融合高度;所述当前时刻的前一时刻所述第二高度的估计值为前一时刻的融合高度。
本发明实施例提供的飞行控制器的具体原理和实现方式均与图4所示实施例类似,此处不再赘述。
本实施例通过第一子滤波器对所述第一探测值进行滤波处理得到第一高度的估计值以及第一高度的新息差,通过第二子滤波器对所述第二探测值进行滤波处理得到所述第二高度的估计值以及第二高度的新息差,第一子滤波器将第一高度的估计值以及第一高度的新息差发送给主滤波器,第二子滤波器将第二高度的估计值以及第二高度的新息差发送给主滤波器,主滤波器根据第一高度的新息差和第二高度的新息差,确定第一高度的估计值的融合比重、以及第二高度的估计值的融合比重,并对第一高度的测量值的融合比重、当前时刻所述第一高度的估计值、所述第二高度的估计值的融合比重、当前时刻所述第二高度的估计值进行融合计算,得到融合高度,并将融合高度反馈给第一子滤波器和第二子滤波器,以便第一子滤波器和第二子滤波器根据融合高度,确定下一时刻第一高度的估计值和第二高度的估计值,基于所述第一子滤波器、所述第二子滤波器和所述主滤波器构成的融合反馈模式的联合卡尔曼滤波器,提高了第一子滤波器和第二子滤波器的滤波估计精度,进一步提高了融合高度的计算精度。
本发明实施例提供一种飞行控制器。在图8所示实施例提供的技术方案的基础上,处理器41还用于:根据所述无人飞行器距离所述无人飞行器的下方地面的高度,控制所述无人飞行器进行地形跟随。
另外,所述探测设备包括如下至少一种:雷达传感器、超声波传感器、TOF测距传感器、视觉传感器。
此外,所述预设角度为45度角。
本发明实施例提供的飞行控制器的具体原理和实现方式均与图7所示实施例类似,此处不再赘述。
本实施例通过无人飞行器上设置的两个探测设备分别探测无人飞行器距离其正下方地面的高度,以及距离其斜前方地面的距离,根据无人飞行器距离其斜前方地面的距离,确定出无人飞行器距离其斜前方地面的垂直高度,根据无人飞行器距离其正下方地面的高度和无人飞行器距离其斜前方地面的垂直高度,确定出无人飞行器距离其下方地面的高度,即无人
飞行器距离其下方地面的高度不仅与无人飞行器距离其正下方地面的高度有关,还与无人飞行器距离其斜前方地面的垂直高度有关,当地形起伏较大、无人飞行器飞行速度较大或者无人飞行器进行飞防作业时,根据无人飞行器距离其正下方地面的高度和距离其斜前方地面的垂直高度,确定出距离其下方地面的高度,相比于现有技术中一个探测设备的探测高度,提高了无人飞行器距离其下方地面高度的计算精度,避免了探测结果随地形起伏或无人飞行器飞行速度变化快的问题,使得动力***能够即时调节无人飞行器的飞行高度,从而提高了无人飞行器地形跟随的精确度。
本发明实施例提供一种无人飞行器。图9为本发明实施例提供的无人飞行器的结构图,如图9所示,无人飞行器100包括:机身、动力***、第一探测设备22、第二探测设备23和飞行控制器118。所述动力***包括如下至少一种:电机107、螺旋桨106和电子调速器117,动力***安装在所述机身,用于提供飞行动力。第一探测设备22和第二探测设备23安装在所述机身,分别用于测量无人飞行器100距离地面的高度,第一探测设备22的探测方向与无人飞行器100的偏航轴方向成预设角度,第二探测设备23的探测方向沿无人飞行器100的偏航轴方向设置。飞行控制器118与所述动力***通讯连接,用于控制所述无人飞行器飞行;其中,飞行控制器118包括惯性测量单元及陀螺仪。所述惯性测量单元及所述陀螺仪用于检测所述无人机的加速度、俯仰角、横滚角及偏航角等。
另外,如图9所示,无人飞行器100还包括:通信***110、支撑设备102、拍摄设备104,其中,支撑设备102具体可以是云台,通信***110具体可以包括接收机,接收机用于接收地面站112的天线114发送的无线信号,116表示接收机和天线114通信过程中产生的电磁波。
本发明实施例提供的无人飞行器中的飞行控制器的具体原理和实现方式均与上述实施例类似,此处不再赘述。
本实施例通过无人飞行器上设置的两个探测设备分别探测无人飞行器距离其正下方地面的高度,以及距离其斜前方地面的距离,根据无人飞行器距离其斜前方地面的距离,确定出无人飞行器距离其斜前方地面的垂直高度,根据无人飞行器距离其正下方地面的高度和无人飞行器距离其斜
前方地面的垂直高度,确定出无人飞行器距离其下方地面的高度,即无人飞行器距离其下方地面的高度不仅与无人飞行器距离其正下方地面的高度有关,还与无人飞行器距离其斜前方地面的垂直高度有关,当地形起伏较大、无人飞行器飞行速度较大或者无人飞行器进行飞防作业时,根据无人飞行器距离其正下方地面的高度和距离其斜前方地面的垂直高度,确定出距离其下方地面的高度,相比于现有技术中一个探测设备的探测高度,提高了无人飞行器距离其下方地面高度的计算精度,避免了探测结果随地形起伏或无人飞行器飞行速度变化快的问题,使得动力***能够即时调节无人飞行器的飞行高度,从而提高了无人飞行器地形跟随的精确度。
在本发明所提供的几个实施例中,应该理解到,所揭露的装置和方法,可以通过其它的方式实现。例如,以上所描述的装置实施例仅仅是示意性的,例如,所述单元的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个单元或组件可以结合或者可以集成到另一个***,或一些特征可以忽略,或不执行。另一点,所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口,装置或单元的间接耦合或通信连接,可以是电性,机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外,在本发明各个实施例中的各功能单元可以集成在一个处理单元中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现,也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元,可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括:U盘、移动硬盘、只读存储器
(Read-Only Memory,ROM)、随机存取存储器(Random Access Memory,RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到,为描述的方便和简洁,仅以上述各功能模块的划分进行举例说明,实际应用中,可以根据需要而将上述功能分配由不同的功能模块完成,即将装置的内部结构划分成不同的功能模块,以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程,可以参考前述方法实施例中的对应过程,在此不再赘述。
最后应说明的是:以上各实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述各实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分或者全部技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。
Claims (48)
- 一种无人飞行器的控制方法,其特征在于,所述无人飞行器包括第一探测设备和第二探测设备,所述第一探测设备和所述第二探测设备分别用于测量所述无人飞行器距离地面的高度,所述第一探测设备的探测方向与所述无人飞行器的偏航轴方向成预设角度,所述第二探测设备的探测方向沿所述无人飞行器的偏航轴方向设置;所述方法包括:获取所述第一探测设备的第一探测值,以及所述第二探测设备的第二探测值;根据所述第一探测值和所述第二探测值,确定所述无人飞行器距离所述无人飞行器的下方地面的高度。
- 根据权利要求1所述的方法,其特征在于,所述根据所述第一探测值和所述第二探测值,确定所述无人飞行器距离所述无人飞行器的下方地面的高度,包括:根据所述第一探测值和所述第二探测值进行数据融合,得到融合高度,所述融合高度为所述无人飞行器距离所述无人飞行器的下方地面的高度。
- 根据权利要求2所述的方法,其特征在于,所述根据所述第一探测值和所述第二探测值进行数据融合,包括:根据所述第一探测值,确定第一高度,所述第一高度是所述无人飞行器距离第一地面的垂直高度,所述第一地面在所述第一探测设备的探测方向上;根据所述第二探测值,确定第二高度,所述第二高度是所述无人飞行器距离第二地面的垂直高度,所述第二地面在所述第二探测设备的探测方向上;根据所述第一高度和所述第二高度,进行数据融合。
- 根据权利要求3所述的方法,其特征在于,所述根据所述第一探测值,确定第一高度,包括:根据当前时刻之前的所述融合高度,确定当前时刻所述第一高度的估计值;根据当前时刻的所述第一探测值,确定当前时刻所述第一高度的测量值;根据当前时刻所述第一高度的估计值以及测量值,确定当前时刻所述第一高度的新息差。
- 根据权利要求3所述的方法,其特征在于,所述根据所述第一探测值,确定第一高度,包括:根据当前时刻的前一时刻所述第一高度的估计值,确定当前时刻所述第一高度的估计值;根据当前时刻的所述第一探测值,确定当前时刻所述第一高度的测量值;根据当前时刻所述第一高度的估计值以及测量值,确定当前时刻所述第一高度的新息差。
- 根据权利要求3所述的方法,其特征在于,所述根据所述第二探测值,确定第二高度,包括:根据当前时刻之前的所述融合高度,确定当前时刻所述第二高度的估计值;根据当前时刻的所述第二探测值,确定当前时刻所述第二高度的测量值;根据当前时刻所述第二高度的估计值以及测量值,确定当前时刻所述第二高度的新息差。
- 根据权利要求3所述的方法,其特征在于,所述根据所述第二探测值,确定第二高度,包括:根据当前时刻的前一时刻所述第二高度的估计值,确定当前时刻所述第二高度的估计值;根据当前时刻的所述第二探测值,确定当前时刻所述第二高度的测量值;根据当前时刻所述第二高度的估计值以及测量值,确定当前时刻所述第二高度的新息差。
- 根据权利要求4-7任一项所述的方法,其特征在于,所述根据所述第一高度和所述第二高度,进行数据融合,包括:根据当前时刻所述第一高度的新息差和当前时刻所述第二高度的新息差,确定所述第一高度的估计值的融合比重、以及所述第二高度的估计值的融合比重;根据所述第一高度的测量值的融合比重、当前时刻所述第一高度的估计值、所述第二高度的估计值的融合比重、当前时刻所述第二高度的估计值,计算当前时刻的融合高度。
- 根据权利要求5所述的方法,其特征在于,所述第一高度的估计值是采用第一子滤波器对所述第一探测值进行滤波处理得到的。
- 根据权利要求7所述的方法,其特征在于,所述第二高度的估计值是采用第二子滤波器对所述第二探测值进行滤波处理得到的。
- 根据权利要求8所述的方法,其特征在于,所述根据所述第一高度的测量值的融合比重、当前时刻所述第一高度的估计值、所述第二高度的估计值的融合比重、当前时刻所述第二高度的估计值,计算当前时刻的融合高度,包括:采用主滤波器对所述第一高度的测量值的融合比重、当前时刻所述第一高度的估计值、所述第二高度的估计值的融合比重、当前时刻所述第二高度的估计值进行融合计算。
- 根据权利要求9-11任一项所述的方法,其特征在于,所述第一子滤波器、所述第二子滤波器和所述主滤波器构成融合反馈模式的联合卡尔曼滤波器。
- 根据权利要求12所述的方法,其特征在于,所述当前时刻的前一时刻所述第一高度的估计值为前一时刻的融合高度;所述当前时刻的前一时刻所述第二高度的估计值为前一时刻的融合高度。
- 根据权利要求1所述的方法,其特征在于,所述方法还包括:根据所述无人飞行器距离所述无人飞行器的下方地面的高度,进行地形跟随。
- 根据权利要求1所述的方法,其特征在于,所述探测设备包括如下至少一种:雷达传感器、超声波传感器、TOF测距传感器、视觉传感器。
- 根据权利要求1所述的方法,其特征在于,所述预设角度为45度角。
- 一种飞行控制器,其特征在于,包括一个或多个处理器,单独或协同工作,所述处理器用于:获取所述第一探测设备的第一探测值,以及所述第二探测设备的第二探测值;根据所述第一探测值和所述第二探测值,确定所述无人飞行器距离所述无人飞行器的下方地面的高度;其中,所述无人飞行器包括第一探测设备和第二探测设备,所述第一探测设备和所述第二探测设备分别用于测量所述无人飞行器距离地面的高度,所述第一探测设备的探测方向与所述无人飞行器的偏航轴方向成预设角度,所述第二探测设备的探测方向沿所述无人飞行器的偏航轴方向设置。
- 根据权利要求17所述的飞行控制器,其特征在于,所述处理器根据所述第一探测值和所述第二探测值,确定所述无人飞行器距离所述无人飞行器的下方地面的高度时具体用于:根据所述第一探测值和所述第二探测值进行数据融合,得到融合高度,所述融合高度为所述无人飞行器距离所述无人飞行器的下方地面的高度。
- 根据权利要求18所述的飞行控制器,其特征在于,所述处理器根据所述第一探测值和所述第二探测值进行数据融合时具体用于:根据所述第一探测值,确定第一高度,所述第一高度是所述无人飞行器距离第一地面的垂直高度,所述第一地面在所述第一探测设备的探测方向上;根据所述第二探测值,确定第二高度,所述第二高度是所述无人飞行器距离第二地面的垂直高度,所述第二地面在所述第二探测设备的探测方向上;根据所述第一高度和所述第二高度,进行数据融合。
- 根据权利要求19所述的飞行控制器,其特征在于,所述处理器根据所述第一探测值,确定第一高度时具体用于:根据当前时刻之前的所述融合高度,确定当前时刻所述第一高度的估计值;根据当前时刻的所述第一探测值,确定当前时刻所述第一高度的测量值;根据当前时刻所述第一高度的估计值以及测量值,确定当前时刻所述第一高度的新息差。
- 根据权利要求19所述的飞行控制器,其特征在于,所述处理器根据所述第一探测值,确定第一高度时具体用于:根据当前时刻的前一时刻所述第一高度的估计值,确定当前时刻所述第一高度的估计值;根据当前时刻的所述第一探测值,确定当前时刻所述第一高度的测量值;根据当前时刻所述第一高度的估计值以及测量值,确定当前时刻所述第一高度的新息差。
- 根据权利要求19所述的飞行控制器,其特征在于,所述处理器根据所述第二探测值,确定第二高度时具体用于:根据当前时刻之前的所述融合高度,确定当前时刻所述第二高度的估计值;根据当前时刻的所述第二探测值,确定当前时刻所述第二高度的测量值;根据当前时刻所述第二高度的估计值以及测量值,确定当前时刻所述第二高度的新息差。
- 根据权利要求19所述的飞行控制器,其特征在于,所述处理器根据所述第二探测值,确定第二高度时具体用于:根据当前时刻的前一时刻所述第二高度的估计值,确定当前时刻所述第二高度的估计值;根据当前时刻的所述第二探测值,确定当前时刻所述第二高度的测量值;根据当前时刻所述第二高度的估计值以及测量值,确定当前时刻所述第二高度的新息差。
- 根据权利要求20-23任一项所述的飞行控制器,其特征在于,所述处理器根据所述第一高度和所述第二高度,进行数据融合时具体用于:根据当前时刻所述第一高度的新息差和当前时刻所述第二高度的新息差,确定所述第一高度的估计值的融合比重、以及所述第二高度的估计值的融合比重;根据所述第一高度的测量值的融合比重、当前时刻所述第一高度的估计值、所述第二高度的估计值的融合比重、当前时刻所述第二高度的估计值,计算当前时刻的融合高度。
- 根据权利要求21所述的飞行控制器,其特征在于,还包括:与所述处理器通讯连接的第一子滤波器,所述第一子滤波器用于对所述第一探测值进行滤波处理得到所述第一高度的估计值。
- 根据权利要求23所述的飞行控制器,其特征在于,还包括:与所述处理器通讯连接的第二子滤波器,所述第二子滤波器用于对所述第二探测值进行滤波处理得到所述第二高度的估计值。
- 根据权利要求24所述的飞行控制器,其特征在于,还包括:与所述处理器通讯连接的主滤波器,所述主滤波器用于对所述第一高度的测量值的融合比重、当前时刻所述第一高度的估计值、所述第二高度的估计值的融合比重、当前时刻所述第二高度的估计值进行融合计算。
- 根据权利要求25-27任一项所述的飞行控制器,其特征在于,所述第一子滤波器、所述第二子滤波器和所述主滤波器构成融合反馈模式的联合卡尔曼滤波器。
- 根据权利要求28所述的飞行控制器,其特征在于,所述当前时刻的前一时刻所述第一高度的估计值为前一时刻的融合高度;所述当前时刻的前一时刻所述第二高度的估计值为前一时刻的融合高度。
- 根据权利要求17所述的飞行控制器,其特征在于,所述处理器还用于:根据所述无人飞行器距离所述无人飞行器的下方地面的高度,控制所述无人飞行器进行地形跟随。
- 根据权利要求17所述的飞行控制器,其特征在于,所述探测设 备包括如下至少一种:雷达传感器、超声波传感器、TOF测距传感器、视觉传感器。
- 根据权利要求17所述的飞行控制器,其特征在于,所述预设角度为45度角。
- 一种无人飞行器,其特征在于,包括:机身;动力***,安装在所述机身,用于提供飞行动力;第一探测设备和第二探测设备,安装在所述机身,分别用于测量所述无人飞行器距离地面的高度,所述第一探测设备的探测方向与所述无人飞行器的偏航轴方向成预设角度,所述第二探测设备的探测方向沿所述无人飞行器的偏航轴方向设置;飞行控制器,与所述动力***通讯连接,用于控制所述无人飞行器飞行;所述飞行控制器包括一个或多个处理器,所述处理器用于:获取所述第一探测设备的第一探测值,以及所述第二探测设备的第二探测值;根据所述第一探测值和所述第二探测值,确定所述无人飞行器距离所述无人飞行器的下方地面的高度。
- 根据权利要求33所述的无人飞行器,其特征在于,所述处理器根据所述第一探测值和所述第二探测值,确定所述无人飞行器距离所述无人飞行器的下方地面的高度时具体用于:根据所述第一探测值和所述第二探测值进行数据融合,得到融合高度,所述融合高度为所述无人飞行器距离所述无人飞行器的下方地面的高度。
- 根据权利要求34所述的无人飞行器,其特征在于,所述处理器根据所述第一探测值和所述第二探测值进行数据融合时具体用于:根据所述第一探测值,确定第一高度,所述第一高度是所述无人飞行器距离第一地面的垂直高度,所述第一地面在所述第一探测设备的探测方向上;根据所述第二探测值,确定第二高度,所述第二高度是所述无人飞行器距离第二地面的垂直高度,所述第二地面在所述第二探测设备的探测方 向上;根据所述第一高度和所述第二高度,进行数据融合。
- 根据权利要求35所述的无人飞行器,其特征在于,所述处理器根据所述第一探测值,确定第一高度时具体用于:根据当前时刻之前的所述融合高度,确定当前时刻所述第一高度的估计值;根据当前时刻的所述第一探测值,确定当前时刻所述第一高度的测量值;根据当前时刻所述第一高度的估计值以及测量值,确定当前时刻所述第一高度的新息差。
- 根据权利要求35所述的无人飞行器,其特征在于,所述处理器根据所述第一探测值,确定第一高度时具体用于:根据当前时刻的前一时刻所述第一高度的估计值,确定当前时刻所述第一高度的估计值;根据当前时刻的所述第一探测值,确定当前时刻所述第一高度的测量值;根据当前时刻所述第一高度的估计值以及测量值,确定当前时刻所述第一高度的新息差。
- 根据权利要求35所述的无人飞行器,其特征在于,所述处理器根据所述第二探测值,确定第二高度时具体用于:根据当前时刻之前的所述融合高度,确定当前时刻所述第二高度的估计值;根据当前时刻的所述第二探测值,确定当前时刻所述第二高度的测量值;根据当前时刻所述第二高度的估计值以及测量值,确定当前时刻所述第二高度的新息差。
- 根据权利要求35所述的无人飞行器,其特征在于,所述处理器根据所述第二探测值,确定第二高度时具体用于:根据当前时刻的前一时刻所述第二高度的估计值,确定当前时刻所述第二高度的估计值;根据当前时刻的所述第二探测值,确定当前时刻所述第二高度的测量值;根据当前时刻所述第二高度的估计值以及测量值,确定当前时刻所述第二高度的新息差。
- 根据权利要求36-39任一项所述的无人飞行器,其特征在于,所述处理器根据所述第一高度和所述第二高度,进行数据融合时具体用于:根据当前时刻所述第一高度的新息差和当前时刻所述第二高度的新息差,确定所述第一高度的估计值的融合比重、以及所述第二高度的估计值的融合比重;根据所述第一高度的测量值的融合比重、当前时刻所述第一高度的估计值、所述第二高度的估计值的融合比重、当前时刻所述第二高度的估计值,计算当前时刻的融合高度。
- 根据权利要求37所述的无人飞行器,其特征在于,所述飞行控制器还包括:与所述处理器通讯连接的第一子滤波器,所述第一子滤波器用于对所述第一探测值进行滤波处理得到所述第一高度的估计值。
- 根据权利要求39所述的无人飞行器,其特征在于,所述飞行控制器还包括:与所述处理器通讯连接的第二子滤波器,所述第二子滤波器用于对所述第二探测值进行滤波处理得到所述第二高度的估计值。
- 根据权利要求40所述的无人飞行器,其特征在于,所述飞行控制器还包括:与所述处理器通讯连接的主滤波器,所述主滤波器用于对所述第一高度的测量值的融合比重、当前时刻所述第一高度的估计值、所述第二高度的估计值的融合比重、当前时刻所述第二高度的估计值进行融合计算。
- 根据权利要求41-43任一项所述的无人飞行器,其特征在于,所述第一子滤波器、所述第二子滤波器和所述主滤波器构成融合反馈模式的联合卡尔曼滤波器。
- 根据权利要求44所述的无人飞行器,其特征在于,所述当前时刻的前一时刻所述第一高度的估计值为前一时刻的融合高度;所述当前时刻的前一时刻所述第二高度的估计值为前一时刻的融合高度。
- 根据权利要求33所述的无人飞行器,其特征在于,所述处理器还用于:根据所述无人飞行器距离所述无人飞行器的下方地面的高度,控制所述无人飞行器进行地形跟随。
- 根据权利要求33所述的无人飞行器,其特征在于,所述探测设备包括如下至少一种:雷达传感器、超声波传感器、TOF测距传感器、视觉传感器。
- 根据权利要求33所述的无人飞行器,其特征在于,所述预设角度为45度角。
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CN109828274B (zh) * | 2019-01-07 | 2022-03-04 | 深圳市道通智能航空技术股份有限公司 | 调整机载雷达的主探测方向的方法、装置和无人机 |
CN109916394A (zh) * | 2019-04-04 | 2019-06-21 | 山东智翼航空科技有限公司 | 一种融合光流位置和速度信息的组合导航算法 |
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