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CN119590617A - UAV fixed-point delivery device and operation method - Google Patents

UAV fixed-point delivery device and operation method Download PDF

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Publication number
CN119590617A
CN119590617A CN202411756309.3A CN202411756309A CN119590617A CN 119590617 A CN119590617 A CN 119590617A CN 202411756309 A CN202411756309 A CN 202411756309A CN 119590617 A CN119590617 A CN 119590617A
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Prior art keywords
unmanned aerial
aerial vehicle
data
attitude
delivery
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CN202411756309.3A
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CN119590617B (en
Inventor
李琳琳
王呈呈
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Suzhou College Of Information Technology
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Suzhou College Of Information Technology
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    • 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
    • B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
    • B64D1/02—Dropping, ejecting, or releasing articles
    • B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
    • B64D1/12—Releasing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • 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
    • G05D1/40—Control within particular dimensions
    • G05D1/46—Control of position or course in three dimensions
    • 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
    • G05D1/40—Control within particular dimensions
    • G05D1/49—Control of attitude, i.e. control of roll, pitch or yaw
    • 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
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • 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
    • G05D1/60—Intended control result
    • G05D1/65—Following a desired speed profile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/55—UAVs specially adapted for particular uses or applications for life-saving or rescue operations; for medical use
    • B64U2101/57—UAVs specially adapted for particular uses or applications for life-saving or rescue operations; for medical use for bringing emergency supplies to persons or animals in danger, e.g. ropes or life vests
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B64U2101/69—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons the UAVs provided with means for airdropping goods, e.g. deploying a parachute during descent
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2101/00—Details of software or hardware architectures used for the control of position
    • G05D2101/10—Details of software or hardware architectures used for the control of position using artificial intelligence [AI] techniques
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/20—Aircraft, e.g. drones

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)

Abstract

The invention relates to the technical field of intelligent unmanned aerial vehicles, in particular to an unmanned aerial vehicle fixed-point throwing device and an operation method; technical problems: the unmanned aerial vehicle fixed-point throwing device in the prior art is insufficient in gesture pre-adjustment, inaccurate in throwing control and imperfect in gesture feedback and adjustment mechanism; the technical scheme is as follows: the unmanned aerial vehicle fixed-point throwing device comprises an unmanned aerial vehicle rack, an integrated sensor module, a signal transmission module, a bracket and a throwing assembly; according to the unmanned aerial vehicle attitude control system, the attitude of the unmanned aerial vehicle is accurately pre-adjusted through the ground control station, so that the unmanned aerial vehicle is guaranteed to be in an optimal stable state before being put in, the opening and closing time and the opening and closing force of the electric telescopic rod and the electromagnetic block are dynamically adjusted according to the real-time position and the attitude data of the unmanned aerial vehicle, the accuracy and the reliability of the put in are improved, when the unmanned aerial vehicle has attitude deviation, the deviation can be corrected through an attitude feedback and adjustment mechanism, and the unmanned aerial vehicle can be guaranteed to stably continue flying and finish a subsequent put-in task.

Description

Unmanned aerial vehicle fixed-point throwing device and operation method
Technical Field
The invention relates to the technical field of intelligent unmanned aerial vehicles, in particular to an unmanned aerial vehicle fixed-point throwing device and an operation method.
Background
The unmanned aerial vehicle fixed-point delivery device has wide application prospects in various fields such as agricultural sowing, emergency rescue material delivery, environment monitoring and the like, the traditional unmanned aerial vehicle fixed-point delivery technology mainly depends on the operation experience of a fly and a self-contained navigation system of the unmanned aerial vehicle, but in practical application, a series of challenges still exist, particularly in a delivery task with complex environment or high precision requirements, the attitude control, the delivery precision and the stability of the unmanned aerial vehicle in the delivery process become key technical problems, and the specific problems include:
1. In the prior art, although a part of unmanned aerial vehicles can perform basic attitude calibration before taking off, the unmanned aerial vehicles often lack accurate pre-adjustment aiming at specific delivery tasks, which causes that the unmanned aerial vehicles possibly do not reach an optimal stable state before delivery, thereby influencing the delivery precision and the stability of the unmanned aerial vehicles, the adjustment of pitch angle, roll angle and yaw angle usually depends on the experience judgment of operators, and an automatic and accurate adjustment means is lacking, so that the unmanned aerial vehicles are difficult to accurately point to a delivery target;
2. The throwing control is inaccurate, when the unmanned aerial vehicle approaches a throwing point, the throwing control in the prior art often depends on simple switch control or timing control, and lacks the capability of dynamic adjustment according to the real-time position and the gesture of the unmanned aerial vehicle, so that a throwing object is easily deviated from a preset position to influence the throwing effect;
3. The gesture feedback and adjustment mechanism is imperfect, in the process of throwing, gesture change monitoring of the unmanned aerial vehicle generally depends on single sensor data, and lacks the capabilities of multi-sensor fusion and real-time data analysis;
Therefore, to the above-mentioned problem, the present invention provides a unmanned aerial vehicle fixed point throwing device and operation method, carry out accurate preset to unmanned aerial vehicle's gesture through ground control station, ensure that unmanned aerial vehicle is in best steady state before throwing, according to unmanned aerial vehicle real-time position and gesture data, the time and the dynamics of opening and shutting of dynamic adjustment electric telescopic link and electromagnetism piece, improve the accuracy and the reliability of throwing, when unmanned aerial vehicle appears the gesture deviation, can correct the deviation through gesture feedback and adjustment mechanism, ensure that unmanned aerial vehicle can continue flight steadily and accomplish subsequent throwing task.
Disclosure of Invention
The unmanned aerial vehicle fixed point delivery device aims at solving the problems of insufficient gesture pre-adjustment, inaccurate delivery control and imperfect gesture feedback and adjustment mechanism of the unmanned aerial vehicle fixed point delivery device in the prior art.
The unmanned aerial vehicle fixed-point throwing device comprises an unmanned aerial vehicle frame, an integrated sensor module, a signal transmission module, a support and a throwing assembly, wherein the integrated sensor module is arranged above the unmanned aerial vehicle frame, the signal transmission module is arranged above the unmanned aerial vehicle frame, the support is arranged below the unmanned aerial vehicle frame, the throwing assembly comprises an electric telescopic rod, an electromagnetic block, a metal connecting block and a hanging ring, the electric telescopic rod is arranged below the unmanned aerial vehicle frame, one end of the electric telescopic rod is provided with the electromagnetic block, the metal connecting block is arranged below the electromagnetic block, and the hanging ring is arranged below the metal connecting block.
Preferably, the integrated sensor module is used for measuring and describing the gesture and the course of the unmanned aerial vehicle in real time, providing fine navigation information for fixed-point delivery, the signal transmission module is used for transmitting data command signals between the unmanned aerial vehicle and a ground control station, supporting the unmanned aerial vehicle when the unmanned aerial vehicle rises and falls through the support, a delivered object needing to be delivered can be arranged through the hanging ring, the electric telescopic rod receives a control command, the electric telescopic rod receives the delivered object to stretch according to the calculated stretching quantity, the delivered object is moved to a delivery position, and when the delivered object reaches the preset delivery position, an activation command is sent to the electromagnetic block, so that magnetism is instantaneously lost, the metal connecting block is released, and the delivered object is released.
The integrated sensor module comprises a gyroscope, an accelerometer and a magnetometer, wherein the gyroscope is used for measuring angular speeds of the unmanned aerial vehicle around three main shafts, namely a rolling shaft, a pitching shaft and a yaw shaft of the unmanned aerial vehicle in real time, so that attitude angle change information of the unmanned aerial vehicle is provided, the accelerometer is used for measuring linear acceleration of the unmanned aerial vehicle in three axial directions, namely front-back, left-right and up-down, and components of gravity acceleration in a coordinate system of the unmanned aerial vehicle, the magnetometer is used for measuring three components of a geomagnetic field in the coordinate system of the unmanned aerial vehicle, a heading angle, namely a yaw angle, of the unmanned aerial vehicle is determined, and the magnetometer is combined with data of the gyroscope and the accelerometer and used for describing the attitude and the heading of the unmanned aerial vehicle, so that fine navigation information is provided for fixed point delivery.
Preferably, the signal transmission module is configured above the unmanned aerial vehicle frame and is electrically connected with the integrated sensor module and the throwing component, and the signal transmission module comprises:
a data receiving unit for receiving real-time data from the integrated sensor module, including, but not limited to, angular velocity data measured by a gyroscope, linear acceleration and gravitational acceleration data measured by an accelerometer, and geomagnetic field data measured by a magnetometer;
the data processing unit is connected to the data receiving unit and is used for preprocessing the received data, including but not limited to data verification, format conversion and preliminary filtering, so as to ensure the accuracy and reliability of the data;
The wireless communication sub-module is connected with the data processing unit and is used for encoding the preprocessed data and the instructions from the control center, transmitting the encoded data and the instructions to the ground control station in a wireless mode, and receiving the control instructions and the parameter adjustment information from the ground control station;
The control instruction decoding unit is connected to the wireless communication sub-module and used for decoding the received control instruction and converting the control instruction into an operation signal executable by the throwing component, wherein the operation signal comprises starting/stopping the electric telescopic rod and activating/closing the electromagnetic block;
the state feedback unit is used for monitoring the working state of the signal transmission module, including the quality of a communication link, the electric quantity of a battery and the data transmission rate, and feeding back the state information to the ground control station through the wireless communication submodule.
An unmanned aerial vehicle fixed point delivery device operation method comprises the following steps:
S1, inputting accurate position information of a throwing target by a ground control station;
s2, the unmanned aerial vehicle acquires current gesture data through an integrated sensor, and a ground control station calculates a pre-delivery gesture to be adjusted by the unmanned aerial vehicle according to target information and the current gesture data;
S3, the unmanned aerial vehicle adjusts the pitch angle, the roll angle and the yaw angle of the unmanned aerial vehicle according to the calculated adjustment quantity by a backstepping control method until reaching a preset posture;
S4, the unmanned aerial vehicle flies towards the delivery point according to a preset route and real-time navigation information, the distance between the unmanned aerial vehicle and the delivery point is monitored in real time through a GPS, and when the unmanned aerial vehicle approaches the delivery point, the unmanned aerial vehicle is gradually decelerated and hovered at a preset height to prepare for delivery;
S5, carrying out throwing preparation, confirming that the throwing object is correctly loaded in the throwing device, enabling the electric telescopic rod and the electromagnetic block to be in a standby state, and controlling the electric telescopic rod to stretch and the electromagnetic block to open and close according to the accurate position of the throwing point so as to throw the throwing object;
S6, continuously monitoring the self posture change of the unmanned aerial vehicle in real time through a posture sensor during and after the throwing, and receiving sensor data by a control system to analyze whether posture deviation exists or not, if the posture deviation is found, immediately starting a posture feedback and adjustment mechanism, and rapidly adjusting the posture of the unmanned aerial vehicle through a backstepping control method to ensure stable flight;
s7, according to the requirement of the throwing task, the unmanned aerial vehicle carries out the next throwing or returns to the flying spot;
S8, the ground control station records and analyzes data of the whole throwing process, including the posture adjustment effect and the throwing precision, and controls the unmanned aerial vehicle to return to a flying spot or designate a recovery area according to a mission plan;
and S9, closing each system of the unmanned aerial vehicle, disconnecting the unmanned aerial vehicle from the ground control station, and completing the throwing task.
Preferably, in the step S2, the unmanned aerial vehicle acquires current gesture data through the integrated sensor, and the ground control station calculates a pre-delivery gesture to which the unmanned aerial vehicle needs to be adjusted according to the target information and the current gesture data, and the specific steps are as follows:
S201, measuring and transmitting current attitude data to a ground control station in real time by an integrated sensor on the unmanned aerial vehicle, wherein the current attitude data comprises a roll angle, a pitch angle, a yaw angle, linear acceleration and angular velocity information;
S202, a ground control station receives and stores the data, and simultaneously obtains the position information of a delivery target, including longitude, latitude, altitude, delivery direction and angle;
S203, the ground control station converts the geographic coordinate system into an unmanned aerial vehicle body coordinate system to convert the position information of the put-in target into relative position and direction vectors under the unmanned aerial vehicle coordinate system;
S204, calculating the relative distance and the azimuth of the unmanned aerial vehicle to the put target according to the current position of the unmanned aerial vehicle provided by the GPS.
Preferably, in the steps S203-S204, the ground control station converts the geographic coordinate system into the unmanned aerial vehicle body coordinate system to convert the position information of the putting target into the relative position and direction vector under the unmanned aerial vehicle coordinate system, and calculates the relative distance and direction from the unmanned aerial vehicle to the putting target according to the current position of the unmanned aerial vehicle provided by the GPS, and the specific steps are as follows:
S2031, converting position information, namely converting geographic coordinates (longitude, latitude and altitude) of a putting target into coordinates (X, Y and Z) in a rectangular coordinate system with the center of the earth as an origin;
S2032, calculating a rotation matrix from a geographic coordinate system to a body coordinate system of the unmanned aerial vehicle according to the current attitude (roll angle, pitch angle, yaw angle) of the unmanned aerial vehicle, wherein the rotation matrix is used for describing the attitude of the unmanned aerial vehicle relative to the geographic coordinate system;
S2033, converting coordinates of the put-in target in the geographic coordinate system into relative position and direction vectors in the unmanned aerial vehicle body coordinate system by using a rotation matrix, wherein the specific formula is as follows:
wherein R is a rotation matrix, (X, Y, Z) is the coordinates of the put-in target in a geographic coordinate system, and (X ', Y ', Z ') is the coordinates in the transformed unmanned aerial vehicle body coordinate system;
s2041, calculating a linear distance between the current position of the unmanned aerial vehicle and the delivery target position by using a distance formula in a three-dimensional space, wherein the calculation formula is as follows:
Wherein, (X d,Yd,Zd) is the coordinate of the unmanned aerial vehicle in the geographic coordinate system, (X t,Yt,Zt) is the coordinate of the put-in target in the geographic coordinate system, and d is the linear distance between the two;
S2042, calculating an azimuth angle between the current position of the unmanned aerial vehicle and the delivery target position by using an arctangent function, namely an angle at which the unmanned aerial vehicle needs to turn to aim at the target, wherein the formula is as follows:
wherein θ is azimuth, (X d,Yd) is the coordinates of the drone in the geographic coordinate system, and (X t,Yt) is the coordinates of the launch target in the geographic coordinate system;
s2043, calculating a required pitch angle adjustment amount according to a height difference (Z t-Zd) of a throwing target and a horizontal distance d xy between the unmanned aerial vehicle and the target, wherein the calculation formula is as follows:
Wherein delta phi is the pitch angle adjustment quantity, phi current is the current pitch angle of the unmanned aerial vehicle;
s2044, calculating a required roll angle adjustment amount, wherein a calculation formula is as follows:
Δψ=ψtarget-ψcurrent;
Wherein Δψ is the roll angle adjustment amount, ψ target is the target roll angle, ψ current is the current roll angle of the unmanned aerial vehicle;
S2045, according to the azimuth angle theta of the target and the current yaw angle/yaw current of the unmanned aerial vehicle, calculating the yaw angle adjustment quantity required to be turned by the unmanned aerial vehicle, wherein the calculation formula is as follows:
Δ\yaw=θ-\yawcurrent;
where Δ\yaw is the yaw angle adjustment amount.
Preferably, in the step S3, the unmanned aerial vehicle adjusts the pitch angle, the roll angle and the yaw angle of the unmanned aerial vehicle according to the calculated adjustment amount by a backstepping control method until reaching a predetermined posture, the unmanned aerial vehicle maintains the predetermined posture for a period of time, and the stability is verified by sensor data, so that the unmanned aerial vehicle is in a stable state before being put in, and the specific steps are as follows:
S301, inputting target values of a pitch angle, a roll angle and a yaw angle (respectively marked as theta target,φtarget,ψtarget) of a preset gesture, and actual values of the pitch angle, the roll angle and the yaw angle (respectively marked as theta current,φcurrent,ψcurrent) of a current gesture;
S302, setting a control period T, a gesture adjustment threshold epsilon, wherein the gesture adjustment threshold is used for judging whether a preset gesture is reached or not, and the stability verification time T stable;
S303, calculating an attitude error, including:
Calculating pitch angle error, wherein a calculation formula is e θ＝θtarget-θcurrent;
calculating a roll angle error, wherein a calculation formula is e φ＝φtarget-φcurrent;
Calculating yaw angle error, and the calculation formula is e ψ＝ψtarget-ψcurrent;
S304, a PID control algorithm can be adopted to design a control law u θ so that the pitch angle error e θ approaches 0, and the calculation formula is as follows:
uθ＝Kpθ*eθ+Kiθ*∫eθdt+Kdθ*deθ/dt;
S305, adopting a PID control algorithm to design a control law u φ so that the roll angle error e φ is close to 0, and adopting a PID control algorithm to design a control law u ψ so that the yaw angle error e ψ is close to 0;
S306, converting the control law u θ,uφ,uψ into a control signal of an unmanned aerial vehicle actuator, transmitting the control signal to the unmanned aerial vehicle, and adjusting the pitch angle, the roll angle and the yaw angle of the unmanned aerial vehicle according to the received control signal;
S307, in each control period T, acquiring current gesture data of the unmanned aerial vehicle through an integrated sensor module, and updating theta current,φcurrent,ψcurrent;
S308, judging whether the preset gesture is reached, if yes, judging that the unmanned aerial vehicle reaches the preset gesture, otherwise, returning to the step S304 to continue adjustment;
s309, keeping the attitude T stable for a time after the unmanned aerial vehicle reaches a preset attitude, continuously monitoring the attitude data of the unmanned aerial vehicle during the time to ensure that the attitude error is kept within a threshold epsilon, and considering the unmanned aerial vehicle to be in a stable state if the attitude error is always smaller than epsilon in the time T stable;
And S310, outputting a result that the unmanned aerial vehicle has reached a preset gesture and keeps a stable state.
Preferably, in the step S4, the unmanned aerial vehicle flies to the delivery point according to a preset route and real-time navigation information, the distance between the unmanned aerial vehicle and the delivery point is monitored in real time through a GPS, and when the unmanned aerial vehicle approaches the delivery point, the unmanned aerial vehicle gradually decelerates and hovers at a predetermined height, and is ready for delivery, and the specific steps are as follows:
s401, a ground control station loads preset route data into a flight control system of an unmanned aerial vehicle, wherein the flight control system comprises longitude and latitude coordinate points, altitude information and flight speed;
S402, starting a GPS to acquire current position information of the unmanned aerial vehicle in real time after the unmanned aerial vehicle takes off;
s403, the unmanned aerial vehicle calculates the shortest path or the optimal path through Dijkstra navigation algorithm according to the preset route and the real-time GPS position information, calculates the flight direction and the speed adjustment quantity according to the current position and the position of the target point, calculates the next target point to be flown currently, and adjusts the flight direction of the unmanned aerial vehicle;
S404, continuously monitoring the real-time distance between the unmanned aerial vehicle and the delivery point through a GPS in the flight process, wherein the method specifically comprises the following steps:
inputting real-time position data and drop point position data of the unmanned aerial vehicle;
Calculating the linear distance between two points and calculating the actual distance according to longitude and latitude;
outputting the real-time distance between the unmanned aerial vehicle and the delivery point;
S405, when the distance between the unmanned aerial vehicle and the delivery point is smaller than a preset threshold value, calculating a deceleration rate according to the distance and the speed relation, and when the predetermined height is reached, outputting a deceleration instruction and a hovering instruction to the unmanned aerial vehicle so as to control the unmanned aerial vehicle to hover;
S406, gradually decelerating the unmanned aerial vehicle and preparing to hover at a preset height;
S407, hovering the unmanned aerial vehicle at a preset height to ensure position stability, preparing for delivery, monitoring the position stability of the unmanned aerial vehicle, ensuring hovering at the preset height for a period of time to verify stability, and outputting a delivery preparation completion signal after stability verification is completed.
Preferably, in the step S5, a preparation for delivery is performed, it is confirmed that the delivered object is correctly loaded in the delivery device, the electric telescopic rod and the electromagnetic block are in a standby state, and according to the accurate position of the delivery point, the delivery of the delivered object is realized by controlling the expansion and contraction of the electric telescopic rod and the opening and closing of the electromagnetic block, and the specific steps are as follows:
s501, confirming the loading state of the put object, which specifically comprises the following steps:
Inputting loading conditions of the throwing device;
the processing is that whether the put-in object is correctly and firmly loaded on the put-in component is confirmed through the sensor data in the put-in device;
outputting a loading state confirmation result;
s502, checking states of the electric telescopic rod and the electromagnetic block, wherein the method specifically comprises the following steps:
Inputting an electric telescopic rod state and an electromagnetic block state;
The method comprises the steps of sending a query instruction through a signal transmission module to obtain whether the electric telescopic rod is at an initial position or not and whether the electromagnetic block is in an inactive (i.e. closed) state or not;
outputting the confirmation result of the electric telescopic rod and the electromagnetic block state;
s503, calculating the accurate position of the delivery point, which specifically comprises the following steps:
Inputting GPS data and presetting dispensing point coordinates;
Combining GPS position information of the current unmanned aerial vehicle with preset dispensing point coordinates, and calculating the accurate relative position of the unmanned aerial vehicle relative to the dispensing point through a geographic coordinate conversion algorithm;
Outputting accurate relative position data of the delivery point;
S504, formulating a release strategy, which specifically comprises the following steps:
Inputting the accurate position of the delivery point and the current gesture of the unmanned aerial vehicle;
and (3) according to the position information of the delivery point, the current posture (pitch angle, roll angle and yaw angle) of the unmanned aerial vehicle and the characteristics (weight and shape) of the delivered object, a delivery strategy is formulated, wherein the delivery strategy comprises the telescopic length of the electric telescopic rod and the opening and closing time of the electromagnetic block.
Outputting throwing strategy parameters, including the expansion amount of the electric telescopic rod and the opening and closing time of the electromagnetic block;
s505, executing a throwing action, which specifically comprises the following steps:
Inputting a putting strategy parameter;
The method comprises the steps of processing, namely sending a control instruction to an electric telescopic rod to enable the electric telescopic rod to stretch according to the calculated stretching amount, and moving a put object to a put position;
and outputting a throwing action execution result and state data (the telescopic condition of the electric telescopic rod and the opening and closing state of the electromagnetic block) in the throwing process.
Preferably, in the step S6, during and after the throwing, the unmanned aerial vehicle continuously monitors its own attitude change in real time through the attitude sensor, the control system receives sensor data, analyzes whether there is an attitude deviation, if the attitude deviation is found, immediately starts an attitude feedback and adjustment mechanism, and rapidly adjusts the attitude of the unmanned aerial vehicle through a backstepping control method to ensure stable flight, and specifically comprises the following steps:
s601, real-time monitoring of attitude data, which specifically comprises:
Inputting rolling angle, pitch angle and yaw angle data measured in real time by an attitude sensor;
the control system receives data from the attitude sensor at a fixed frequency;
outputting the rolling angle, pitch angle and yaw angle values updated in real time;
s602, detecting attitude deviation, which specifically comprises the following steps:
inputting real-time measured gesture data and a preset stable gesture threshold;
Comparing the real-time measured gesture data with a preset stable gesture range, and judging whether deviation exists or not;
outputting an attitude deviation detection result, wherein the attitude deviation detection result comprises a deviation size and a deviation direction;
s603, judging a deviation threshold, wherein the judgment method specifically comprises the following steps:
inputting a gesture deviation detection result;
setting a deviation threshold, and triggering an adjustment mechanism if the gesture deviation exceeds the threshold;
and outputting a decision signal of whether the gesture of the unmanned aerial vehicle needs to be adjusted. ;
s604, starting a gesture feedback and adjustment mechanism, which specifically comprises the following steps:
Inputting a decision signal for adjusting the attitude of the unmanned aerial vehicle;
when the decision signal is yes, starting a gesture feedback and adjustment mechanism to prepare for gesture adjustment;
Outputting a signal for starting an adjustment mechanism and initial adjustment parameters;
s605, calculating an attitude adjustment amount, specifically comprising:
Inputting attitude data measured in real time and a preset attitude target value;
Calculating adjustment amounts required for reaching a preset posture, including adjustment amounts of a roll angle, a pitch angle and a yaw angle by adopting a PID control algorithm and a backstepping control algorithm in the step S3;
outputting attitude adjustment quantity including rolling angle adjustment quantity, pitch angle adjustment quantity and yaw angle adjustment quantity;
S606, executing posture adjustment, wherein the posture adjustment method specifically comprises the following steps:
inputting attitude adjustment quantity;
Converting the calculated attitude adjustment quantity into a control signal of an unmanned aerial vehicle actuator, such as a motor rotation speed adjustment signal or a steering engine control signal;
outputting an actuator control signal to drive the unmanned aerial vehicle to adjust the gesture;
s607, monitoring the adjusting effect, which specifically comprises the following steps:
inputting attitude sensor data after the execution of the actuator control signal;
Monitoring attitude data of the unmanned aerial vehicle again, and evaluating an adjustment effect;
Outputting the adjusted posture data and the effect evaluation result;
s608, circularly adjusting until stable, wherein the method specifically comprises the following steps:
Inputting the adjusted posture data and the effect evaluation result;
if the gesture does not reach the stable state, repeating the steps S602 to S607 until the gesture of the unmanned aerial vehicle is stable within the preset range;
outputting a state signal of stable flight of the unmanned aerial vehicle;
s609, recording and feeding back an adjustment process, which specifically comprises the following steps:
Inputting attitude data, adjustment quantity and actuator control signals in the whole adjustment process;
Recording and storing the data;
And outputting the adjustment process record data for analysis and use by the ground control station and the research personnel.
The invention has the beneficial effects that:
1. Compared with the problem of insufficient pre-adjustment of the attitude of the fixed-point unmanned aerial vehicle throwing device in the prior art, the unmanned aerial vehicle throwing device accurately pre-adjusts the attitude of the unmanned aerial vehicle through the ground control station to ensure that the unmanned aerial vehicle is in an optimal stable state before throwing;
2. compared with the problem of inaccurate throwing control of the unmanned aerial vehicle fixed-point throwing device in the prior art, the automatic throwing control device adopts a control algorithm to dynamically adjust the opening and closing time and the opening and closing force of the electric telescopic rod and the electromagnetic block according to the real-time position and the gesture data of the unmanned aerial vehicle, and ensures that a throwing object can accurately reach a preset position through an accurate control instruction and a real-time feedback mechanism, thereby improving the throwing accuracy and reliability;
3. compared with the problem that the attitude feedback and adjustment mechanism of the unmanned aerial vehicle fixed-point throwing device under the prior art are imperfect, multiple sensor data are integrated, multi-sensor fusion and real-time data analysis are achieved, accuracy and reliability of attitude monitoring are improved, a backstepping control algorithm is adopted to control the attitude angle and the angular speed of the unmanned aerial vehicle, stability of the unmanned aerial vehicle in the throwing process is guaranteed, when the unmanned aerial vehicle has attitude deviation, a control system can start the attitude feedback and adjustment mechanism, deviation is corrected rapidly, and the unmanned aerial vehicle can continue to fly stably and finish subsequent throwing tasks.
Drawings
Fig. 1 shows a schematic view of a first perspective construction of a fixed-point delivery device of an unmanned aerial vehicle according to the present invention;
Fig. 2 shows a schematic view of a second perspective construction of the unmanned aerial vehicle fixed-point delivery device of the present invention;
FIG. 3 is a schematic flow chart showing the steps of the method for operating the unmanned aerial vehicle fixed-point delivery device of the present invention;
the reference numerals indicate that 1, unmanned aerial vehicle frame, 2, integrated sensor module, 3, signal transmission module, 4, support, 501, electric telescopic rod, 502, electromagnetic block, 503, metal connecting block, 504, link.
Detailed Description
The invention is further described below with reference to the drawings and examples.
Referring to fig. 1-3, the invention provides an embodiment of an unmanned aerial vehicle fixed-point throwing device, which comprises an unmanned aerial vehicle frame 1, an integrated sensor module 2, a signal transmission module 3, a support 4 and a throwing component, wherein the integrated sensor module 2 is arranged above the unmanned aerial vehicle frame 1, the signal transmission module 3 is arranged above the unmanned aerial vehicle frame 1, the support 4 is arranged below the unmanned aerial vehicle frame 1, the throwing component comprises an electric telescopic rod 501, an electromagnetic block 502, a metal connecting block 503 and a hanging ring 504, the electric telescopic rod 501 is arranged below the unmanned aerial vehicle frame 1, an electromagnetic block 502 is arranged at one end of the electric telescopic rod 501, the metal connecting block 503 is arranged below the electromagnetic block 502, and the hanging ring 504 is arranged below the metal connecting block 503.
Preferably, the integrated sensor module 2 comprises a gyroscope, an accelerometer and a magnetometer, wherein the gyroscope is used for measuring angular speeds of the unmanned aerial vehicle around three main shafts, namely a rolling shaft, a pitching shaft and a yaw shaft of the unmanned aerial vehicle in real time, so that attitude angle change information of the unmanned aerial vehicle is provided, the accelerometer is used for measuring linear acceleration of the unmanned aerial vehicle in three axial directions, namely front-back, left-right and up-down, and components of gravity acceleration in a coordinate system of the unmanned aerial vehicle, the magnetometer is used for measuring three components of a geomagnetic field in the coordinate system of the unmanned aerial vehicle, so that a heading angle, namely a yaw angle, of the unmanned aerial vehicle is determined, and the magnetometer is combined with data of the gyroscope and the accelerometer and used for describing the attitude and heading of the unmanned aerial vehicle, so that fine navigation information is provided for fixed-point delivery.
Preferably, the signal transmission module 3 is disposed above the unmanned aerial vehicle frame 1 and electrically connected with the integrated sensor module 2 and the delivering component, and the signal transmission module 3 includes:
a data receiving unit for receiving real-time data from the integrated sensor module 2, including, but not limited to, angular velocity data measured by a gyroscope, linear acceleration and gravitational acceleration data measured by an accelerometer, and geomagnetic field data measured by a magnetometer;
the data processing unit is connected to the data receiving unit and is used for preprocessing the received data, including but not limited to data verification, format conversion and preliminary filtering, so as to ensure the accuracy and reliability of the data;
The wireless communication sub-module is connected with the data processing unit and is used for encoding the preprocessed data and the instructions from the control center, transmitting the encoded data and the instructions to the ground control station in a wireless mode, and receiving the control instructions and the parameter adjustment information from the ground control station;
The control instruction decoding unit is connected to the wireless communication sub-module and is used for decoding the received control instruction and converting the control instruction into an operation signal executable by the throwing component, and the operation signal comprises a starting/stopping electric telescopic rod 501 and an activating/closing electromagnetic block 502;
The state feedback unit is used for monitoring the working state of the signal transmission module 3, including the quality of a communication link, the electric quantity of a battery and the data transmission rate, and feeding back the state information to the ground control station through the wireless communication submodule.
An unmanned aerial vehicle fixed point delivery device operation method comprises the following steps:
S1, inputting accurate position information of a throwing target by a ground control station;
s2, the unmanned aerial vehicle acquires current gesture data through an integrated sensor, and a ground control station calculates a pre-delivery gesture to be adjusted by the unmanned aerial vehicle according to target information and the current gesture data;
S3, the unmanned aerial vehicle adjusts the pitch angle, the roll angle and the yaw angle of the unmanned aerial vehicle according to the calculated adjustment quantity by a backstepping control method until reaching a preset posture;
S4, the unmanned aerial vehicle flies towards the delivery point according to a preset route and real-time navigation information, the distance between the unmanned aerial vehicle and the delivery point is monitored in real time through a GPS, and when the unmanned aerial vehicle approaches the delivery point, the unmanned aerial vehicle is gradually decelerated and hovered at a preset height to prepare for delivery;
S5, carrying out throwing preparation, confirming that the throwing object is correctly loaded in the throwing device, enabling the electric telescopic rod and the electromagnetic block to be in a standby state, and controlling the electric telescopic rod to stretch and the electromagnetic block to open and close according to the accurate position of the throwing point so as to throw the throwing object;
S6, continuously monitoring the self posture change of the unmanned aerial vehicle in real time through a posture sensor during and after the throwing, and receiving sensor data by a control system to analyze whether posture deviation exists or not, if the posture deviation is found, immediately starting a posture feedback and adjustment mechanism, and rapidly adjusting the posture of the unmanned aerial vehicle through a backstepping control method to ensure stable flight;
s7, according to the requirement of the throwing task, the unmanned aerial vehicle carries out the next throwing or returns to the flying spot;
S8, the ground control station records and analyzes data of the whole throwing process, including the posture adjustment effect and the throwing precision, and controls the unmanned aerial vehicle to return to a flying spot or designate a recovery area according to a mission plan;
and S9, closing each system of the unmanned aerial vehicle, disconnecting the unmanned aerial vehicle from the ground control station, and completing the throwing task.
Preferably, in the step S2, the unmanned aerial vehicle acquires current gesture data through the integrated sensor, and the ground control station calculates a pre-delivery gesture to which the unmanned aerial vehicle needs to be adjusted according to the target information and the current gesture data, and the specific steps are as follows:
S201, measuring and transmitting current attitude data to a ground control station in real time by an integrated sensor on the unmanned aerial vehicle, wherein the current attitude data comprises a roll angle, a pitch angle, a yaw angle, linear acceleration and angular velocity information;
S202, a ground control station receives and stores the data, and simultaneously obtains the position information of a delivery target, including longitude, latitude, altitude, delivery direction and angle;
S203, the ground control station converts the geographic coordinate system into an unmanned aerial vehicle body coordinate system to convert the position information of the put-in target into relative position and direction vectors under the unmanned aerial vehicle coordinate system;
S204, calculating the relative distance and the azimuth of the unmanned aerial vehicle to the put target according to the current position of the unmanned aerial vehicle provided by the GPS.
Preferably, in the steps S203-S204, the ground control station converts the geographic coordinate system into the unmanned aerial vehicle body coordinate system to convert the position information of the putting target into the relative position and direction vector under the unmanned aerial vehicle coordinate system, and calculates the relative distance and direction from the unmanned aerial vehicle to the putting target according to the current position of the unmanned aerial vehicle provided by the GPS, and the specific steps are as follows:
S2031, converting position information, namely converting geographic coordinates (longitude, latitude and altitude) of a putting target into coordinates (X, Y and Z) in a rectangular coordinate system with the center of the earth as an origin;
S2032, calculating a rotation matrix from a geographic coordinate system to a body coordinate system of the unmanned aerial vehicle according to the current attitude (roll angle, pitch angle, yaw angle) of the unmanned aerial vehicle, wherein the rotation matrix is used for describing the attitude of the unmanned aerial vehicle relative to the geographic coordinate system;
S2033, converting coordinates of the put-in target in the geographic coordinate system into relative position and direction vectors in the unmanned aerial vehicle body coordinate system by using a rotation matrix, wherein the specific formula is as follows:
wherein R is a rotation matrix, (X, Y, Z) is the coordinates of the put-in target in a geographic coordinate system, and (X ', Y ', Z ') is the coordinates in the transformed unmanned aerial vehicle body coordinate system;
s2041, calculating a linear distance between the current position of the unmanned aerial vehicle and the delivery target position by using a distance formula in a three-dimensional space, wherein the calculation formula is as follows:
Wherein, (X d,Yd,Zd) is the coordinate of the unmanned aerial vehicle in the geographic coordinate system, (X t,Yt,Zt) is the coordinate of the put-in target in the geographic coordinate system, and d is the linear distance between the two;
S2042, calculating an azimuth angle between the current position of the unmanned aerial vehicle and the delivery target position by using an arctangent function, namely an angle at which the unmanned aerial vehicle needs to turn to aim at the target, wherein the formula is as follows:
wherein θ is azimuth, (X d,Yd) is the coordinates of the drone in the geographic coordinate system, and (X t,Yt) is the coordinates of the launch target in the geographic coordinate system;
s2043, calculating a required pitch angle adjustment amount according to a height difference (Z t-Zd) of a throwing target and a horizontal distance d xy between the unmanned aerial vehicle and the target, wherein the calculation formula is as follows:
Wherein delta phi is the pitch angle adjustment quantity, phi current is the current pitch angle of the unmanned aerial vehicle;
s2044, calculating a required roll angle adjustment amount, wherein a calculation formula is as follows:
Δψ=ψtarget-ψcurrent;
Wherein Δψ is the roll angle adjustment amount, ψ target is the target roll angle, ψ current is the current roll angle of the unmanned aerial vehicle;
S2045, according to the azimuth angle theta of the target and the current yaw angle/yaw current of the unmanned aerial vehicle, calculating the yaw angle adjustment quantity required to be turned by the unmanned aerial vehicle, wherein the calculation formula is as follows:
Δ\yaw=θ-\yawcurrent;
where Δ\yaw is the yaw angle adjustment amount.
Preferably, in the step S3, the unmanned aerial vehicle adjusts the pitch angle, the roll angle and the yaw angle of the unmanned aerial vehicle according to the calculated adjustment amount by a backstepping control method until reaching a predetermined posture, the unmanned aerial vehicle maintains the predetermined posture for a period of time, and the stability is verified by sensor data, so that the unmanned aerial vehicle is in a stable state before being put in, and the specific steps are as follows:
S301, inputting target values of a pitch angle, a roll angle and a yaw angle (respectively marked as theta target,φtarget,ψtarget) of a preset gesture, and actual values of the pitch angle, the roll angle and the yaw angle (respectively marked as theta current,φcurrent,ψcurrent) of a current gesture;
S302, setting a control period T, a gesture adjustment threshold epsilon, wherein the gesture adjustment threshold is used for judging whether a preset gesture is reached or not, and the stability verification time T stable;
S303, calculating an attitude error, including:
Calculating pitch angle error, wherein a calculation formula is e θ＝θtarget-θcurrent;
calculating a roll angle error, wherein a calculation formula is e φ＝φtarget-φcurrent;
Calculating yaw angle error, and the calculation formula is e ψ＝ψtarget-ψcurrent;
S304, a PID control algorithm can be adopted to design a control law u θ so that the pitch angle error e θ approaches 0, and the calculation formula is as follows:
uθ＝Kpθ*eθ+Kiθ*∫eθdt+Kdθ*deθ/dt;
S305, adopting a PID control algorithm to design a control law u φ so that the roll angle error e φ is close to 0, and adopting a PID control algorithm to design a control law u ψ so that the yaw angle error e ψ is close to 0;
S306, converting the control law u θ,uφ,uψ into a control signal of an unmanned aerial vehicle actuator, transmitting the control signal to the unmanned aerial vehicle, and adjusting the pitch angle, the roll angle and the yaw angle of the unmanned aerial vehicle according to the received control signal;
S307, in each control period T, acquiring current gesture data of the unmanned aerial vehicle through an integrated sensor module, and updating theta current,φcurrent,ψcurrent;
S308, judging whether the preset gesture is reached, if yes, judging that the unmanned aerial vehicle reaches the preset gesture, otherwise, returning to the step S304 to continue adjustment;
s309, keeping the attitude T stable for a time after the unmanned aerial vehicle reaches a preset attitude, continuously monitoring the attitude data of the unmanned aerial vehicle during the time to ensure that the attitude error is kept within a threshold epsilon, and considering the unmanned aerial vehicle to be in a stable state if the attitude error is always smaller than epsilon in the time T stable;
And S310, outputting a result that the unmanned aerial vehicle has reached a preset gesture and keeps a stable state.
Preferably, in the step S4, the unmanned aerial vehicle flies to the delivery point according to a preset route and real-time navigation information, the distance between the unmanned aerial vehicle and the delivery point is monitored in real time through a GPS, and when the unmanned aerial vehicle approaches the delivery point, the unmanned aerial vehicle gradually decelerates and hovers at a predetermined height, and is ready for delivery, and the specific steps are as follows:
s401, a ground control station loads preset route data into a flight control system of an unmanned aerial vehicle, wherein the flight control system comprises longitude and latitude coordinate points, altitude information and flight speed;
S402, starting a GPS to acquire current position information of the unmanned aerial vehicle in real time after the unmanned aerial vehicle takes off;
s403, the unmanned aerial vehicle calculates the shortest path or the optimal path through Dijkstra navigation algorithm according to the preset route and the real-time GPS position information, calculates the flight direction and the speed adjustment quantity according to the current position and the position of the target point, calculates the next target point to be flown currently, and adjusts the flight direction of the unmanned aerial vehicle;
S404, continuously monitoring the real-time distance between the unmanned aerial vehicle and the delivery point through a GPS in the flight process, wherein the method specifically comprises the following steps:
inputting real-time position data and drop point position data of the unmanned aerial vehicle;
Calculating the linear distance between two points and calculating the actual distance according to longitude and latitude;
outputting the real-time distance between the unmanned aerial vehicle and the delivery point;
S405, when the distance between the unmanned aerial vehicle and the delivery point is smaller than a preset threshold value, calculating a deceleration rate according to the distance and the speed relation, and when the predetermined height is reached, outputting a deceleration instruction and a hovering instruction to the unmanned aerial vehicle so as to control the unmanned aerial vehicle to hover;
S406, gradually decelerating the unmanned aerial vehicle and preparing to hover at a preset height;
S407, hovering the unmanned aerial vehicle at a preset height to ensure position stability, preparing for delivery, monitoring the position stability of the unmanned aerial vehicle, ensuring hovering at the preset height for a period of time to verify stability, and outputting a delivery preparation completion signal after stability verification is completed.
Preferably, in the step S5, a preparation for delivery is performed, it is confirmed that the delivered object is correctly loaded in the delivery device, the electric telescopic rod and the electromagnetic block are in a standby state, and according to the accurate position of the delivery point, the delivery of the delivered object is realized by controlling the expansion and contraction of the electric telescopic rod and the opening and closing of the electromagnetic block, and the specific steps are as follows:
s501, confirming the loading state of the put object, which specifically comprises the following steps:
Inputting loading conditions of the throwing device;
the processing is that whether the put-in object is correctly and firmly loaded on the put-in component is confirmed through the sensor data in the put-in device;
outputting a loading state confirmation result;
s502, checking states of the electric telescopic rod and the electromagnetic block, wherein the method specifically comprises the following steps:
Inputting an electric telescopic rod state and an electromagnetic block state;
The method comprises the steps of sending a query instruction through a signal transmission module to obtain whether the electric telescopic rod is at an initial position or not and whether the electromagnetic block is in an inactive (i.e. closed) state or not;
outputting the confirmation result of the electric telescopic rod and the electromagnetic block state;
s503, calculating the accurate position of the delivery point, which specifically comprises the following steps:
Inputting GPS data and presetting dispensing point coordinates;
Combining GPS position information of the current unmanned aerial vehicle with preset dispensing point coordinates, and calculating the accurate relative position of the unmanned aerial vehicle relative to the dispensing point through a geographic coordinate conversion algorithm;
Outputting accurate relative position data of the delivery point;
S504, formulating a release strategy, which specifically comprises the following steps:
Inputting the accurate position of the delivery point and the current gesture of the unmanned aerial vehicle;
and (3) according to the position information of the delivery point, the current posture (pitch angle, roll angle and yaw angle) of the unmanned aerial vehicle and the characteristics (weight and shape) of the delivered object, a delivery strategy is formulated, wherein the delivery strategy comprises the telescopic length of the electric telescopic rod and the opening and closing time of the electromagnetic block.
Outputting throwing strategy parameters, including the expansion amount of the electric telescopic rod and the opening and closing time of the electromagnetic block;
s505, executing a throwing action, which specifically comprises the following steps:
Inputting a putting strategy parameter;
The method comprises the steps of processing, namely sending a control instruction to an electric telescopic rod to enable the electric telescopic rod to stretch according to the calculated stretching amount, and moving a put object to a put position;
and outputting a throwing action execution result and state data (the telescopic condition of the electric telescopic rod and the opening and closing state of the electromagnetic block) in the throwing process.
Preferably, in the step S6, during and after the throwing, the unmanned aerial vehicle continuously monitors its own attitude change in real time through the attitude sensor, the control system receives sensor data, analyzes whether there is an attitude deviation, if the attitude deviation is found, immediately starts an attitude feedback and adjustment mechanism, and rapidly adjusts the attitude of the unmanned aerial vehicle through a backstepping control method to ensure stable flight, and specifically comprises the following steps:
s601, real-time monitoring of attitude data, which specifically comprises:
Inputting rolling angle, pitch angle and yaw angle data measured in real time by an attitude sensor;
the control system receives data from the attitude sensor at a fixed frequency;
outputting the rolling angle, pitch angle and yaw angle values updated in real time;
s602, detecting attitude deviation, which specifically comprises the following steps:
inputting real-time measured gesture data and a preset stable gesture threshold;
Comparing the real-time measured gesture data with a preset stable gesture range, and judging whether deviation exists or not;
outputting an attitude deviation detection result, wherein the attitude deviation detection result comprises a deviation size and a deviation direction;
s603, judging a deviation threshold, wherein the judgment method specifically comprises the following steps:
inputting a gesture deviation detection result;
setting a deviation threshold, and triggering an adjustment mechanism if the gesture deviation exceeds the threshold;
and outputting a decision signal of whether the gesture of the unmanned aerial vehicle needs to be adjusted. ;
s604, starting a gesture feedback and adjustment mechanism, which specifically comprises the following steps:
Inputting a decision signal for adjusting the attitude of the unmanned aerial vehicle;
when the decision signal is yes, starting a gesture feedback and adjustment mechanism to prepare for gesture adjustment;
Outputting a signal for starting an adjustment mechanism and initial adjustment parameters;
s605, calculating an attitude adjustment amount, specifically comprising:
Inputting attitude data measured in real time and a preset attitude target value;
Calculating adjustment amounts required for reaching a preset posture, including adjustment amounts of a roll angle, a pitch angle and a yaw angle by adopting a PID control algorithm and a backstepping control algorithm in the step S3;
outputting attitude adjustment quantity including rolling angle adjustment quantity, pitch angle adjustment quantity and yaw angle adjustment quantity;
S606, executing posture adjustment, wherein the posture adjustment method specifically comprises the following steps:
inputting attitude adjustment quantity;
Converting the calculated attitude adjustment quantity into a control signal of an unmanned aerial vehicle actuator, such as a motor rotation speed adjustment signal or a steering engine control signal;
outputting an actuator control signal to drive the unmanned aerial vehicle to adjust the gesture;
s607, monitoring the adjusting effect, which specifically comprises the following steps:
inputting attitude sensor data after the execution of the actuator control signal;
Monitoring attitude data of the unmanned aerial vehicle again, and evaluating an adjustment effect;
Outputting the adjusted posture data and the effect evaluation result;
s608, circularly adjusting until stable, wherein the method specifically comprises the following steps:
Inputting the adjusted posture data and the effect evaluation result;
if the gesture does not reach the stable state, repeating the steps S602 to S607 until the gesture of the unmanned aerial vehicle is stable within the preset range;
outputting a state signal of stable flight of the unmanned aerial vehicle;
s609, recording and feeding back an adjustment process, which specifically comprises the following steps:
Inputting attitude data, adjustment quantity and actuator control signals in the whole adjustment process;
Recording and storing the data;
And outputting the adjustment process record data for analysis and use by the ground control station and the research personnel.
Examples
Optionally, setting the unmanned aerial vehicle to accurately throw seeds into a designated farmland area in one agricultural sowing task, wherein the coordinates of the farmland are (longitude and latitude), the height of a throwing point is 50 meters, the flying spot of the unmanned aerial vehicle is (longitude and latitude), the height is 10 meters, the throwing precision of the unmanned aerial vehicle is required to be within +/-0.5 meter, and the unmanned aerial vehicle needs to keep stable flying in the throwing process;
wherein, unmanned aerial vehicle parameter:
unmanned aerial vehicle frame size 1.5 meters (span);
the stroke of the electric telescopic rod is 0.5 meter;
the electromagnetic block adsorption force is 50N;
the precision of the integrated sensor module is that the gyroscope is +/-0.01 degrees/s, the accelerometer is +/-0.02 g, and the magnetometer is +/-0.5 degrees;
Dispensing point information:
Dispensing point coordinates (longitude, latitude), height 50 meters;
The throwing target direction is 45 degrees to the flying spot direction;
Posture pre-adjustment data:
The initial pitch angle is 10 degrees;
Initial roll angle 0 °;
an initial yaw angle of 0 °;
Target pitch angle 30 °;
Target roll angle 0 °;
target yaw angle 45 °;
and (3) throwing control data:
The telescoping amount of the electric telescoping rod is 0.3 meter;
the electromagnetic block opening and closing time is 0.1 second after the electric telescopic rod is completely extended when the object to be put reaches the preset putting position;
attitude feedback and adjustment data:
Attitude deviation threshold value, namely a pitch angle +/-2 degrees, a roll angle +/-1 degree and a yaw angle +/-3 degrees;
PID control parameters kpθ=0.5, kθ=0.1, kdθ=0.05;
The ground control station calculates a pre-throwing gesture which the unmanned aerial vehicle needs to adjust according to the target information and the current gesture data, the unmanned aerial vehicle adjusts a pitch angle, a roll angle and a yaw angle through a backstepping control method according to the calculated adjustment quantity, and the data are compared as follows:
before adjustment, the pitch angle is 10 degrees, the roll angle is 0 degree, and the yaw angle is 0 degree;
after adjustment, the pitch angle is 30 degrees, the roll angle is 0 degree, and the yaw angle is 45 degrees;
the unmanned aerial vehicle successfully adjusts to a preset gesture, so that preparation is made for throwing;
And the unmanned aerial vehicle flies towards the delivery point according to the preset route and the real-time navigation information. When the unmanned aerial vehicle approaches the delivery point, gradually decelerating and hovering at a preset height, according to the accurate position of the delivery point, the delivery of the delivered object is realized by controlling the expansion and the contraction of the electric telescopic rod and the opening and closing of the electromagnetic block, wherein the data are compared as follows:
the distance before putting is 20 meters (calculated according to GPS data);
the expansion amount of the electric expansion link is 0.3 meter when in throwing;
the opening and closing time of the electromagnetic block is 0.1 second after the electric telescopic rod is completely extended;
the delivery precision is +/-0.2 meter (obtained by actual measurement);
The object accurately reaches the preset position, and the delivery precision is higher than the required +/-0.5 meter;
In the throwing process and after throwing, the unmanned aerial vehicle continuously monitors the self posture change in real time through the posture sensor. When the gesture deviation is found, a gesture feedback and adjustment mechanism is immediately started, and the gesture of the unmanned aerial vehicle is quickly adjusted through a backstepping control method, wherein the data are compared as follows:
the maximum attitude deviation in the throwing process is that the pitch angle is +/-1 degree, the roll angle is +/-0.5 degree, and the yaw angle is +/-1.5 degrees;
adjustment time 0.5 seconds (from finding deviation to completion of adjustment);
the stability of the posture after adjustment is that the pitch angle is +/-0.5 degrees, the roll angle is +/-0.2 degrees, and the yaw angle is +/-1 degree;
The unmanned aerial vehicle keeps good stability in the throwing process, and the attitude deviation is corrected timely and effectively;
wherein, the data of each step are compared as shown in the following chart:
in summary, the technical scheme of the invention obtains the following conclusion through comparison of example data and numerical values:
1. The gesture pre-adjustment accuracy is improved, namely the unmanned aerial vehicle is successfully adjusted from an initial gesture to a preset throwing gesture, and a solid foundation is laid for high accuracy and stability of the throwing process;
2. the accuracy of the throwing control is improved, namely, the throwing object accurately reaches a preset position through accurate electric telescopic rod control and electromagnetic block opening and closing timing control, and the throwing accuracy far exceeds the required standard;
3. The gesture feedback and adjustment mechanism is perfect, namely the gesture of the unmanned aerial vehicle is monitored in real time and adjusted quickly through a gesture sensor during and after the unmanned aerial vehicle is put in, so that the stability of the unmanned aerial vehicle and the smooth proceeding of subsequent tasks are ensured;
Thereby fully verifying the remarkable effect of the unmanned aerial vehicle fixed-point delivery device in terms of improving the accuracy, stability and reliability.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.

Claims (10)

1. The unmanned aerial vehicle fixed-point throwing device comprises an unmanned aerial vehicle rack (1) and is characterized by further comprising an integrated sensor module (2), a signal transmission module (3), a support (4) and a throwing component, wherein the integrated sensor module (2) is arranged above the unmanned aerial vehicle rack (1), the signal transmission module (3) is arranged above the unmanned aerial vehicle rack (1), the support (4) is arranged below the unmanned aerial vehicle rack (1), the throwing component comprises an electric telescopic rod (501), an electromagnetic block (502), a metal connecting block (503) and a hanging ring (504), the electric telescopic rod (501) is arranged below the unmanned aerial vehicle rack (1), the electromagnetic block (502) is arranged at one end of the electric telescopic rod (501), the metal connecting block (503) is arranged below the electromagnetic block (502), and the hanging ring (504) is arranged below the metal connecting block (503).
2. The unmanned aerial vehicle fixed-point throwing device according to claim 1, wherein the integrated sensor module (2) comprises a gyroscope, an accelerometer and a magnetometer, wherein the gyroscope is used for measuring angular speeds of the unmanned aerial vehicle around three main shafts, namely a rolling shaft, a pitching shaft and a yaw shaft of the unmanned aerial vehicle in real time so as to provide attitude angle change information of the unmanned aerial vehicle, the accelerometer is used for measuring linear acceleration of the unmanned aerial vehicle in three axial directions, namely front-back, left-right and up-down, and components of gravity acceleration in a coordinate system of the unmanned aerial vehicle, the magnetometer is used for measuring three components of a geomagnetic field in the coordinate system of the unmanned aerial vehicle so as to determine a heading angle, namely a yaw angle, of the unmanned aerial vehicle, and the magnetometer is combined with data of the gyroscope and the accelerometer and used for describing the attitude and the heading of the unmanned aerial vehicle so as to provide fine navigation information for fixed-point throwing.
3. The unmanned aerial vehicle fixed-point delivery device of claim 1, wherein the signal transmission module (3) is arranged above the unmanned aerial vehicle rack (1) and is electrically connected with the integrated sensor module (2) and the delivery assembly, and the signal transmission module (3) comprises:
A data receiving unit for receiving real-time data from the integrated sensor module (2), including but not limited to angular velocity data measured by a gyroscope, linear acceleration and gravitational acceleration data measured by an accelerometer, and geomagnetic field data measured by a magnetometer;
the data processing unit is connected to the data receiving unit and is used for preprocessing the received data, including but not limited to data verification, format conversion and preliminary filtering, so as to ensure the accuracy and reliability of the data;
The wireless communication sub-module is connected with the data processing unit and is used for encoding the preprocessed data and the instructions from the control center, transmitting the encoded data and the instructions to the ground control station in a wireless mode, and receiving the control instructions and the parameter adjustment information from the ground control station;
The control instruction decoding unit is connected to the wireless communication sub-module and used for decoding the received control instruction and converting the control instruction into an operation signal executable by the throwing component, and comprises an electric telescopic rod (501) which is started/stopped and an electromagnetic block (502) which is activated/closed;
the state feedback unit is used for monitoring the working state of the signal transmission module (3) per se, including the quality of a communication link, the electric quantity of a battery and the data transmission rate, and feeding back the state information to the ground control station through the wireless communication submodule.
4. The unmanned aerial vehicle fixed-point delivery device operation method is characterized by comprising the following steps of:
S1, inputting accurate position information of a throwing target by a ground control station;
s2, the unmanned aerial vehicle acquires current gesture data through an integrated sensor, and a ground control station calculates a pre-delivery gesture to be adjusted by the unmanned aerial vehicle according to target information and the current gesture data;
S3, the unmanned aerial vehicle adjusts the pitch angle, the roll angle and the yaw angle of the unmanned aerial vehicle according to the calculated adjustment quantity by a backstepping control method until reaching a preset posture;
S4, the unmanned aerial vehicle flies towards the delivery point according to a preset route and real-time navigation information, the distance between the unmanned aerial vehicle and the delivery point is monitored in real time through a GPS, and when the unmanned aerial vehicle approaches the delivery point, the unmanned aerial vehicle is gradually decelerated and hovered at a preset height to prepare for delivery;
S5, carrying out throwing preparation, confirming that the throwing object is correctly loaded in the throwing device, enabling the electric telescopic rod and the electromagnetic block to be in a standby state, and controlling the electric telescopic rod to stretch and the electromagnetic block to open and close according to the accurate position of the throwing point so as to throw the throwing object;
S6, continuously monitoring the self posture change of the unmanned aerial vehicle in real time through a posture sensor during and after the throwing, and receiving sensor data by a control system to analyze whether posture deviation exists or not, if the posture deviation is found, immediately starting a posture feedback and adjustment mechanism, and rapidly adjusting the posture of the unmanned aerial vehicle through a backstepping control method to ensure stable flight;
s7, according to the requirement of the throwing task, the unmanned aerial vehicle carries out the next throwing or returns to the flying spot;
S8, the ground control station records and analyzes data of the whole throwing process, including the posture adjustment effect and the throwing precision, and controls the unmanned aerial vehicle to return to a flying spot or designate a recovery area according to a mission plan;
and S9, closing each system of the unmanned aerial vehicle, disconnecting the unmanned aerial vehicle from the ground control station, and completing the throwing task.
5. The method for operating the fixed-point delivery device of the unmanned aerial vehicle according to claim 4, wherein in the step S2, the unmanned aerial vehicle obtains current gesture data through the integrated sensor, and the ground control station calculates a pre-delivery gesture to which the unmanned aerial vehicle needs to be adjusted according to the target information and the current gesture data, and the specific steps are as follows:
S201, measuring and transmitting current attitude data to a ground control station in real time by an integrated sensor on the unmanned aerial vehicle, wherein the current attitude data comprises a roll angle, a pitch angle, a yaw angle, linear acceleration and angular velocity information;
S202, a ground control station receives and stores the data, and simultaneously obtains the position information of a delivery target, including longitude, latitude, altitude, delivery direction and angle;
S203, the ground control station converts the geographic coordinate system into an unmanned aerial vehicle body coordinate system to convert the position information of the put-in target into relative position and direction vectors under the unmanned aerial vehicle coordinate system;
S204, calculating the relative distance and the azimuth of the unmanned aerial vehicle to the put target according to the current position of the unmanned aerial vehicle provided by the GPS.
6. The method for operating a fixed-point delivery device of a unmanned aerial vehicle according to claim 5, wherein in the steps S203-S204, the ground control station converts the position information of the delivery target into a relative position and direction vector under the unmanned aerial vehicle coordinate system by converting the geographic coordinate system into the unmanned aerial vehicle body coordinate system, and calculates the relative distance and direction from the unmanned aerial vehicle to the delivery target according to the current position of the unmanned aerial vehicle provided by the GPS, and the specific steps are as follows:
S2031, converting position information, namely converting geographic coordinates (longitude, latitude and altitude) of a putting target into coordinates (X, Y and Z) in a rectangular coordinate system with the center of the earth as an origin;
S2032, calculating a rotation matrix from a geographic coordinate system to a body coordinate system of the unmanned aerial vehicle according to the current attitude (roll angle, pitch angle, yaw angle) of the unmanned aerial vehicle, wherein the rotation matrix is used for describing the attitude of the unmanned aerial vehicle relative to the geographic coordinate system;
S2033, converting coordinates of the put-in target in the geographic coordinate system into relative position and direction vectors in the unmanned aerial vehicle body coordinate system by using a rotation matrix, wherein the specific formula is as follows:
wherein R is a rotation matrix, (X, Y, Z) is the coordinates of the put-in target in a geographic coordinate system, and (X ', Y ', Z ') is the coordinates in the transformed unmanned aerial vehicle body coordinate system;
s2041, calculating a linear distance between the current position of the unmanned aerial vehicle and the delivery target position by using a distance formula in a three-dimensional space, wherein the calculation formula is as follows:
Wherein, (X d,Yd,Zd) is the coordinate of the unmanned aerial vehicle in the geographic coordinate system, (X t,Yt,Zt) is the coordinate of the put-in target in the geographic coordinate system, and d is the linear distance between the two;
S2042, calculating an azimuth angle between the current position of the unmanned aerial vehicle and the delivery target position by using an arctangent function, namely an angle at which the unmanned aerial vehicle needs to turn to aim at the target, wherein the formula is as follows:
wherein θ is azimuth, (X d,Yd) is the coordinates of the drone in the geographic coordinate system, and (X t,Yt) is the coordinates of the launch target in the geographic coordinate system;
s2043, calculating a required pitch angle adjustment amount according to a height difference (Z t-Zd) of a throwing target and a horizontal distance d xy between the unmanned aerial vehicle and the target, wherein the calculation formula is as follows:
Wherein delta phi is the pitch angle adjustment quantity, phi current is the current pitch angle of the unmanned aerial vehicle;
s2044, calculating a required roll angle adjustment amount, wherein a calculation formula is as follows:
Δψ=ψtarget-ψcurrent;
Wherein Δψ is the roll angle adjustment amount, ψ target is the target roll angle, ψ current is the current roll angle of the unmanned aerial vehicle;
S2045, according to the azimuth angle theta of the target and the current yaw angle/yaw current of the unmanned aerial vehicle, calculating the yaw angle adjustment quantity required to be turned by the unmanned aerial vehicle, wherein the calculation formula is as follows:
Δ\yaw=θ-\yawcurrent;
where Δ\yaw is the yaw angle adjustment amount.
7. The method for operating the fixed-point delivery device of the unmanned aerial vehicle according to claim 4, wherein in the step S3, the unmanned aerial vehicle adjusts the pitch angle, the roll angle and the yaw angle of the unmanned aerial vehicle according to the calculated adjustment amount by a backstepping control method until reaching a preset posture, the unmanned aerial vehicle keeps the preset posture for a period of time, the stability is verified by sensor data, and the unmanned aerial vehicle is in a stable state before delivery, and the method comprises the following specific steps:
S301, inputting target values of a pitch angle, a roll angle and a yaw angle (respectively marked as theta target,φtarget,ψtarget) of a preset gesture, and actual values of the pitch angle, the roll angle and the yaw angle (respectively marked as theta current,φcurrent,ψcurrent) of a current gesture;
S302, setting a control period T, a gesture adjustment threshold epsilon, wherein the gesture adjustment threshold is used for judging whether a preset gesture is reached or not, and the stability verification time T stable;
S303, calculating an attitude error, including:
Calculating pitch angle error, wherein a calculation formula is e θ＝θtarget-θcurrent;
calculating a roll angle error, wherein a calculation formula is e φ＝φtarget-φcurrent;
Calculating yaw angle error, and the calculation formula is e ψ＝ψtarget-ψcurrent;
S304, a PID control algorithm can be adopted to design a control law u θ so that the pitch angle error e θ approaches 0, and the calculation formula is as follows:
uθ＝Kpθ*eθ+Kiθ*∫eθdt+Kdθ*deθ/dt;
S305, adopting a PID control algorithm to design a control law u φ so that the roll angle error e φ is close to 0, and adopting a PID control algorithm to design a control law u ψ so that the yaw angle error e ψ is close to 0;
S306, converting the control law u θ,uφ,uψ into a control signal of an unmanned aerial vehicle actuator, transmitting the control signal to the unmanned aerial vehicle, and adjusting the pitch angle, the roll angle and the yaw angle of the unmanned aerial vehicle according to the received control signal;
S307, in each control period T, acquiring current gesture data of the unmanned aerial vehicle through an integrated sensor module, and updating theta current,φcurrent,ψcurrent;
S308, judging whether the preset gesture is reached, if yes, judging that the unmanned aerial vehicle reaches the preset gesture, otherwise, returning to the step S304 to continue adjustment;
s309, keeping the attitude T stable for a time after the unmanned aerial vehicle reaches a preset attitude, continuously monitoring the attitude data of the unmanned aerial vehicle during the time to ensure that the attitude error is kept within a threshold epsilon, and considering the unmanned aerial vehicle to be in a stable state if the attitude error is always smaller than epsilon in the time T stable;
And S310, outputting a result that the unmanned aerial vehicle has reached a preset gesture and keeps a stable state.
8. The method for operating the unmanned aerial vehicle fixed-point delivery device according to claim 4, wherein in the step S4, the unmanned aerial vehicle flies towards the delivery point according to a preset route and real-time navigation information, the distance between the unmanned aerial vehicle and the delivery point is monitored in real time through a GPS, and when the unmanned aerial vehicle approaches the delivery point, the unmanned aerial vehicle gradually decelerates and hovers at a preset height to prepare for delivery, and the specific steps are as follows:
s401, a ground control station loads preset route data into a flight control system of an unmanned aerial vehicle, wherein the flight control system comprises longitude and latitude coordinate points, altitude information and flight speed;
S402, starting a GPS to acquire current position information of the unmanned aerial vehicle in real time after the unmanned aerial vehicle takes off;
s403, the unmanned aerial vehicle calculates the shortest path or the optimal path through Dijkstra navigation algorithm according to the preset route and the real-time GPS position information, calculates the flight direction and the speed adjustment quantity according to the current position and the position of the target point, calculates the next target point to be flown currently, and adjusts the flight direction of the unmanned aerial vehicle;
S404, continuously monitoring the real-time distance between the unmanned aerial vehicle and the delivery point through a GPS in the flight process, wherein the method specifically comprises the following steps:
inputting real-time position data and drop point position data of the unmanned aerial vehicle;
Calculating the linear distance between two points and calculating the actual distance according to longitude and latitude;
outputting the real-time distance between the unmanned aerial vehicle and the delivery point;
S405, when the distance between the unmanned aerial vehicle and the delivery point is smaller than a preset threshold value, calculating a deceleration rate according to the distance and the speed relation, and when the predetermined height is reached, outputting a deceleration instruction and a hovering instruction to the unmanned aerial vehicle so as to control the unmanned aerial vehicle to hover;
S406, gradually decelerating the unmanned aerial vehicle and preparing to hover at a preset height;
S407, hovering the unmanned aerial vehicle at a preset height to ensure position stability, preparing for delivery, monitoring the position stability of the unmanned aerial vehicle, ensuring hovering at the preset height for a period of time to verify stability, and outputting a delivery preparation completion signal after stability verification is completed.
9. The method for operating a fixed-point delivery device of an unmanned aerial vehicle according to claim 4, wherein in the step S5, the delivery preparation is performed, the fact that the delivered object is correctly loaded in the delivery device is confirmed, the electric telescopic rod and the electromagnetic block are in a standby state, and the delivered object is delivered by controlling the electric telescopic rod to stretch and the electromagnetic block to open and close according to the accurate position of the delivery point is achieved, and the specific steps are as follows:
s501, confirming the loading state of the put object, which specifically comprises the following steps:
Inputting loading conditions of the throwing device;
the processing is that whether the put-in object is correctly and firmly loaded on the put-in component is confirmed through the sensor data in the put-in device;
outputting a loading state confirmation result;
s502, checking states of the electric telescopic rod and the electromagnetic block, wherein the method specifically comprises the following steps:
Inputting an electric telescopic rod state and an electromagnetic block state;
The method comprises the steps of sending a query instruction through a signal transmission module to obtain whether the electric telescopic rod is at an initial position or not and whether the electromagnetic block is in an inactive (i.e. closed) state or not;
outputting the confirmation result of the electric telescopic rod and the electromagnetic block state;
s503, calculating the accurate position of the delivery point, which specifically comprises the following steps:
Inputting GPS data and presetting dispensing point coordinates;
Combining GPS position information of the current unmanned aerial vehicle with preset dispensing point coordinates, and calculating the accurate relative position of the unmanned aerial vehicle relative to the dispensing point through a geographic coordinate conversion algorithm;
Outputting accurate relative position data of the delivery point;
S504, formulating a release strategy, which specifically comprises the following steps:
Inputting the accurate position of the delivery point and the current gesture of the unmanned aerial vehicle;
and (3) according to the position information of the delivery point, the current posture (pitch angle, roll angle and yaw angle) of the unmanned aerial vehicle and the characteristics (weight and shape) of the delivered object, a delivery strategy is formulated, wherein the delivery strategy comprises the telescopic length of the electric telescopic rod and the opening and closing time of the electromagnetic block.
Outputting throwing strategy parameters, including the expansion amount of the electric telescopic rod and the opening and closing time of the electromagnetic block;
s505, executing a throwing action, which specifically comprises the following steps:
Inputting a putting strategy parameter;
The method comprises the steps of processing, namely sending a control instruction to an electric telescopic rod to enable the electric telescopic rod to stretch according to the calculated stretching amount, and moving a put object to a put position;
and outputting a throwing action execution result and state data (the telescopic condition of the electric telescopic rod and the opening and closing state of the electromagnetic block) in the throwing process.
10. The method for operating a fixed-point delivery device of an unmanned aerial vehicle according to claim 4, wherein in the step S6, the unmanned aerial vehicle continuously monitors the self-posture change in real time through a posture sensor during and after delivery, a control system receives sensor data and analyzes whether the posture deviation exists, if the posture deviation is found, a posture feedback and adjustment mechanism is immediately started, the posture of the unmanned aerial vehicle is quickly adjusted through a backstepping control method, and stable flight is ensured, and the method comprises the following specific steps:
s601, real-time monitoring of attitude data, which specifically comprises:
Inputting rolling angle, pitch angle and yaw angle data measured in real time by an attitude sensor;
the control system receives data from the attitude sensor at a fixed frequency;
outputting the rolling angle, pitch angle and yaw angle values updated in real time;
s602, detecting attitude deviation, which specifically comprises the following steps:
inputting real-time measured gesture data and a preset stable gesture threshold;
Comparing the real-time measured gesture data with a preset stable gesture range, and judging whether deviation exists or not;
outputting an attitude deviation detection result, wherein the attitude deviation detection result comprises a deviation size and a deviation direction;
s603, judging a deviation threshold, wherein the judgment method specifically comprises the following steps:
inputting a gesture deviation detection result;
setting a deviation threshold, and triggering an adjustment mechanism if the gesture deviation exceeds the threshold;
and outputting a decision signal of whether the gesture of the unmanned aerial vehicle needs to be adjusted. ;
s604, starting a gesture feedback and adjustment mechanism, which specifically comprises the following steps:
Inputting a decision signal for adjusting the attitude of the unmanned aerial vehicle;
when the decision signal is yes, starting a gesture feedback and adjustment mechanism to prepare for gesture adjustment;
Outputting a signal for starting an adjustment mechanism and initial adjustment parameters;
s605, calculating an attitude adjustment amount, specifically comprising:
Inputting attitude data measured in real time and a preset attitude target value;
Calculating adjustment amounts required for reaching a preset posture, including adjustment amounts of a roll angle, a pitch angle and a yaw angle by adopting a PID control algorithm and a backstepping control algorithm in the step S3;
outputting attitude adjustment quantity including rolling angle adjustment quantity, pitch angle adjustment quantity and yaw angle adjustment quantity;
S606, executing posture adjustment, wherein the posture adjustment method specifically comprises the following steps:
inputting attitude adjustment quantity;
Converting the calculated attitude adjustment quantity into a control signal of an unmanned aerial vehicle actuator, such as a motor rotation speed adjustment signal or a steering engine control signal;
outputting an actuator control signal to drive the unmanned aerial vehicle to adjust the gesture;
s607, monitoring the adjusting effect, which specifically comprises the following steps:
inputting attitude sensor data after the execution of the actuator control signal;
Monitoring attitude data of the unmanned aerial vehicle again, and evaluating an adjustment effect;
Outputting the adjusted posture data and the effect evaluation result;
s608, circularly adjusting until stable, wherein the method specifically comprises the following steps:
Inputting the adjusted posture data and the effect evaluation result;
if the gesture does not reach the stable state, repeating the steps S602 to S607 until the gesture of the unmanned aerial vehicle is stable within the preset range;
outputting a state signal of stable flight of the unmanned aerial vehicle;
s609, recording and feeding back an adjustment process, which specifically comprises the following steps:
Inputting attitude data, adjustment quantity and actuator control signals in the whole adjustment process;
Recording and storing the data;
And outputting the adjustment process record data for analysis and use by the ground control station and the research personnel.
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