CN108475066A - Unmanned vehicle computation method for attitude, flight controller and unmanned vehicle - Google Patents
Unmanned vehicle computation method for attitude, flight controller and unmanned vehicle Download PDFInfo
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- CN108475066A CN108475066A CN201780004899.6A CN201780004899A CN108475066A CN 108475066 A CN108475066 A CN 108475066A CN 201780004899 A CN201780004899 A CN 201780004899A CN 108475066 A CN108475066 A CN 108475066A
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- 238000000034 method Methods 0.000 title claims abstract description 47
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 13
- 230000001133 acceleration Effects 0.000 claims description 94
- 238000005096 rolling process Methods 0.000 claims description 37
- 238000005183 dynamical system Methods 0.000 claims description 12
- 230000005484 gravity Effects 0.000 claims description 10
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- 230000005611 electricity Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000036544 posture Effects 0.000 description 54
- 230000006870 function Effects 0.000 description 10
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- 238000004891 communication Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 239000000203 mixture Substances 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
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- 238000000205 computational method Methods 0.000 description 2
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- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
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- 230000033001 locomotion Effects 0.000 description 1
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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Abstract
A kind of unmanned vehicle computation method for attitude, flight controller and unmanned vehicle, this method include：Obtain the rotating torque that motor (32) rotates the pulling force for driving propeller (31) to generate and propeller (31) to motor base (33)；The pulling force generated according to propeller (31), and propeller (31) is to the rotating torque of motor base (33), determine the posture of unmanned vehicle (60), when IMU breaks down, flight controller (70) rotates the pulling force for driving propeller (31) to generate by motor (32), and propeller (31) determines the rotating torque of motor base (33) posture of unmanned vehicle (60), and then flight control is carried out to unmanned vehicle (60), avoid due to IMU failures and caused by air crash accident.
Description
Technical field
The present embodiments relate to unmanned plane field more particularly to a kind of unmanned vehicle computation method for attitude, flight controls
Device and unmanned vehicle processed.
Background technology
The flight controller of unmanned vehicle includes Inertial Measurement Unit (Inertial Measurement in the prior art
Unit, IMU), IMU is the device for measuring unmanned vehicle three-axis attitude angle (or angular speed) and acceleration.IMU includes three axis
Accelerometer and three-axis gyroscope, three axis accelerometer and three-axis gyroscope are used to detect the posture of unmanned vehicle, nobody flies
The posture of row device includes pitch angle, roll angle and yaw angle etc..Flight controller flies nobody according to the posture of unmanned vehicle
Row device carries out flight control.
But when IMU breaks down, IMU will be unable to detect the posture of unmanned vehicle, and flight controller can not obtain
When getting the posture of unmanned vehicle, it will be unable to carry out flight control to unmanned vehicle, it may so as to cause unmanned vehicle
Air crash.
Invention content
A kind of unmanned vehicle computation method for attitude of offer of the embodiment of the present invention, flight controller and unmanned vehicle, with
Avoid due to IMU failures and caused by air crash accident.
The one side of the embodiment of the present invention is to provide a kind of unmanned vehicle computation method for attitude, including：
Obtain the rotating torque that motor rotates the pulling force for driving propeller to generate and the propeller to motor base；
The pulling force and the propeller generated according to the propeller to the rotating torque of motor base, determine described in
The posture of unmanned vehicle.
The other side of the embodiment of the present invention is to provide a kind of flight controller, including：One or more processors, it is single
It solely or cooperates, the processor is used for：
Obtain the rotating torque that motor rotates the pulling force for driving propeller to generate and the propeller to motor base；
The pulling force and the propeller generated according to the propeller to the rotating torque of motor base, determine described in
The posture of unmanned vehicle.
The other side of the embodiment of the present invention is to provide a kind of unmanned vehicle, including：
Fuselage；
Dynamical system is mounted on the fuselage, and for providing flying power, the dynamical system includes at least motor and spiral shell
Revolve paddle；
Flight controller is communicated with the dynamical system and is connected, for controlling the unmanned vehicle flight；The flight
Controller includes one or more processors, is worked alone or synergistically, and the processor is used for：
Obtain the rotating torque that motor rotates the pulling force for driving propeller to generate and the propeller to motor base；
The pulling force and the propeller generated according to the propeller to the rotating torque of motor base, determine described in
The posture of unmanned vehicle.
Unmanned vehicle computation method for attitude, flight controller and unmanned vehicle provided in this embodiment, pass through motor
The pulling force and propeller that rotation drive propeller generates determine the posture of unmanned vehicle to the rotating torque of motor base,
The posture that IMU also can detect that unmanned vehicle is not needed, and the posture of unmanned vehicle can not be detected when IMU breaks down
When, flight controller can also rotate the rotation of the pulling force and propeller that drive propeller to generate to motor base by motor
Torque determines the posture of unmanned vehicle, and then carries out flight control to unmanned vehicle, avoid due to IMU failures and caused by
Air crash accident.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for this
For the those of ordinary skill of field, without having to pay creative labor, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the schematic diagram of body coordinate system and ground inertial coodinate system in the prior art；
Fig. 2 is the flow chart of unmanned vehicle computation method for attitude provided in an embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of dynamical system provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram of another dynamical system provided in an embodiment of the present invention；
Fig. 5 is a kind of schematic diagram of quadrotor unmanned vehicle provided in an embodiment of the present invention；
Fig. 6 is the stress diagram of unmanned vehicle provided in an embodiment of the present invention；
Fig. 7 is the structure chart of flight controller provided in an embodiment of the present invention；
Fig. 8 is the structure chart of unmanned vehicle provided in an embodiment of the present invention.
Reference numeral：
31- propeller 32- motor 33- motor bases
34- mechanics sensor 60- unmanned vehicle 70- flight controllers
71- processor 72- mechanics sensor 100- unmanned vehicles
107- motor 106- propeller 117- electron speed regulators
118- flight controller 108- sensor-based system 110- communication systems
102- support equipment 104- capture apparatus 112- earth stations
114- antenna 116- electromagnetic waves
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is clearly retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or it may be simultaneously present component placed in the middle.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the Listed Items of pass.
Below in conjunction with the accompanying drawings, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Fig. 1 is the schematic diagram of body coordinate system and ground inertial coodinate system in the prior art.As shown in Figure 1, xbExpression machine
The X-axis of body coordinate system, ybIndicate the Y-axis of body coordinate system, zbIndicate the Z axis of body coordinate system, xeIndicate ground inertial coodinate system
X-axis, yeIndicate the Y-axis of ground inertial coodinate system, zeIndicate the Z axis of ground inertial coodinate system.Specifically, the body coordinate system
Can be the corresponding body coordinate system of unmanned vehicle, then the angle between body coordinate system and ground inertial coodinate system is this
The attitude angle of unmanned vehicle, the attitude angle include following at least one：Pitching angle theta, yaw angle ψ, roll angle φ, wherein bow
Elevation angle theta is the X-axis i.e. x of body coordinate systembAngle between ground level, ground level can be the X-axis of ground inertial coodinate system
That is xeWith Y-axis, that is, y of ground inertial coodinate systemeThe plane of composition, in addition, X-axis, that is, x of body coordinate systembIt can be in axis
In axial direction.Yaw angle ψ is the X-axis i.e. x of projection and ground inertial coodinate system of the axis on ground leveleBetween angle.It is horizontal
Roll angle φ is the angle that the plane of symmetry of unmanned vehicle is turned over around axis, due to X-axis, that is, x of body coordinate systembIn axis
Axial direction on, then X-axis, that is, x of body coordinate systembWith Y-axis, that is, y of body coordinate systembThe plane of composition can be used as unmanned flight
The plane of symmetry of device, then roll angle φ be unmanned vehicle the plane of symmetry with cross the X-axis of body coordinate system and vertical with ground level
Angle between plane.As shown in Figure 1, when pitching angle theta is come back with unmanned vehicle body coordinate system X-axis xbWith ground level it
Between angle be that just, yaw angle ψ is with the X-axis x of the opposite ground inertial coodinate system of projection of the axis on ground leveleIt is clockwise
Direction is that just, roll angle φ is just rotationally clockwise around axis with the plane of symmetry of unmanned vehicle.Fig. 1 is only schematic
Illustrate, in other embodiments, pitching angle theta can also be x when being bowed with unmanned vehiclebAngle between ground level is
Just, yaw angle ψ can also be the projection with axis on ground level with respect to xeCounter clockwise direction be just, roll angle φ may be used also
Being rotated in an anti-clockwise direction as just around axis with the plane of symmetry of unmanned vehicle.
The prior art passes through Inertial Measurement Unit (Inertial Measurement Unit, IMU) i.e. three axis accelerometer
Detect the attitude angle of unmanned vehicle with three-axis gyroscope, flight controller is according to the postures of the IMU unmanned vehicles detected
Flight control can be carried out to unmanned vehicle.But when IMU breaks down, IMU will be unable to detect unmanned vehicle
Posture when flight controller can not get the posture of unmanned vehicle, will be unable to carry out flight control to unmanned vehicle, from
And cause unmanned vehicle may air crash.In order to solve this problem, an embodiment of the present invention provides a kind of unmanned vehicle postures
Computational methods, this method are different from the method for detecting unmanned vehicle posture by IMU, are carried out with reference to specific embodiment
Explanation.
The embodiment of the present invention provides a kind of unmanned vehicle computation method for attitude.Fig. 2 is nothing provided in an embodiment of the present invention
The flow chart of people's attitude of flight vehicle computational methods.As shown in Fig. 2, the method in the present embodiment, may include：
Step S201, it obtains motor and rotates the pulling force for driving propeller to generate and the propeller to motor base
Rotating torque.
The flight controller control motor rotation of unmanned vehicle, propeller are rotated with the rotation of motor, propeller
Pulling force is generated in rotation process, when the sum of pulling force that propeller generates is equal to the weight of the unmanned vehicle, nobody flies for this
Row device can hover in the air, if in addition, the unmanned vehicle is more rotor unmanned aircrafts, flight controller can also pass through
Flight attitude, speed, angular speed, the acceleration etc. for controlling the rotating speed of each motor to control more rotor unmanned aircrafts.
According to Newton's third law：Active force and reaction force between two objects of interaction is equal in magnitude, side
To opposite.Therefore, while motor drives propeller rotation, it is (anti-twisted that propeller also can apply a reaction force to motor
Square), promote motor to rotate in the opposite direction, motor is fixed on motor base, and therefore, propeller can generate rotation to motor base
Torque.It is illustrated in figure 3 motor propeller corresponding with its of more rotor unmanned aircrafts, specifically, motor 32 rotates
Propeller 31 is driven to rotate, for example, propeller 31 rotates counterclockwise, propeller 31 generates upward pulling force, while propeller 31
Rotating torque is generated to motor base 33, rotating torque is opposite with the direction of rotation of propeller 31.In addition, more rotor unmanned flights
Other motors of device are similar with its structure of corresponding propeller as shown in figure 3, and details are not described herein again.
The pulling force of propeller generation and the propeller is driven to turn motor base specifically, obtaining motor rotation
A kind of achievable mode of kinetic moment is：The propeller is driven to generate when obtaining the motor rotation that mechanics sensor detects
Pulling force and the propeller to the rotating torque of motor base, the mechanics sensor is located at the motor and the electricity
Between machine base.As shown in figure 4, being provided with mechanics sensor 34, mechanics sensor 34 between motor 32 and motor base 33
The upward pulling force that propeller 31 generates when rotated can be sensed, or draws high torque, while propeller 31 can also be sensed
To the rotating torque of motor base 33.Optionally, upward torque is drawn high according to what propeller 31 generated when rotated, it may be determined that
Go out the upward pulling force that propeller 31 generates when rotated, alternatively, the upward pulling force generated when rotated according to propeller 31,
Can determine that propeller 31 generates when rotated upward draws high torque.In addition, mechanics sensor 34 can be specifically six axis
Mechanics sensor, six axis mechanics sensors can be used for sense unmanned vehicle X-axis, Y-axis, the power in three directions of Z axis and this three
The torque in a direction.In addition, the position of the corresponding mechanics sensor of each motor of more rotor unmanned aircrafts, motor base
It is similar with Fig. 4 to set relationship, details are not described herein again.
Step S202, the pulling force and the propeller generated according to the propeller to the rotating torque of motor base,
Determine the posture of the unmanned vehicle.
Specifically, the posture of the unmanned vehicle includes following at least one：Pitch angle, roll angle and yaw angle.
In the present embodiment, pitch angle is denoted as θpitch, roll angle be denoted as θroll, yaw angle be denoted as θyaw。
The pulling force and the propeller generated according to the propeller to the rotating torque of motor base, determine described in
A kind of achievable mode of the posture of unmanned vehicle is：The pulling force and the propeller generated according to the propeller
To the rotating torque of motor base, three shaft angle acceleration of the unmanned vehicle are calculated；Wherein, the three shaft angles acceleration packet
Include following at least one：The angular acceleration β of the pitch anglepitch, the roll angle angular acceleration βrollAnd the yaw
The angular acceleration β at angleyaw；According to the three shaft angles acceleration, the posture of the unmanned vehicle is determined.
Unmanned vehicle is considered as a rigid body, the relationship between the angular acceleration β of rigid body, rotary inertia J, torque M
It can be determined by following formula (1)：
M=J* β (1)
Wherein, M can be specifically the total torque suffered by rigid body；β can be specifically torsion of the rigid body under total torque effect
Turn the angular acceleration generated on direction.Total torque suffered by unmanned vehicle can be pitching moment, rolling moment, yaw forces
Therefore the resultant moment of square can determine that the pitching moment M suffered by unmanned vehicle according to formula (1)pitchWith the angle of pitch angle
Acceleration βpitchBetween relationship such as formula (2) shown in, while can also determine the rolling moment suffered by unmanned vehicle
MrollWith the angular acceleration β of roll anglerollBetween relationship such as formula (3) shown in and yawing MyawWith the angle of yaw angle
Acceleration βyawBetween relationship such as formula (4) shown in.
Mpitch=J* βpitch (2)
Mroll=J* βroll (3)
Myaw=J* βyaw (4)
Therefore, according to the pitching moment Mpitch, the rolling moment MrollWith the yawing Myaw, pass through formula
(2) (3) (4) can calculate the three shaft angle acceleration i.e. angular acceleration β of pitch angle of the unmanned vehiclepitch, roll angle angle
Acceleration βrollWith the angular acceleration β of yaw angleyaw.Again according to the relationship between angular acceleration and angle, according to the angle of pitch angle
Acceleration βpitchCalculate pitching angle thetapitch；According to the angular acceleration β of roll anglerollCalculate roll angle θroll；According to yaw
The angular acceleration β at angleyawCalculate yaw angle θyaw。
It is described in detail below and calculates pitching moment Mpitch, rolling moment MrollWith yawing MyawMethod, Yi Zhongke
The mode of realization is：The horn length of the pulling force and the unmanned vehicle that are generated according to the propeller, calculates the spiral shell
Revolve pitching moment M of the paddle to the unmanned vehiclepitchWith rolling moment Mroll；Motor base is turned according to the propeller
Kinetic moment calculates yawing M of the propeller to the unmanned vehicleyaw.As shown in figure 5, with quadrotor unmanned flight
For device, which corresponds to there are four motor such as No. 1 motor, No. 2 motors, No. 3 motors, No. 4 motors, and 1
Number motor drives No. 1 propeller rotational, and No. 2 motors drive No. 2 propeller rotationals, and No. 3 motors drive No. 3 propeller rotationals, No. 4
Motor drives No. 4 propeller rotationals.The rotation direction of No. 1 motor and No. 3 motors is consistent, is clockwise；No. 2 motors and
The rotation direction of No. 4 motors is consistent, is counterclockwise；In addition, the rotation direction of No. 1 motor and No. 3 motors can also be
Counterclockwise, the rotation direction of No. 2 motors and No. 4 motors can also be clockwise.Four motors are in rotation process
Drive corresponding propeller rotational, and the rotation direction of motor is consistent with the rotation direction of the motor-driven propeller, then No. 1
Rotationally clockwise, No. 2 propellers and No. 4 propellers rotate in an anti-clockwise direction, each propeller for propeller and No. 3 propellers
Upward pulling force is generated, for example, No. 1 propeller generates upward pulling force F1；No. 2 propellers generate upward pulling force F2；No. 3 spiral shells
Rotation paddle generates upward pulling force F3；No. 4 propellers generate upward pulling force F4.While propeller rotation being driven due to motor,
Propeller also can apply a reaction force (reaction torque) to motor, promote motor to rotate in the opposite direction, motor is fixed on motor
On pedestal, therefore, propeller can generate rotating torque to motor base, for example, the rotation of No. 1 motor base of No. 1 propeller pair
Torque is M1；The rotating torque of No. 2 motor bases of No. 2 propellers pair is M2；The rotatory force of No. 3 motor bases of No. 3 propellers pair
Square is M3；The rotating torque of No. 4 motor bases of No. 4 propellers pair is M4.As it can be seen that the rotation direction of propeller and the propeller pair
The direction of the rotating torque of motor base is opposite.
As shown in figure 5, the rotating speed of each motor can it is identical, can not also be identical, when each motor speed is endless
When exactly the same, the pulling force that each propeller generates is not exactly the same, and each propeller cannot be mutual to the rotating torque of its motor base
Balance rotates so as to cause unmanned vehicle.When each motor speed is identical, the pulling force that each propeller generates is identical, each spiral shell
Rotation paddle mutually balances the rotating torque of its motor base, and unmanned vehicle does not rotate.For some motor, if electric
Machine rotating speed increases, and indicates that the pulling force that the motor-driven propeller generates increases, if motor speed declines, indicates that the motor drives
Propeller generate pulling force reduce.
In this example, it is assumed that using No. 1 motor as the heading of unmanned vehicle, No. 3 motors are unmanned vehicle
Tail direction, No. 2 motors are the motor in the left side of unmanned vehicle, and No. 4 motors are the motor on the right side of unmanned vehicle, i.e.,
The heading of unmanned vehicle is cross, is only schematically illustrated herein, and the heading of unmanned vehicle is not limited,
In other embodiments, the heading of unmanned vehicle can also be X-type, i.e. No. 1 motor and No. 2 motors are collectively as nothing
Motor in front of people's aircraft, No. 3 motors and No. 4 motors collectively as unmanned vehicle rear motor, unmanned vehicle with
Pitching moment M when cross flightpitch, rolling moment MrollWith yawing MyawWhen with unmanned vehicle with X-type flight
Pitching moment Mpitch, rolling moment MrollWith yawing MyawBetween can carry out mathematics conversion.
As shown in figure 5, O indicates the barycenter of unmanned vehicle, body is established as coordinate origin using the barycenter O of unmanned vehicle
Coordinate system, then when unmanned vehicle is with cross flight, the X-axis of body coordinate system is the diagonal line of No. 1 motor and No. 3 motors,
The X-axis forward direction of body coordinate system can be directed toward the direction of head i.e. from the direction of O No. 1 motor of direction from O；Body coordinate system
Y-axis is the diagonal line of No. 2 motors and No. 4 motors, and the Y-axis forward direction of body coordinate system can be the direction being directed toward from O on the right side of fuselage
The direction of No. 4 motors is directed toward from O, the Z axis forward direction of body coordinate system can be perpendicular to X-axis and the plane of Y-axis composition is upward
Direction.Therefore, the X-axis of body coordinate system is roll axis, that is, roll axis of unmanned vehicle, and the Y-axis of body coordinate system is for nobody
The pitch axis of aircraft, that is, pitch axis, the Z axis of body coordinate system are yaw axis, that is, yaw axis of unmanned vehicle.In addition, barycenter O
Isometric apart from each motor, then length of the barycenter O apart from any motor can be as the horn length of unmanned vehicle.
Since torque refers to the trend that active force makes object be rotated around rotation axis or fulcrum in physics, torque M, away from
It is from the relationship between vector L, vectorial force F：M=F*L, L are specially the distance vector from rotation axis to impetus, then nobody flies
Pitching moment M suffered by row devicepitchIt can be expressed as Mpitch=Fpitch* R, wherein FpitchExpression can make unmanned vehicle
The resultant force rotated around the Y-axis of pitch axis, that is, body coordinate system, R are indicated from pitch axis to FpitchImpetus distance vector
That is the horn length of unmanned vehicle；Similarly, rolling moment Mroll=Froll* R, FrollExpression can make unmanned vehicle around
The resultant force of the X-axis rotation of roll axis, that is, body coordinate system, R are indicated from roll axis to FrollThe distance vector of impetus be nobody
The horn length of aircraft.
The horn length of the pulling force generated according to the propeller and the unmanned vehicle, calculates the spiral shell
Pitching moment and rolling moment of the paddle to the unmanned vehicle are revolved, including：According to the spiral shell of the unmanned vehicle heading
Revolve the pulling force of paddle generation, the pulling force of the propeller generation in unmanned vehicle tail direction and the unmanned vehicle
Horn length calculates pitching moment of the propeller to the unmanned vehicle；According to the spiral shell on the unmanned vehicle left side
Revolve the machine of pulling force and the unmanned vehicle that pulling force, the propeller on the right of the unmanned vehicle machine that paddle generates generate
Arm lengths calculate rolling moment of the propeller to the unmanned vehicle.
As can be seen from FIG. 5, a kind of possible situation is：When the rotating speed of No. 1 motor and No. 3 motors is different, No. 2 motors and 4
When the rotating speed of number motor is identical, the pulling force that pulling force and No. 3 propellers that No. 1 propeller generates generate is different, and No. 2 propellers generate
Pulling force and No. 4 propellers generate pulling force it is identical, No. 1 propeller is to the rotating torque of its motor base and No. 3 propellers pair
The rotating torque of its motor base cannot be balanced mutually, and No. 2 propellers are to the rotating torque of its motor base and No. 4 propellers pair
The rotating torque of its motor base mutually balances, and causes unmanned vehicle to be rotated by rotation axis of pitch axis, if with unmanned flight
Angle when device comes back between the X-axis and ground level of body coordinate system is positive pitch angle, then Fpitch=F1-F3, due to Mpitch
=Fpitch* R, then Mpitch=(F1-F3) * R.
As can be seen from FIG. 5, alternatively possible situation is：When the rotating speed of No. 1 motor and No. 3 motors is identical, No. 2 motors and
When the rotating speed difference of No. 4 motors, the pulling force of pulling force and the generation of No. 3 propellers that No. 1 propeller generates is identical, No. 2 propellers productions
The pulling force that raw pulling force and No. 4 propellers generate is different, and No. 1 propeller is to the rotating torque of its motor base and No. 3 propellers
The rotating torque of its motor base is mutually balanced, No. 2 propellers are to the rotating torque of its motor base and No. 4 propellers to it
The rotating torque of motor base cannot be balanced mutually, cause unmanned vehicle to be rotated by rotation axis of roll axis, if unmanned flight
The angle that the plane of symmetry of unmanned vehicle is turned over around axis when being tilted to the right less than left side, that is, unmanned vehicle on the right side of device is just
Roll angle, then Froll=F2-F4, due to Mroll=Froll* R, then Mroll=(F2-F4) * R.
It is described according to the propeller to the rotating torque of motor base, calculate the propeller to the unmanned vehicle
Yawing, including：According to the rotating torque for the propeller generation of the unmanned vehicle rotated clockwise and counterclockwise
The resultant moment for the rotating torque that the propeller of rotation generates, calculates yawing of the propeller to the unmanned vehicle.
As can be seen from FIG. 5, another possible situation is：The rotating speed of No. 1 motor and No. 3 motors rises, No. 2 motors and 4
The rotating speed of number motor declines, then the pulling force that No. 1 propeller and No. 3 propellers generate increases, No. 2 propellers and No. 4 propellers productions
Raw pulling force reduces, and No. 1 propeller and No. 3 propellers are more than No. 2 propellers and No. 4 propellers to the rotating torque of motor base
To the rotating torque of motor base, cause the fuselage of unmanned vehicle that will be rotated by rotation axis of yaw axis, if unmanned vehicle with
Yaw axis be rotation axis turn left when unmanned vehicle i.e. viewed from above rotates counterclockwise be yaw angle positive direction, then Myaw
=M1+M3-M2-M4.
In conclusion pitching moment Mpitch=(F1-F3) * R, rolling moment Mroll=(F2-F4) * R, yawing Myaw
=M1+M3-M2-M4 calculates the unmanned vehicle according to the pitching moment, the rolling moment and the yawing
Three shaft angle acceleration, including it is following at least one：
The first：According to the pitching moment, the angular acceleration of the pitch angle is calculated；Specifically, in conjunction with Mpitch=
(F1-F3) following formula (5) can be obtained in * R and above-mentioned formula (2)：
J*βpitch=(F1-F3) * R (5)
Wherein, F1 and F3 can be sensed by mechanics sensor 34 as shown in Figure 4 and be obtained, specifically, No. 1 motor and No. 1
There are one mechanics sensors between motor base, and the mechanics sensor is for sensing F1；Between No. 3 motors and No. 3 motor bases
There are one mechanics sensor, the mechanics sensor is for sensing F3；J and R is constant, then can acquire pitch angle by formula (5)
Angular acceleration βpitch。
Second：According to the rolling moment, the angular acceleration of the roll angle is calculated；Specifically, in conjunction with Mroll=
(F2-F4) following formula (6) can be obtained in * R and above-mentioned formula (3)：
J*βroll=(F2-F4) * R (6)
Wherein, F2 and F4 can be sensed by mechanics sensor 34 as shown in Figure 4 and be obtained, specifically, No. 2 motors and No. 2
There are one mechanics sensors between motor base, and the mechanics sensor is for sensing F2；Between No. 4 motors and No. 4 motor bases
There are one mechanics sensor, the mechanics sensor is for sensing F4；J and R is constant, then can acquire roll angle by formula (6)
Angular acceleration βroll。
The third：According to the yawing, the angular acceleration of the yaw angle is calculated；Specifically, in conjunction with Myaw=M1+
Following formula (7) can be obtained in M3-M2-M4 and above-mentioned formula (4)：
J*βyaw=M1+M3-M2-M4 (7)
Wherein, M1, M3, M2, M4 can be sensed by mechanics sensor 34 as shown in Figure 4 and be obtained, and therefore, pass through formula
(7) the angular acceleration β of yaw angle can be acquiredyaw。
It is described that the posture of the unmanned vehicle is determined according to the three shaft angles acceleration, including：According to three shaft angle
Acceleration determines three axis angular rates；Wherein, three axis angular rate includes following at least one：The angular speed of the pitch angle,
The angular speed of the angular speed of the roll angle and the yaw angle；According to three axis angular rate, the unmanned flight is determined
The posture of device.
The posture of unmanned vehicle includes following at least one：Pitching angle thetapitch, roll angle θrollWith yaw angle θraw, bow
Elevation angle thetapitchWith the angular acceleration β of pitch anglepitchBetween relationship such as formula (8) shown in, roll angle θrollWith the angle of roll angle
Acceleration βrollBetween relationship such as formula (9) shown in, yaw angle θrawWith the angular acceleration β of yaw anglerawBetween relationship such as
Shown in formula (10)：
Wherein, ωpitchIndicate the angular speed of pitch angle, ωrollIndicate the angular speed of roll angle, ωrawIndicate yaw angle
Angular speed.Therefore, according to three shaft angle acceleration, that is, β of unmanned vehiclepitch、βrollAnd βraw, it may be determined that go out the unmanned flight
Posture, that is, θ of devicepitch、θrollAnd θraw.For example, to βpitchIt is integrated to obtain the angular velocity omega of pitch anglepitch, then it is right
ωpitchIt is integrated to obtain pitching angle thetapitch；To βrollIt is integrated to obtain the angular velocity omega of roll angleroll, then to ωrollInto
Row integral obtains roll angle θroll；To βrawIt is integrated to obtain the angular velocity omega of yaw angleraw, then to ωrawIt is integrated to obtain
Yaw angle θraw, to obtain the posture of unmanned vehicle.
In conclusion the posture estimation that unmanned vehicle computation method for attitude provided in this embodiment is unmanned vehicle carries
A kind of new method is supplied, the pulling force and propeller that this method is generated according to propeller are to the rotating torque of motor base, i.e.,
It can determine the posture of unmanned vehicle, be different from the prior art in such a way that IMU detects the posture of unmanned vehicle, because
This, unmanned vehicle computation method for attitude provided in this embodiment can be as the alternative of the prior art, such as when IMU goes out
When existing failure, the posture of unmanned vehicle is determined instead of IMU, and the posture for the unmanned vehicle determined is standby as redundancy
Part, so that the flight controller of unmanned vehicle still can be according to the appearance of unmanned vehicle in the case where IMU breaks down
State carries out flight control to unmanned vehicle.In addition, unmanned vehicle computation method for attitude provided in this embodiment can also be with
It is merged in such a way that IMU detects unmanned vehicle posture in the prior art, for example, the nothing detected separately through IMU
There may be certain errors for the posture of people's aircraft, and the pulling force and propeller that are generated according to propeller turn motor base
Kinetic moment, the posture for the unmanned vehicle determined, and merged by the posture of the IMU unmanned vehicles detected,
The posture of the higher unmanned vehicle of precision can be obtained.
The present embodiment rotates the rotatory force of the pulling force for driving propeller to generate and propeller to motor base by motor
Square determines the posture of unmanned vehicle, that is, does not need the posture that IMU also can detect that unmanned vehicle, when IMU failure nothings
When method detects the posture of unmanned vehicle, flight controller can also rotate the pulling force for driving propeller to generate by motor, with
And propeller determines the rotating torque of motor base the posture of unmanned vehicle, and then flight control is carried out to unmanned vehicle
System, avoid due to IMU failures and caused by air crash accident.
The embodiment of the present invention provides a kind of unmanned vehicle computation method for attitude.On the basis of embodiment shown in Fig. 2, this
Method in embodiment may include：Gravity, the Yi Jisuo of the pulling force, the unmanned vehicle that are generated according to the propeller
State the air drag that unmanned vehicle is subject in vertical direction, calculate the speed of the unmanned vehicle in vertical direction and
Acceleration.Wherein, the air drag that the unmanned vehicle is subject in vertical direction is being hung down according to the unmanned vehicle
The upward speed of histogram determines.
By taking quadrotor unmanned vehicle as shown in Figure 5 as an example, the pulling force that four propellers generate is respectively the present embodiment
F1, F2, F3, F4, due to the direction of F1, F2, F3, F4 be it is upward, the gravity of unmanned vehicle be it is downward, when F1, F2,
When the size of the resultant force of F3, F4 is equal to the gravity size of unmanned vehicle, unmanned vehicle hovers in the air, works as unmanned vehicle
When moving in vertical direction, unmanned vehicle in vertical direction can by air drag, the direction of air drag and nobody
The direction of motion of aircraft in vertical direction is on the contrary, for example, unmanned vehicle flies upwards in vertical direction, then nobody flies
The air drag that row device is subject in vertical direction is downward, and when unmanned vehicle downward flight in vertical direction, nobody flies
The air drag that row device is subject in vertical direction is upward.As shown in fig. 6, the resultant force of F1, F2, F3, F4 are F, the direction of F to
On, if the flight upwards in vertical direction of unmanned vehicle 60, and the speed risen is v, then unmanned vehicle 60 is in Vertical Square
Upwards by downward air drag f, if the acceleration of unmanned vehicle 60 in vertical direction is a, unmanned vehicle 60
Meet following formula (11) (12) (13) in vertical direction：
Ma=F1+F2+F3+F4-mg-f (11)
F=kv2 (12)
Wherein, m indicates that the weight of unmanned vehicle, g indicate that the acceleration of gravity of unmanned vehicle Location, k indicate
Resistance coefficient, the speed that unmanned vehicle moves in vertical direction is bigger, and the air drag being subject to is bigger, unmanned vehicle
Acceleration a in vertical direction is the variable quantity for the speed that unmanned vehicle moves in vertical direction, while the size energy of a
Enough reflect the variation speed for the speed that unmanned vehicle moves in vertical direction.Therefore, according to above-mentioned formula (11) (12)
(13) unmanned vehicle speed v in vertical direction and acceleration a can be calculated.
The gravity and unmanned vehicle for the pulling force, unmanned vehicle that the present embodiment is generated by propeller are in Vertical Square
The air drag being subject to upwards calculates unmanned vehicle speed in vertical direction and acceleration, increases to unmanned flight
The detection function of device so that flight controller can also be right according to the speed of unmanned vehicle in vertical direction and acceleration
Unmanned vehicle carries out flight control, enhances control function of the flight controller to unmanned vehicle.
The embodiment of the present invention provides a kind of flight controller.Fig. 7 is the knot of flight controller provided in an embodiment of the present invention
Composition, as shown in fig. 7, flight controller 70 includes one or more processors 71, one or more processors 71 are independent or assist
With work, one or more processors 71 are used for：It obtains motor rotation and drives the pulling force of propeller generation and the propeller
To the rotating torque of motor base；Rotation of the pulling force and the propeller generated according to the propeller to motor base
Torque determines the posture of the unmanned vehicle.Wherein, the posture of the unmanned vehicle includes following at least one：Pitching
Angle, roll angle and yaw angle.
In addition, flight controller 70 further includes mechanics sensor 72, mechanics sensor 72 is connected with the communication of processor 71, is used
The rotating torque of pulling force that the propeller generates and the propeller to motor base is driven when detection-sensitive motor rotates,
And the pulling force of the propeller sensed generation and the propeller are transferred to processing to the rotating torque of motor base
Device 71；Mechanics sensor 72 is between the motor and the motor base.Specifically, the mechanics sensor is six axle powers
Sensor.
Optionally, the pulling force and the propeller that processor 71 is generated according to the propeller turn motor base
Kinetic moment is specifically used for when determining the posture of the unmanned vehicle：The pulling force and described generated according to the propeller
Propeller calculates three shaft angle acceleration of the unmanned vehicle to the rotating torque of motor base；Wherein, three shaft angle adds
Speed includes following at least one：The angular acceleration of the pitch angle, the angular acceleration of the roll angle and the yaw angle
Angular acceleration；According to the three shaft angles acceleration, the posture of the unmanned vehicle is determined.Wherein, processor 71 is according to institute
State propeller generation pulling force and the propeller to the rotating torque of motor base, calculate the three of the unmanned vehicle
When shaft angle acceleration, it is specifically used for：The horn length of the pulling force and the unmanned vehicle that are generated according to the propeller,
Calculate pitching moment and rolling moment of the propeller to the unmanned vehicle；According to the propeller to motor base
Rotating torque calculates yawing of the propeller to the unmanned vehicle；According to the pitching moment, the rolling power
Square and the yawing calculate three shaft angle acceleration of the unmanned vehicle.
Optionally, which is multi-rotor unmanned aerial vehicle.The pulling force that processor 71 is generated according to the propeller, with
And the horn length of the unmanned vehicle, calculate pitching moment and rolling moment of the propeller to the unmanned vehicle
When, it is specifically used for：According to the pulling force of the propeller of unmanned vehicle heading generation, the unmanned vehicle tail side
To propeller generate pulling force and the unmanned vehicle horn length, calculate the propeller to it is described nobody fly
The pitching moment of row device；On the right of the pulling force of the propeller on unmanned vehicle left side generation, the unmanned vehicle machine
Propeller generate pulling force and the unmanned vehicle horn length, calculate the propeller to the unmanned flight
The rolling moment of device.In addition, processor 71 according to the propeller to the rotating torque of motor base, calculate the propeller pair
When the yawing of the unmanned vehicle, it is specifically used for：According to the propeller production of the unmanned vehicle rotated clockwise
The resultant moment for the rotating torque that raw rotating torque and the propeller rotated counterclockwise generate, calculates the propeller to the nothing
The yawing of people's aircraft.
Optionally, processor 71 calculates the nothing according to the pitching moment, the rolling moment and the yawing
When three shaft angle acceleration of people's aircraft, it is specifically used for following at least one：According to the pitching moment, the pitch angle is calculated
Angular acceleration；According to the rolling moment, the angular acceleration of the roll angle is calculated；According to the yawing, institute is calculated
State the angular acceleration of yaw angle.
Optionally, processor 71 is according to the three shaft angles acceleration, specific to use when determining the posture of the unmanned vehicle
In：According to the three shaft angles acceleration, three axis angular rates are determined；Wherein, three axis angular rate includes following at least one：Institute
State the angular speed of the angular speed of pitch angle, the angular speed of the roll angle and the yaw angle；According to three axis angular rate,
Determine the posture of the unmanned vehicle.
The concrete principle and realization method of flight controller provided in an embodiment of the present invention with embodiment illustrated in fig. 2 class
Seemingly, details are not described herein again.
The present embodiment rotates the rotatory force of the pulling force for driving propeller to generate and propeller to motor base by motor
Square determines the posture of unmanned vehicle, that is, does not need the posture that IMU also can detect that unmanned vehicle, when IMU failure nothings
When method detects the posture of unmanned vehicle, flight controller can also rotate the pulling force for driving propeller to generate by motor, with
And propeller determines the rotating torque of motor base the posture of unmanned vehicle, and then flight control is carried out to unmanned vehicle
System, avoid due to IMU failures and caused by air crash accident.
The embodiment of the present invention provides a kind of flight controller.On the basis of the technical solution that embodiment shown in Fig. 7 provides,
Processor 71 is additionally operable to：The gravity of the pulling force, the unmanned vehicle that are generated according to the propeller and the unmanned flight
The air drag that device is subject in vertical direction calculates unmanned vehicle speed in vertical direction and acceleration.Its
In, air drag that the unmanned vehicle is subject in vertical direction be according to the unmanned vehicle in vertical direction
What speed determined.
The concrete principle and realization method of flight controller provided in an embodiment of the present invention with embodiment illustrated in fig. 6 class
Seemingly, details are not described herein again.
The gravity and unmanned vehicle for the pulling force, unmanned vehicle that the present embodiment is generated by propeller are in Vertical Square
The air drag being subject to upwards calculates unmanned vehicle speed in vertical direction and acceleration, increases to unmanned flight
The detection function of device so that flight controller can also be right according to the speed of unmanned vehicle in vertical direction and acceleration
Unmanned vehicle carries out flight control, enhances control function of the flight controller to unmanned vehicle.
The embodiment of the present invention provides a kind of unmanned vehicle.Fig. 8 is the knot of unmanned vehicle provided in an embodiment of the present invention
Composition, as shown in figure 8, unmanned vehicle 100 includes：Fuselage, dynamical system and flight controller 118, the dynamical system packet
Include following at least one：Motor 107, propeller 106 and electron speed regulator 117, dynamical system is mounted on the fuselage, for carrying
For flying power；Flight controller 118 is connected with dynamical system communication, for controlling the unmanned vehicle flight.
In addition, as shown in figure 8, unmanned vehicle 100 further includes：Sensor-based system 108, communication system 110, support equipment
102, capture apparatus 104, wherein support equipment 102 can be specifically holder, and communication system 110 can specifically include receiver,
The wireless signal that receiver is sent for the antenna 114 of satellite receiver 112,116 indicate receiver and 114 communication process of antenna
The electromagnetic wave of middle generation.
In the present embodiment, 118 concrete principle of flight controller and realization method are consistent with above-described embodiment, herein not
It repeats again.
The present embodiment rotates the rotatory force of the pulling force for driving propeller to generate and propeller to motor base by motor
Square determines the posture of unmanned vehicle, that is, does not need the posture that IMU also can detect that unmanned vehicle, when IMU failure nothings
When method detects the posture of unmanned vehicle, flight controller can also rotate the pulling force for driving propeller to generate by motor, with
And propeller determines the rotating torque of motor base the posture of unmanned vehicle, and then flight control is carried out to unmanned vehicle
System, avoid due to IMU failures and caused by air crash accident.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be the INDIRECT COUPLING or logical by some interfaces, device or unit
Letter connection can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can be stored in one and computer-readable deposit
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. it is various
The medium of program code can be stored.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each function module
Division progress for example, in practical application, can be complete by different function modules by above-mentioned function distribution as needed
At the internal structure of device being divided into different function modules, to complete all or part of the functions described above.On
The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (39)
1. a kind of unmanned vehicle computation method for attitude, which is characterized in that including：
Obtain the rotating torque that motor rotates the pulling force for driving propeller to generate and the propeller to motor base；
The pulling force and the propeller generated according to the propeller to the rotating torque of motor base, determine it is described nobody
The posture of aircraft.
2. according to the method described in claim 1, it is characterized in that, the posture of the unmanned vehicle includes following at least one
Kind：
Pitch angle, roll angle and yaw angle.
3. according to the method described in claim 1, it is characterized in that, the drawing for obtaining motor rotation and propeller being driven to generate
Power and the propeller to the rotating torque of motor base, including：
Obtain the pulling force for driving the propeller to generate when the motor rotation that mechanics sensor detects and the propeller pair
The rotating torque of motor base, the mechanics sensor is between the motor and the motor base.
4. according to the method described in claim 3, it is characterized in that, the mechanics sensor is six axis mechanics sensors.
5. according to the method described in claim 2, it is characterized in that, the pulling force generated according to the propeller, Yi Jisuo
Rotating torque of the propeller to motor base is stated, determines the posture of the unmanned vehicle, including：
The pulling force and the propeller generated according to the propeller to the rotating torque of motor base, calculate it is described nobody
Three shaft angle acceleration of aircraft；Wherein, the three shaft angles acceleration includes following at least one：The angle of the pitch angle accelerates
The angular acceleration of degree, the angular acceleration of the roll angle and the yaw angle；
According to the three shaft angles acceleration, the posture of the unmanned vehicle is determined.
6. according to the method described in claim 5, it is characterized in that, the pulling force generated according to the propeller, Yi Jisuo
Rotating torque of the propeller to motor base is stated, three shaft angle acceleration of the unmanned vehicle are calculated, including：
The horn length of the pulling force and the unmanned vehicle that are generated according to the propeller, calculates the propeller to institute
State the pitching moment and rolling moment of unmanned vehicle；
According to the propeller to the rotating torque of motor base, yaw forces of the propeller to the unmanned vehicle are calculated
Square；
According to the pitching moment, the rolling moment and the yawing, three shaft angles for calculating the unmanned vehicle add
Speed.
7. according to the method described in claim 6, it is characterized in that, the unmanned vehicle is multi-rotor unmanned aerial vehicle.
8. the method according to the description of claim 7 is characterized in that the pulling force generated according to the propeller, Yi Jisuo
The horn length for stating unmanned vehicle calculates pitching moment and rolling moment of the propeller to the unmanned vehicle, packet
It includes：
The spiral of the pulling force, unmanned vehicle tail direction that are generated according to the propeller of the unmanned vehicle heading
The horn length of pulling force and the unmanned vehicle that paddle generates, calculates the propeller and bows to the unmanned vehicle
Face upward torque；
It is generated according to the propeller on the right of the pulling force of the propeller on unmanned vehicle left side generation, the unmanned vehicle machine
Pulling force and the unmanned vehicle horn length, calculate rolling moment of the propeller to the unmanned vehicle.
9. the method according to the description of claim 7 is characterized in that it is described according to the propeller to the rotatory force of motor base
Square calculates yawing of the propeller to the unmanned vehicle, including：
The rotating torque generated according to the propeller of the unmanned vehicle rotated clockwise and the propeller rotated counterclockwise
The resultant moment of the rotating torque of generation calculates yawing of the propeller to the unmanned vehicle.
10. the method according to the description of claim 7 is characterized in that it is described according to the pitching moment, the rolling moment and
The yawing calculates three shaft angle acceleration of the unmanned vehicle, including following at least one：
According to the pitching moment, the angular acceleration of the pitch angle is calculated；
According to the rolling moment, the angular acceleration of the roll angle is calculated；
According to the yawing, the angular acceleration of the yaw angle is calculated.
11. according to the method described in claim 5, it is characterized in that, described according to the three shaft angles acceleration, the nothing is determined
The posture of people's aircraft, including：
According to the three shaft angles acceleration, three axis angular rates are determined；Wherein, three axis angular rate includes following at least one：
The angular speed of the angular speed of the pitch angle, the angular speed of the roll angle and the yaw angle；
According to three axis angular rate, the posture of the unmanned vehicle is determined.
12. according to the method described in claim 1, it is characterized in that, further including：
The gravity and the unmanned vehicle of the pulling force, the unmanned vehicle that are generated according to the propeller are in Vertical Square
The air drag being subject to upwards calculates unmanned vehicle speed in vertical direction and acceleration.
13. according to the method for claim 12, which is characterized in that the sky that the unmanned vehicle is subject in vertical direction
Atmidometer is determined according to the speed of the unmanned vehicle in vertical direction.
14. a kind of flight controller, which is characterized in that including one or more processors, work alone or synergistically, the processing
Device is used for：
Obtain the rotating torque that motor rotates the pulling force for driving propeller to generate and the propeller to motor base；
The pulling force and the propeller generated according to the propeller to the rotating torque of motor base, determine it is described nobody
The posture of aircraft.
15. flight controller according to claim 14, which is characterized in that the posture of the unmanned vehicle includes as follows
It is at least one：
Pitch angle, roll angle and yaw angle.
16. flight controller according to claim 14, which is characterized in that further include：
Mechanics sensor is communicated with the processor and is connected, the drawing for driving the propeller to generate when being rotated for detection-sensitive motor
Power and the propeller are to the rotating torque of motor base, and the pulling force that the propeller sensed is generated, Yi Jisuo
It states propeller and the processor is transferred to the rotating torque of motor base；
The mechanics sensor is between the motor and the motor base.
17. flight controller according to claim 16, which is characterized in that the mechanics sensor senses for six axle powers
Device.
18. flight controller according to claim 15, which is characterized in that the processor is generated according to the propeller
Pulling force and the propeller to the rotating torque of motor base, it is specific to use when determining the posture of the unmanned vehicle
In：
The pulling force and the propeller generated according to the propeller to the rotating torque of motor base, calculate it is described nobody
Three shaft angle acceleration of aircraft；Wherein, the three shaft angles acceleration includes following at least one：The angle of the pitch angle accelerates
The angular acceleration of degree, the angular acceleration of the roll angle and the yaw angle；
According to the three shaft angles acceleration, the posture of the unmanned vehicle is determined.
19. flight controller according to claim 18, which is characterized in that the processor is generated according to the propeller
Pulling force and the propeller to the rotating torque of motor base, when calculating three shaft angle acceleration of the unmanned vehicle,
It is specifically used for：
The horn length of the pulling force and the unmanned vehicle that are generated according to the propeller, calculates the propeller to institute
State the pitching moment and rolling moment of unmanned vehicle；
According to the propeller to the rotating torque of motor base, yaw forces of the propeller to the unmanned vehicle are calculated
Square；
According to the pitching moment, the rolling moment and the yawing, three shaft angles for calculating the unmanned vehicle add
Speed.
20. flight controller according to claim 19, which is characterized in that the unmanned vehicle be more rotors nobody
Machine.
21. flight controller according to claim 20, which is characterized in that the processor is generated according to the propeller
Pulling force and the unmanned vehicle horn length, calculate pitching moment of the propeller to the unmanned vehicle
When with rolling moment, it is specifically used for：
The spiral of the pulling force, unmanned vehicle tail direction that are generated according to the propeller of the unmanned vehicle heading
The horn length of pulling force and the unmanned vehicle that paddle generates, calculates the propeller and bows to the unmanned vehicle
Face upward torque；
It is generated according to the propeller on the right of the pulling force of the propeller on unmanned vehicle left side generation, the unmanned vehicle machine
Pulling force and the unmanned vehicle horn length, calculate rolling moment of the propeller to the unmanned vehicle.
22. flight controller according to claim 20, which is characterized in that the processor is according to the propeller to electricity
The rotating torque of machine base is specifically used for when calculating yawing of the propeller to the unmanned vehicle：
The rotating torque generated according to the propeller of the unmanned vehicle rotated clockwise and the propeller rotated counterclockwise
The resultant moment of the rotating torque of generation calculates yawing of the propeller to the unmanned vehicle.
23. flight controller according to claim 20, which is characterized in that the processor according to the pitching moment,
The rolling moment and the yawing, when calculating three shaft angle acceleration of the unmanned vehicle, be specifically used for such as down toward
Few one kind：
According to the pitching moment, the angular acceleration of the pitch angle is calculated；
According to the rolling moment, the angular acceleration of the roll angle is calculated；
According to the yawing, the angular acceleration of the yaw angle is calculated.
24. flight controller according to claim 18, which is characterized in that the processor accelerates according to three shaft angle
Degree, when determining the posture of the unmanned vehicle, is specifically used for：
According to the three shaft angles acceleration, three axis angular rates are determined；Wherein, three axis angular rate includes following at least one：
The angular speed of the angular speed of the pitch angle, the angular speed of the roll angle and the yaw angle；
According to three axis angular rate, the posture of the unmanned vehicle is determined.
25. flight controller according to claim 14, which is characterized in that the processor is additionally operable to：
The gravity and the unmanned vehicle of the pulling force, the unmanned vehicle that are generated according to the propeller are in Vertical Square
The air drag being subject to upwards calculates unmanned vehicle speed in vertical direction and acceleration.
26. flight controller according to claim 25, which is characterized in that the unmanned vehicle in vertical direction by
To air drag be to be determined according to the speed of the unmanned vehicle in vertical direction.
27. a kind of unmanned vehicle, which is characterized in that including：
Fuselage；
Dynamical system is mounted on the fuselage, and for providing flying power, the dynamical system includes at least motor and spiral
Paddle；
Flight controller is communicated with the dynamical system and is connected, for controlling the unmanned vehicle flight；The flight control
Device includes one or more processors, is worked alone or synergistically, and the processor is used for：
Obtain the rotating torque that motor rotates the pulling force for driving propeller to generate and the propeller to motor base；
The pulling force and the propeller generated according to the propeller to the rotating torque of motor base, determine it is described nobody
The posture of aircraft.
28. unmanned vehicle according to claim 27, which is characterized in that the posture of the unmanned vehicle includes as follows
It is at least one：
Pitch angle, roll angle and yaw angle.
29. unmanned vehicle according to claim 27, which is characterized in that the flight controller further includes：
Mechanics sensor is communicated with the processor and is connected, the drawing for driving the propeller to generate when being rotated for detection-sensitive motor
Power and the propeller are to the rotating torque of motor base, and the pulling force that the propeller sensed is generated, Yi Jisuo
It states propeller and the processor is transferred to the rotating torque of motor base；
The mechanics sensor is between the motor and the motor base.
30. unmanned vehicle according to claim 29, which is characterized in that the mechanics sensor senses for six axle powers
Device.
31. unmanned vehicle according to claim 28, which is characterized in that the processor is generated according to the propeller
Pulling force and the propeller to the rotating torque of motor base, it is specific to use when determining the posture of the unmanned vehicle
In：
The pulling force and the propeller generated according to the propeller to the rotating torque of motor base, calculate it is described nobody
Three shaft angle acceleration of aircraft；Wherein, the three shaft angles acceleration includes following at least one：The angle of the pitch angle accelerates
The angular acceleration of degree, the angular acceleration of the roll angle and the yaw angle；
According to the three shaft angles acceleration, the posture of the unmanned vehicle is determined.
32. unmanned vehicle according to claim 31, which is characterized in that the processor is generated according to the propeller
Pulling force and the propeller to the rotating torque of motor base, when calculating three shaft angle acceleration of the unmanned vehicle,
It is specifically used for：
The horn length of the pulling force and the unmanned vehicle that are generated according to the propeller, calculates the propeller to institute
State the pitching moment and rolling moment of unmanned vehicle；
According to the propeller to the rotating torque of motor base, yaw forces of the propeller to the unmanned vehicle are calculated
Square；
According to the pitching moment, the rolling moment and the yawing, three shaft angles for calculating the unmanned vehicle add
Speed.
33. unmanned vehicle according to claim 32, which is characterized in that the unmanned vehicle be more rotors nobody
Machine.
34. unmanned vehicle according to claim 33, which is characterized in that the processor is generated according to the propeller
Pulling force and the unmanned vehicle horn length, calculate pitching moment of the propeller to the unmanned vehicle
When with rolling moment, it is specifically used for：
The spiral of the pulling force, unmanned vehicle tail direction that are generated according to the propeller of the unmanned vehicle heading
The horn length of pulling force and the unmanned vehicle that paddle generates, calculates the propeller and bows to the unmanned vehicle
Face upward torque；
It is generated according to the propeller on the right of the pulling force of the propeller on unmanned vehicle left side generation, the unmanned vehicle machine
Pulling force and the unmanned vehicle horn length, calculate rolling moment of the propeller to the unmanned vehicle.
35. unmanned vehicle according to claim 33, which is characterized in that the processor is according to the propeller to electricity
The rotating torque of machine base is specifically used for when calculating yawing of the propeller to the unmanned vehicle：
The rotating torque generated according to the propeller of the unmanned vehicle rotated clockwise and the propeller rotated counterclockwise
The resultant moment of the rotating torque of generation calculates yawing of the propeller to the unmanned vehicle.
36. unmanned vehicle according to claim 33, which is characterized in that the processor according to the pitching moment,
The rolling moment and the yawing, when calculating three shaft angle acceleration of the unmanned vehicle, be specifically used for such as down toward
Few one kind：
According to the pitching moment, the angular acceleration of the pitch angle is calculated；
According to the rolling moment, the angular acceleration of the roll angle is calculated；
According to the yawing, the angular acceleration of the yaw angle is calculated.
37. unmanned vehicle according to claim 31, which is characterized in that the processor accelerates according to three shaft angle
Degree, when determining the posture of the unmanned vehicle, is specifically used for：
According to the three shaft angles acceleration, three axis angular rates are determined；Wherein, three axis angular rate includes following at least one：
The angular speed of the angular speed of the pitch angle, the angular speed of the roll angle and the yaw angle；
According to three axis angular rate, the posture of the unmanned vehicle is determined.
38. unmanned vehicle according to claim 27, which is characterized in that the processor is additionally operable to：
The gravity and the unmanned vehicle of the pulling force, the unmanned vehicle that are generated according to the propeller are in Vertical Square
The air drag being subject to upwards calculates unmanned vehicle speed in vertical direction and acceleration.
39. according to the unmanned vehicle described in claim 38, which is characterized in that the unmanned vehicle in vertical direction by
To air drag be to be determined according to the speed of the unmanned vehicle in vertical direction.
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| PCT/CN2017/081519 WO2018191981A1 (en) | 2017-04-21 | 2017-04-21 | Attitude computation method for unmanned aerial vehicle, flight controller, and unmanned aerial vehicle |
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| CN114063626B (en) * | 2021-09-18 | 2024-01-09 | 航天时代飞鹏有限公司 | Four-rotor freight unmanned aerial vehicle flight attitude control method based on gravity center detection |
| CN115576351B (en) * | 2022-10-14 | 2024-07-26 | 长春长光博翔无人机有限公司 | Method for resisting crosswind disturbance of unmanned aerial vehicle in vertical take-off and landing process |
| CN116090097B (en) * | 2022-12-30 | 2024-07-09 | 北京机电工程研究所 | Near-water surface fluid-solid coupling finite element efficient calculation method based on equivalent water collision design |
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| CN108475066B (en) | 2021-02-19 |
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