Unmanned aerial vehicle control method and device and unmanned aerial vehicle

文档序号：1472085 发布日期：2020-02-21 浏览：5次中文

阅读说明：本技术 无人飞行器控制方法、控制装置及无人飞行器 (Unmanned aerial vehicle control method and device and unmanned aerial vehicle ) 是由王凯高翔于 2018-11-29 设计创作，主要内容包括：一种无人飞行器控制方法、无人飞行器控制装置、无人飞行器、无人飞行器的系统以及计算机存储介质。其中，无人飞行器控制方法包括：获取目标飞行数据和当前飞行数据，并根据目标飞行数据和当前飞行数据确定控制状态量；以及根据控制状态量进行无人飞行器的重心校准。采用该技术方案，可获得当前无人飞行器的实际重心位置与标准位置的偏差，从而能根据这一偏差消除重心位置偏差造成的飞行品质的下降，该技术方案对于用户来说简单方便，可操作性强，并且能够更大限度地提升无人飞行器的负载适配能力。(An unmanned aerial vehicle control method, an unmanned aerial vehicle control device, an unmanned aerial vehicle, a system of an unmanned aerial vehicle, and a computer storage medium. The unmanned aerial vehicle control method comprises the following steps: acquiring target flight data and current flight data, and determining control state quantity according to the target flight data and the current flight data; and carrying out gravity center calibration of the unmanned aerial vehicle according to the control state quantity. By adopting the technical scheme, the deviation between the actual gravity center position of the current unmanned aerial vehicle and the standard position can be obtained, so that the reduction of the flight quality caused by the deviation of the gravity center position can be eliminated according to the deviation.)

1. An unmanned aerial vehicle control method, comprising:

acquiring target flight data and current flight data, and determining control state quantity according to the target flight data and the current flight data; and

and calibrating the gravity center of the unmanned aerial vehicle according to the control state quantity.

2. The unmanned aerial vehicle control method according to claim 1, wherein the step of performing calibration of the center of gravity of the unmanned aerial vehicle according to the control state quantity includes:

and calculating offset data of the gravity center of the unmanned aerial vehicle and the tension center of the unmanned aerial vehicle according to the control state quantity.

3. The unmanned aerial vehicle control method of claim 2, further comprising:

storing the bias data.

4. The unmanned aerial vehicle control method of claim 2, further comprising:

and generating a control component according to the offset data, and controlling a power device of the unmanned aerial vehicle according to the control component.

5. The unmanned aerial vehicle control method of claim 2, further comprising:

and comparing the offset data with a preset threshold value, and determining whether the load installation position of the unmanned aerial vehicle exceeds a specified installation range according to a comparison result.

6. The unmanned aerial vehicle control method of claim 5, wherein the step of determining whether the load installation location of the unmanned aerial vehicle exceeds a prescribed installation range based on the comparison result comprises:

and determining that the load installation position of the unmanned aerial vehicle does not exceed the specified installation range under the condition that the comparison result is that the offset data is smaller than the preset threshold value.

7. The unmanned aerial vehicle control method of claim 1, further comprising:

and recording the control state quantity in a preset time period, and calibrating the gravity center of the unmanned aerial vehicle according to the control state quantity in the preset time period.

8. The unmanned aerial vehicle control method according to any one of claims 1 to 7, wherein the step of performing calibration of the center of gravity of the unmanned aerial vehicle according to the control state quantity further includes, before the step of:

acquiring state data of the unmanned aerial vehicle, and judging whether the state data meets a gravity center calibration condition;

and when the state data meet the gravity center calibration condition, performing the gravity center calibration of the unmanned aerial vehicle according to the control state quantity.

9. The unmanned aerial vehicle control method of claim 8,

the status data comprises one or a combination of the following: positioning data, image data, attitude data, acceleration data, angular velocity data.

10. The unmanned aerial vehicle control method of claim 8,

the center of gravity calibration condition includes the UAV being in equilibrium.

11. The unmanned aerial vehicle control method of claim 10,

the gravity center calibration condition further comprises that the inertial measurement unit of the unmanned aerial vehicle is subjected to data calibration.

12. The unmanned aerial vehicle control method of claim 8, further comprising:

acquiring surrounding environment data of the unmanned aerial vehicle, and judging whether the surrounding environment data meet a gravity center calibration condition;

and when the surrounding environment data meets the gravity center calibration condition, performing the gravity center calibration of the unmanned aerial vehicle according to the control state quantity.

13. The unmanned aerial vehicle control method of claim 12,

the ambient data includes ambient airflow or ambient wind speed.

14. The unmanned aerial vehicle control method of claim 12,

the gravity center calibration condition comprises that the wind speed of the environment where the unmanned aerial vehicle is located is less than a preset wind speed.

15. The unmanned aerial vehicle control method of claim 10, wherein the distance of the unmanned aerial vehicle from the ground is greater than a preset distance.

16. The unmanned aerial vehicle control method according to claim 8 or 12, wherein when the barycentric calibration condition is not satisfied, the calibration is stopped, and a first instruction is transmitted to a control terminal.

17. The unmanned aerial vehicle control method of claim 8 or 12, wherein when the calibration fails, the calibration is stopped and a second command is sent to the control terminal.

18. The unmanned aerial vehicle control method of any of claims 2 to 6, wherein the bias data comprises one or a combination of: bias position, bias mass, bias force, bias moment.

19. An unmanned aerial vehicle control device, comprising:

and the processor is used for acquiring target flight data and current flight data, determining a control state quantity according to the target flight data and the current flight data, and calibrating the gravity center of the unmanned aerial vehicle according to the control state quantity.

20. The unmanned aerial vehicle control device of claim 19, wherein said processor performing calibration of the center of gravity of the unmanned aerial vehicle based on said control state quantities comprises:

and calculating offset data of the gravity center of the unmanned aerial vehicle and the tension center of the unmanned aerial vehicle according to the control state quantity.

21. The unmanned aerial vehicle control device of claim 20, further comprising:

a memory for storing the bias data.

22. The unmanned aerial vehicle control device of claim 20,

the processor is further used for generating a control component according to the offset data and controlling a power device of the unmanned aerial vehicle according to the control component.

23. The unmanned aerial vehicle control device of claim 20,

the processor is further used for comparing the offset data with a preset threshold value, and determining whether the load installation position of the unmanned aerial vehicle exceeds a specified installation range according to the comparison result.

24. The unmanned aerial vehicle control device of claim 23, wherein the processor determining from the comparison whether the unmanned aerial vehicle's load installation location exceeds a prescribed installation range comprises:

and determining that the load installation position of the unmanned aerial vehicle exceeds the specified installation range when the comparison result is that the offset data is greater than or equal to the preset threshold value, and determining that the load installation position of the unmanned aerial vehicle does not exceed the specified installation range when the comparison result is that the offset data is less than the preset threshold value.

25. The unmanned aerial vehicle control device of claim 19,

the processor is further used for recording the control state quantity in a preset time period and carrying out gravity center calibration on the unmanned aerial vehicle according to the control state quantity in the preset time period.

26. The unmanned aerial vehicle control apparatus of any one of claims 19 to 25,

the processor is further used for acquiring state data of the unmanned aerial vehicle, judging whether the state data meets a gravity center calibration condition or not, and when the state data meets the gravity center calibration condition, performing gravity center calibration of the unmanned aerial vehicle according to the control state quantity.

27. The unmanned aerial vehicle control device of claim 26,

the status data comprises one or a combination of the following: positioning data, image data, attitude data, acceleration data, angular velocity data.

28. The unmanned aerial vehicle control device of claim 26,

the center of gravity calibration condition includes the UAV being in equilibrium.

29. The unmanned aerial vehicle control device of claim 28,

the gravity center calibration condition further comprises that the inertial measurement unit of the unmanned aerial vehicle is subjected to data calibration.

30. The unmanned aerial vehicle control device of claim 26,

the processor is further configured to acquire surrounding environment data of the unmanned aerial vehicle, judge whether the surrounding environment data meets a barycenter calibration condition, and enter the step of performing barycenter calibration of the unmanned aerial vehicle according to the control state quantity when the surrounding environment data meets the barycenter calibration condition.

31. The unmanned aerial vehicle control device of claim 30,

the ambient data includes ambient airflow or ambient wind speed.

32. The unmanned aerial vehicle control device of claim 30,

the gravity center calibration condition comprises that the wind speed of the environment where the unmanned aerial vehicle is located is less than a preset wind speed.

33. The UAV control apparatus of claim 28, wherein the UAV is a distance from ground greater than a preset distance.

34. The unmanned aerial vehicle control apparatus of claim 26 or 30, wherein said processor is further configured to stop calibration and send a first instruction to a control terminal when said center of gravity calibration condition is not satisfied.

35. The unmanned aerial vehicle control device of claim 26 or 30, wherein said processor is further configured to stop calibration and send a second instruction to the control terminal when calibration fails.

36. The unmanned aerial vehicle control device of any of claims 20 to 24, wherein said bias data comprises one or a combination of: bias position, bias mass, bias force, bias moment.

37. An unmanned aerial vehicle, includes power device, wherein, still includes:

the controller is used for acquiring target flight data and current flight data and determining control state quantity according to the target flight data and the current flight data; and carrying out gravity center calibration of the unmanned aerial vehicle according to the control state quantity.

38. The UAV of claim 37, wherein the controller performing calibration of the UAV's center of gravity based on the control state variables comprises:

and calculating offset data of the gravity center of the unmanned aerial vehicle and the tension center of the unmanned aerial vehicle according to the control state quantity.

39. The unmanned aerial vehicle of claim 37, further comprising:

and the prompting device is used for sending out calibration prompting information in the process of calibrating the gravity center of the unmanned aerial vehicle by the controller according to the control state quantity.

40. The unmanned aerial vehicle of claim 38, further comprising:

a memory for storing the bias data.

41. The unmanned aerial vehicle of claim 38,

the controller is further configured to generate a control component based on the offset data and control the power plant based on the control component.

42. The unmanned aerial vehicle of claim 38,

the controller is further used for comparing the offset data with a preset threshold value, and determining whether the load installation position of the unmanned aerial vehicle exceeds a specified installation range according to the comparison result.

43. The UAV of claim 42, wherein the controller to determine whether the UAV's load mounting location exceeds a specified mounting range based on the comparison comprises:

determining that the load installation position of the unmanned aerial vehicle exceeds the specified installation range under the condition that the comparison result is that the offset data is greater than or equal to the preset threshold value; and determining that the load installation position of the unmanned aerial vehicle does not exceed the specified installation range under the condition that the comparison result is that the offset data is smaller than the preset threshold value.

44. The unmanned aerial vehicle of claim 37,

the controller is further used for recording the control state quantity in a preset time period and carrying out gravity center calibration on the unmanned aerial vehicle according to the control state quantity in the preset time period.

45. The unmanned aerial vehicle of any of claims 37-44,

the controller is further used for acquiring state data of the unmanned aerial vehicle and judging whether the state data meet a gravity center calibration condition; and when the state data meet the gravity center calibration condition, performing gravity center calibration of the unmanned aerial vehicle according to the control state quantity.

46. The unmanned aerial vehicle of claim 45,

the status data comprises one or a combination of the following: positioning data, image data, attitude data, acceleration data, angular velocity data.

47. The unmanned aerial vehicle of claim 45,

the center of gravity calibration condition includes the UAV being in equilibrium.

48. The UAV of claim 47, wherein,

the gravity center calibration condition further comprises that the inertial measurement unit of the unmanned aerial vehicle is subjected to data calibration.

49. The unmanned aerial vehicle of claim 45,

the controller is further configured to acquire surrounding environment data of the unmanned aerial vehicle, judge whether the surrounding environment data meets a barycenter calibration condition, and enter the step of performing barycenter calibration of the unmanned aerial vehicle according to the control state quantity when the surrounding environment data meets the barycenter calibration condition.

50. The unmanned aerial vehicle of claim 49,

the ambient data includes ambient airflow or ambient wind speed.

51. The unmanned aerial vehicle of claim 49,

the gravity center calibration condition comprises that the wind speed of the environment where the unmanned aerial vehicle is located is less than a preset wind speed.

52. The UAV of claim 47, wherein the UAV is a distance from the ground that is greater than a preset distance.

53. The unmanned aerial vehicle of claim 45 or 49, wherein said controller is further configured to stop calibration and send a first instruction to a control terminal when said center of gravity calibration condition is not satisfied.

54. The UAV of claim 45 or 49, wherein the controller is further configured to stop calibration and send a second command to the control terminal when calibration fails.

55. The UAV of any one of claims 38 to 42, wherein the bias data comprises one or a combination of: bias position, bias mass, bias force, bias moment.

56. A system of an unmanned aerial vehicle, comprising:

the control terminal is used for sending a gravity center calibration instruction to the unmanned aerial vehicle;

and the unmanned aerial vehicle is used for carrying out gravity center calibration according to the gravity center calibration instruction to obtain a calibration result.

57. The UAV system of claim 56, wherein,

the unmanned aerial vehicle is further used for sending the calibration result to the control terminal.

58. The UAV system of claim 57, wherein,

the control terminal further comprises a display device, and the display device is used for displaying the calibration result.

59. The UAV system of claim 58, wherein the UAV performing center of gravity calibration in accordance with the center of gravity calibration instructions comprises:

and acquiring target flight data and current flight data according to the gravity center calibration instruction, determining a control state quantity according to the target flight data and the current flight data, and calibrating the gravity center of the unmanned aerial vehicle according to the control state quantity.

60. The UAV system of claim 59, wherein the UAV calibration of the UAV's center of gravity based on the control state variables comprises:

and calculating offset data of the gravity center of the unmanned aerial vehicle and the tension center of the unmanned aerial vehicle according to the control state quantity.

61. The system of unmanned aerial vehicle of claim 60,

the UAV is further configured to store the bias data.

62. The system of unmanned aerial vehicle of claim 60,

the control terminal is further configured to store the bias data.

63. The system of unmanned aerial vehicle of claim 60,

the unmanned aerial vehicle is also used for generating a control component according to the bias data and controlling a power device of the unmanned aerial vehicle according to the control component.

64. The system of unmanned aerial vehicle of claim 60,

the unmanned aerial vehicle is further used for comparing the offset data with a preset threshold value, and determining whether the load installation position of the unmanned aerial vehicle exceeds a specified installation range according to the comparison result.

65. The UAV system of claim 64, wherein the UAV determining from the comparison whether the UAV's load installation location exceeds a specified installation range comprises:

66. The UAV system of claim 64,

the unmanned aerial vehicle is also used for sending a result of whether the load installation position exceeds a specified installation range to the control terminal;

the display device is also used for displaying the result of whether the load mounting position exceeds the specified mounting range.

67. The UAV system of claim 59, wherein,

the unmanned aerial vehicle is further used for recording the control state quantity in a preset time period and carrying out gravity center calibration on the unmanned aerial vehicle according to the control state quantity in the preset time period.

68. The unmanned aerial vehicle system of any one of claims 56-67,

and the prompting device of the unmanned aerial vehicle sends out calibration prompting information in the process of carrying out gravity center calibration according to the gravity center calibration instruction.

69. The unmanned aerial vehicle system of any one of claims 56-67,

the unmanned aerial vehicle is further used for obtaining state data, judging whether the state data meet gravity center calibration conditions or not, and conducting gravity center calibration according to the gravity center calibration instruction when the state data meet the gravity center calibration conditions.

70. The UAV system of claim 69,

the unmanned aerial vehicle is further used for sending calibration progress information to the control terminal.

71. The UAV system of claim 69,

the status data comprises one or a combination of the following: positioning data, image data, attitude data, acceleration data, angular velocity data.

72. The UAV system of claim 69,

the center of gravity calibration condition includes the UAV being in equilibrium.

73. The UAV system of claim 72, wherein,

the gravity center calibration condition further comprises that the inertial measurement unit of the unmanned aerial vehicle is subjected to data calibration.

74. The UAV system of claim 69,

the unmanned aerial vehicle is further used for obtaining surrounding environment data of the unmanned aerial vehicle, judging whether the surrounding environment data meet gravity center calibration conditions or not, and when the surrounding environment data meet the gravity center calibration conditions, conducting gravity center calibration of the unmanned aerial vehicle according to the control state quantity.

75. The system of unmanned aerial vehicle of claim 74,

the ambient data includes ambient airflow or ambient wind speed.

76. The system of unmanned aerial vehicle of claim 74,

the gravity center calibration condition comprises that the wind speed of the environment where the unmanned aerial vehicle is located is less than a preset wind speed.

77. The UAV system of claim 72, wherein the UAV is a distance from the ground that is greater than a preset distance.

78. The unmanned aerial vehicle system of claim 69 or 74,

the unmanned aerial vehicle is further used for stopping calibration and sending a first instruction to the control terminal when the gravity center calibration condition is not met.

79. The UAV system of claim 78, wherein,

the first instruction includes a reason for not satisfying the center-of-gravity calibration condition and adjustment recommendation information.

80. The unmanned aerial vehicle system of claim 69 or 74,

the unmanned aerial vehicle is also used for stopping calibration and sending a second instruction to the control terminal when the calibration fails.

81. The system of unmanned aerial vehicle of claim 80, wherein,

the second instruction includes a calibration failure reason.

82. The unmanned aerial vehicle system of claim 69 or 74,

and in the process of carrying out gravity center calibration according to the gravity center calibration instruction, if the gravity center calibration condition is not met, stopping calibration and sending a first instruction to the control terminal.

83. The UAV system of any one of claims 60-66, wherein the bias data comprises one or a combination of: bias position, bias mass, bias force, bias moment.

84. A computer storage medium having stored therein program instructions for implementing:

acquiring target flight data and current flight data, and determining control state quantity according to the target flight data and the current flight data; and

and calibrating the gravity center of the unmanned aerial vehicle according to the control state quantity.

85. The computer storage medium according to claim 84, wherein the program instructions that implement the calibration of the center of gravity of the UAV according to the control state quantities comprise:

and calculating offset data of the gravity center of the unmanned aerial vehicle and the tension center of the unmanned aerial vehicle according to the control state quantity.

86. The computer storage medium of claim 85, wherein the program instructions are further for implementing:

storing the bias data.

87. The computer storage medium of claim 85, wherein the program instructions are further for implementing:

and obtaining a control component according to the offset data, and controlling a power device of the unmanned aerial vehicle according to the control component.

88. The computer storage medium of claim 85, wherein the program instructions are further for implementing:

89. The computer storage medium of claim 88, wherein the program instructions to implement the determining whether the unmanned aerial vehicle's load installation location exceeds a prescribed installation range based on the comparison comprises:

90. The computer storage medium of claim 84, wherein the program instructions are further for implementing:

and recording the control state quantity in a preset time period, and calibrating the gravity center of the unmanned aerial vehicle according to the control state quantity in the preset time period.

91. The computer storage medium of any one of claims 84 to 90, wherein the program instructions are further for implementing:

acquiring state data of the unmanned aerial vehicle, and judging whether the state data meets a gravity center calibration condition;

and when the state data meet the gravity center calibration condition, performing the gravity center calibration of the unmanned aerial vehicle according to the control state quantity.

92. The computer storage medium of claim 91,

the status data comprises one or a combination of the following: positioning data, image data, attitude data, acceleration data, angular velocity data.

93. The computer storage medium of claim 91,

the center of gravity calibration condition includes the UAV being in equilibrium.

94. The computer storage medium of claim 93,

the gravity center calibration condition further comprises that the inertial measurement unit of the unmanned aerial vehicle is subjected to data calibration.

95. The computer storage medium of claim 91, wherein the program instructions are further for implementing:

acquiring surrounding environment data of the unmanned aerial vehicle, and judging whether the surrounding environment data meet a gravity center calibration condition;

96. The computer storage medium of claim 95,

the ambient data includes ambient airflow or ambient wind speed.

97. The computer storage medium of claim 95,

the gravity center calibration condition comprises that the wind speed of the environment where the unmanned aerial vehicle is located is less than a preset wind speed.

98. The computer storage medium of claim 93, wherein the UAV is a distance from the ground that is greater than a preset distance.

99. The computer storage medium of claim 91 or 95, wherein the program instructions are further for implementing: and when the gravity center calibration condition is not met, stopping calibration and sending a first instruction to the control terminal.

100. The computer storage medium of claim 91 or 95, wherein the program instructions are further for implementing: and when the calibration fails, stopping the calibration and sending a second instruction to the control terminal.

101. The computer storage medium of any one of claims 85 to 89, wherein the bias data comprises one or a combination of: bias position, bias mass, bias force, bias moment.

Technical Field

The application relates to the technical field of aircrafts, in particular to an unmanned aerial vehicle control method, an unmanned aerial vehicle control device, an unmanned aerial vehicle, a system of the unmanned aerial vehicle and a computer storage medium.

Background

At present, a multi-rotor unmanned aerial vehicle is widely applied to the industrial fields of industry, agriculture and the like, in which the unmanned aerial vehicle often utilizes the mounted equipment to execute different work tasks, so that the mounted equipment on the unmanned aerial vehicle tends to be diversified, some loads are the equipment which is provided by an unmanned aerial vehicle manufacturer in a matching way and can be used by the unmanned aerial vehicle, and some loads are third-party equipment designed or purchased by a user. The variation of the loads can cause a large difference between a dynamic model of the unmanned aerial vehicle and a model which is depended on when the flight control system of the unmanned aerial vehicle is designed, even if the robust design of the control system can ensure that the unmanned aerial vehicle can carry out normal flight operation, when the difference between the loads and the standard loads is large, the flight quality of the unmanned aerial vehicle is still inevitably reduced to different degrees. For example, when the change of the load causes the center of gravity of the whole unmanned aerial vehicle system to move beyond a certain degree compared with the standard state, the unmanned aerial vehicle often has a problem of 'take-off point head' with a trembled posture at the moment of taking off and flying off the ground, and the phenomenon can cause the unmanned aerial vehicle to move across a small distance relative to the take-off point immediately after taking off the ground, which may collide with surrounding objects, crowds or even flies.

In response to the above problems, some unmanned aerial vehicle manufacturers reduce the influence of center-of-gravity offset by declaring requirements on the load to limit the installation position and weight of the load, which may sacrifice a certain load capacity; some unmanned aerial vehicles may require a user to manually measure the position of the center of gravity and input the position into a model system of the unmanned aerial vehicle to solve the problem, such operations are too complex and impractical for most users, and also affect the user experience; some improve the adaptability of the controller by improving the controller, but still cause the phenomena of takeoff attitude 'nodding' and position 'drifting' because the model is not estimated yet at each time of takeoff and landing.

Disclosure of Invention

The present application is directed to solving at least one of the problems of the prior art or the related art.

To this end, a first aspect of the present application is to propose an unmanned aerial vehicle control method.

A second aspect of the present application is to provide an unmanned aerial vehicle control apparatus.

A third aspect of the present application is to provide an unmanned aerial vehicle.

A fourth aspect of the present application is to provide a system for an unmanned aerial vehicle.

A fifth aspect of the present application is directed to a computer storage medium.

In view of this, according to a first aspect of the present application, there is provided an unmanned aerial vehicle control method including: acquiring target flight data and current flight data, and determining control state quantity according to the target flight data and the current flight data; and carrying out gravity center calibration of the unmanned aerial vehicle according to the control state quantity.

In the unmanned aerial vehicle control method provided by the application, target flight data and current flight data of the unmanned aerial vehicle are acquired, and in the process of controlling the flight of the unmanned aerial vehicle, at least four control state quantities are given according to the target flight data and the current flight data: the four control state quantities correspond to the force and moment of the unmanned aerial vehicle, namely the total pulling force, the yaw axis torque, the pitch axis torque and the roll axis torque, which are received by each motor. Further, the center of gravity of the unmanned aerial vehicle is calibrated according to the control state quantity, namely the deviation between the center of gravity of the unmanned aerial vehicle and the center of tension of the unmanned aerial vehicle is obtained. By adopting the technical scheme, the deviation between the actual gravity center position of the current unmanned aerial vehicle and the standard position can be obtained, so that the reduction of the flight quality caused by the deviation of the gravity center position can be eliminated according to the deviation.

According to a second aspect of the present application, there is provided an unmanned aerial vehicle control device comprising: and the processor is used for acquiring target flight data and current flight data, determining a control state quantity according to the target flight data and the current flight data, and calibrating the gravity center of the unmanned aerial vehicle according to the control state quantity.

In the unmanned vehicles controlling means that this application provided, the treater acquires unmanned vehicles's target flight data and current flight data, and at the control unmanned vehicles flight in-process gives four at least control state quantities according to target flight data and current flight data: the four control state quantities correspond to the force and moment of the unmanned aerial vehicle, namely the total pulling force, the yaw axis torque, the pitch axis torque and the roll axis torque, which are received by each motor. Further, the processor performs gravity center calibration of the unmanned aerial vehicle according to the control state quantity, namely, the deviation between the gravity center of the unmanned aerial vehicle and the tension center of the unmanned aerial vehicle is obtained. Adopt the technical scheme of this application, accessible unmanned vehicles controlling means obtains the deviation of current unmanned vehicles's actual focus position and standard position to can eliminate the decline of the flight quality that the focus position deviation caused according to this deviation, the technical scheme of this application is simple and convenient to the user, maneuverability is strong, and can promote unmanned vehicles's load adaptation ability to a great extent.

According to a third aspect of the present application, there is provided an unmanned aerial vehicle, including a power plant, further including: the controller is used for acquiring target flight data and current flight data and determining control state quantity according to the target flight data and the current flight data; and carrying out gravity center calibration of the unmanned aerial vehicle according to the control state quantity.

In the unmanned vehicles that this application provided, the controller acquires unmanned vehicles's target flight data and current flight data, and at the control unmanned vehicles flight in-process gives four at least control state quantities according to target flight data and current flight data: the four control state quantities correspond to the force and moment of the unmanned aerial vehicle, namely the total pulling force, the yaw axis torque, the pitch axis torque and the roll axis torque, which are received by each motor. Further, the controller performs gravity center calibration of the unmanned aerial vehicle according to the control state quantity, namely, obtains the deviation between the gravity center of the unmanned aerial vehicle and the tension center of the unmanned aerial vehicle. Adopt the technical scheme of this application, accessible unmanned vehicles obtains the deviation of current unmanned vehicles's actual focus position and standard position to can eliminate the decline of the flight quality that the focus position deviation caused according to this deviation, the technical scheme of this application is simple and convenient to the user, and maneuverability is strong, and can promote unmanned vehicles's load adaptation ability to a great extent.

According to a fourth aspect of the present application, there is provided a system of an unmanned aerial vehicle, comprising: the control terminal is used for sending a gravity center calibration instruction to the unmanned aerial vehicle; and the unmanned aerial vehicle is used for carrying out gravity center calibration according to the gravity center calibration instruction to obtain a calibration result.

The utility model provides an including control terminal and unmanned vehicles in unmanned vehicles's system, the user is when needing to use unmanned vehicles to carry out the load, sends the focus calibration instruction to unmanned vehicles through control terminal, and unmanned vehicles receives this focus calibration instruction, realizes that the focus calibration obtains the calibration result, and the calibration result can include: calibration success, calibration failure, calibration data, etc. By adopting the technical scheme, the deviation between the actual gravity center position of the current unmanned aerial vehicle and the standard position can be obtained, so that the reduction of the flight quality caused by the deviation of the gravity center position can be eliminated according to the deviation.

According to a fifth aspect of the present application, there is provided a computer storage medium having stored therein program instructions for implementing: acquiring target flight data and current flight data, and determining control state quantity according to the target flight data and the current flight data; and carrying out gravity center calibration of the unmanned aerial vehicle according to the control state quantity.

The computer storage medium proposed in the present application stores program instructions for implementing: the method comprises the steps of obtaining target flight data and current flight data of the unmanned aerial vehicle, and giving at least four control state quantities according to the target flight data and the current flight data in the process of controlling the unmanned aerial vehicle to fly: the four control state quantities correspond to the force and moment of the unmanned aerial vehicle, namely the total pulling force, the yaw axis torque, the pitch axis torque and the roll axis torque, which are received by each motor. Further, the center of gravity of the unmanned aerial vehicle is calibrated according to the control state quantity, namely the deviation between the center of gravity of the unmanned aerial vehicle and the center of tension of the unmanned aerial vehicle is obtained. By adopting the technical scheme, the deviation between the actual gravity center position of the current unmanned aerial vehicle and the standard position can be obtained, so that the reduction of the flight quality caused by the deviation of the gravity center position can be eliminated according to the deviation.

Additional aspects and advantages of the present application will be set forth in part in the description which follows, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 illustrates a schematic flow diagram of an unmanned aircraft control method of an embodiment of the present application;

FIG. 2 illustrates a schematic representation of an unmanned aerial vehicle center of gravity offset according to an embodiment of the present application;

FIG. 3 illustrates a force analysis graph for a single channel with center of gravity offset for one embodiment of the present application;

FIG. 4 shows a schematic view of an UAV control apparatus of an embodiment of the present application;

FIG. 5 illustrates a schematic view of an unmanned aerial vehicle of an embodiment of the present application;

FIG. 6 illustrates a schematic view of a flight control system of an UAV of an embodiment of the present application;

FIG. 7 illustrates a schematic diagram of a system of an unmanned aerial vehicle of an embodiment of the present application;

FIG. 8 illustrates an interactive implementation of the center of gravity calibration operation of an embodiment of the present application.

Detailed Description

In order that the above objects, features and advantages of the present application can be more clearly understood, the present application will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited to the specific embodiments disclosed below.

An embodiment of the first aspect of the present application provides an unmanned aerial vehicle control method, and fig. 1 shows a schematic flow chart of the unmanned aerial vehicle control method according to an embodiment of the present application. Wherein, the method comprises the following steps:

and 102, acquiring target flight data and current flight data, and determining a control state quantity according to the target flight data and the current flight data.

In one embodiment, the control state quantities comprise at least four control state quantities: total pull force command, yaw axis torque command, pitch axis torque command, roll axis torque command. Specifically, target flight data and current flight data of the unmanned aerial vehicle are obtained, and in the process of controlling the flight of the unmanned aerial vehicle, at least four control state quantities are given according to the target flight data and the current flight data: total pull force command, yaw axis torque command, pitch axis torque command, roll axis torque command. Further, the unmanned aerial vehicle comprises a power plant, which may be for example at least one motor, and the four control state quantities correspond to the forces and moments experienced by the unmanned aerial vehicle due to the respective motors, i.e. total pull, yaw axis torque, pitch axis torque, roll axis torque.

And 104, calibrating the gravity center of the unmanned aerial vehicle according to the control state quantity.

Further, the center of gravity of the unmanned aerial vehicle is calibrated according to the control state quantity acquired in step 102. Further, the deviation between the gravity center of the unmanned aerial vehicle and the tension center of the unmanned aerial vehicle is obtained according to the control state quantity.

In some embodiments, the step 104 of calibrating the center of gravity of the unmanned aerial vehicle based on the control state quantity includes: and calculating the offset data of the gravity center of the unmanned aerial vehicle and the tension center of the unmanned aerial vehicle according to the control state quantity.

In some embodiments, the bias data comprises one or a combination of: bias position, bias mass, bias force, bias moment.

In this embodiment, the offset data of the center of gravity of the unmanned aerial vehicle and the center of tension of the unmanned aerial vehicle, that is, the deviation of the actual center of gravity position of the unmanned aerial vehicle from the standard position, is calculated according to the control state quantity, and the offset data may be offset position, offset mass, offset force, offset moment and the like.

In one embodiment, the flight controller of the unmanned aerial vehicle continuously gives out at least four control state quantities during the control of the flight of the unmanned aerial vehicle: total tension command T_cYaw axis torque command τ_zcPitch axis torque command τ_ycRoll torque command τ_xcThe four control state quantities correspond to the forces and moments that the drone will eventually receive due to the rotation speed of the various motors, i.e. the total tension T, the yaw axis torque τ_zPitch axis torque τ_yTransverse rolling shaft torque tau_x。

And defining the circle centers of the circumscribed circles of the regular polygons surrounded by all the motor positions as equivalent tension centers. As shown in fig. 2, taking a four-rotor unmanned aerial vehicle as an example, the four-rotor unmanned aerial vehicle comprises four motors, and the point O is an equivalent tension center of the four-rotor unmanned aerial vehicleThe force translation theorem can make the pulling force of all motors equivalent to the sum of the total pulling force T on the center of the equivalent pulling force and the two moments tau around the horizontal axis_x、τ_y。

When unmanned vehicles's focus and pulling force focus completely coincide, according to two equilibrium laws of forces, only need satisfy pulling force and be equal to gravity, and T is G promptly, can maintain unmanned vehicles's balance, and the moment on two horizontal rotation axles of unmanned vehicles at this moment will be close to zero. However, if the center of gravity of the unmanned aerial vehicle is not coincident with the equivalent center of tension, the user needs to manually adjust the moment of the unmanned aerial vehicle to maintain balance. Taking the misalignment in the rolling direction as an example, a stress analysis chart can be made as shown in fig. 3, and according to the rigid body stress balance rule, when the unmanned aerial vehicle maintains a stable hovering state, there is inevitably a situation that

T＝G (1)

T×d_y+τ_x＝0 (2)

When the unmanned aerial vehicle has reached a steady state, the method comprises

T＝T_c(3)

τ_x＝τ_xc(4)

Thus d can be obtained_y＝-τ_xc/T_cIn the same way, d can be obtained_x＝-τ_yc/T_c. Therefore, under the condition that the unmanned aerial vehicle keeps hovering, the flight control system of the unmanned aerial vehicle can calculate the horizontal position of the gravity center of the unmanned aerial vehicle relative to the center of the paddle surface under the current mounting condition, namely the offset distance by using the formula.

Of course, the offset data is not limited to offset distances, and in other embodiments, the offset data may include one or a combination of: bias position, bias mass, bias force, bias moment. For example, for some unmanned aerial vehicles that are not modeled accurately enough, the estimated center of gravity offset is not necessarily the true offset distance, but rather the control compensation value from the vertical channel to each rotational channel, such as data of offset mass, offset force, offset moment, etc. The present embodiment is merely exemplary and not limited thereto.

In some embodiments, further comprising: the offset data is stored.

In the embodiment, after the offset data is calibrated, the offset data can be stored in a nonvolatile memory such as Flash, EEPROM and the like, under the condition of bearing the same load, the unmanned aerial vehicle loads the offset data after being electrified every time, and the unmanned aerial vehicle can perform feed-forward control according to the offset data during take-off every time, so that the equivalent tension center also acts on the actual center of gravity, and the problem of 'take-off point and head' can be solved through advanced compensation. In some embodiments, further comprising: and generating a control component according to the offset data, and controlling a power device of the unmanned aerial vehicle according to the control component.

In the embodiment, the control component is generated according to the offset data, and the power device of the unmanned aerial vehicle is controlled according to the control component so as to reduce the offset data, so that the unmanned aerial vehicle can stably fly and the flying quality is improved. The flight control system can more accurately distribute the control quantity of each control channel and reduce the coupling quantity among the channels. For example, the control system of the unmanned aerial vehicle can accurately distribute the pulling force of each power device through feed-forward control according to the stored offset data during each takeoff, so that the equivalent pulling force center also acts on the actual center of gravity, and the problem of 'takeoff nod' can be solved through the advance compensation. Or the tension of each power device is accurately distributed in the flying process of the unmanned aerial vehicle, so that the equivalent tension center also acts on the actual center of gravity, and the flying quality is ensured.

In some embodiments, further comprising: and comparing the offset data with a preset threshold value, and determining whether the load installation position of the unmanned aerial vehicle exceeds a specified installation range according to the comparison result.

In some embodiments, the step of determining whether the load installation position of the unmanned aerial vehicle exceeds the prescribed installation range based on the comparison result includes: determining that the load installation position of the unmanned aerial vehicle exceeds a specified installation range under the condition that the comparison result is that the offset data is greater than or equal to a preset threshold value; and determining that the load installation position of the unmanned aerial vehicle does not exceed the specified installation range under the condition that the comparison result is that the offset data is smaller than the preset threshold value. It is understood that in other embodiments, it may be determined whether the load installation position of the unmanned aerial vehicle exceeds the specified installation range according to other suitable preset rules; for example, in the case that the comparison result is that the offset data is greater than the preset threshold value, it is determined that the load installation position of the unmanned aerial vehicle exceeds a prescribed installation range; and in the case that the comparison result is that the offset data is less than or equal to the preset threshold value, determining that the load installation position of the unmanned aerial vehicle does not exceed the specified installation range, and not limiting the present invention.

In one embodiment, after the offset data is calculated, the user can be informed whether the installation position of the load exceeds a preset threshold value by comparing the offset data with a preset threshold value (namely, an offset range) supported by the unmanned aerial vehicle, so that the unmanned aerial vehicle can automatically detect whether the load installation is supported or not, or whether the position of the load installation is reasonable or not.

In some embodiments, further comprising: and recording the control state quantity in the preset time period, and calibrating the gravity center of the unmanned aerial vehicle according to the control state quantity in the preset time period.

In the embodiment, each control state quantity output for eliminating the gravity center offset is recorded in a period of time, after the control state quantities in the period of time are counted, random errors of the control state quantities can be eliminated by a method of calculating an average value and the like so as to eliminate interference caused by wind or airplane vibration, and then offset data is calculated, so that the accuracy of calculating the offset data is improved.

In some embodiments, before the step of calibrating the center of gravity of the unmanned aerial vehicle according to the control state quantity, the method further comprises: acquiring state data of the unmanned aerial vehicle, and judging whether the state data meets a gravity center calibration condition; and when the state data meet the gravity center calibration condition, performing the gravity center calibration of the unmanned aerial vehicle according to the control state quantity.

In some embodiments, the status data includes one or a combination of: positioning data, image data, attitude data, acceleration data, angular velocity data.

In some embodiments, the center of gravity calibration condition includes the UAV being in equilibrium.

In some embodiments, the center of gravity calibration condition further includes that the inertial measurement unit of the unmanned aerial vehicle has been data calibrated.

In this embodiment, before performing the center-of-gravity calibration of the unmanned aerial vehicle, it is determined whether the state data satisfies a condition for allowing the center-of-gravity calibration, for example, whether the center-of-gravity calibration condition is that the unmanned aerial vehicle is in a balanced state, and the center-of-gravity calibration performed only when the unmanned aerial vehicle is in the balanced state is accurate, wherein the balanced state includes a hovering mode and a mode in which a horizontal position is stationary during course rotation in a positioning mode. The gravity center calibration condition can also be that the inertial measurement unit of the unmanned aerial vehicle carries out data calibration, and the data acquired by the inertial measurement unit are all accurate data on the basis that the unmanned aerial vehicle is in a balanced state, so that the accuracy of the gravity center calibration is improved.

In some embodiments, further comprising: acquiring surrounding environment data of the unmanned aerial vehicle, and judging whether the surrounding environment data meet a gravity center calibration condition; and when the surrounding environment data meet the gravity center calibration condition, performing the gravity center calibration of the unmanned aerial vehicle according to the control state quantity.

In some embodiments, the ambient data includes ambient airflow or ambient wind speed.

In some embodiments, the barycentric calibration condition includes that the wind speed of the environment in which the unmanned aerial vehicle is located is less than a preset wind speed.

In this embodiment, the ambient data may be obtained from the attitude of the drone, or from other external sensors, such as an anemometer or information obtained from a cloud weather station. When the surrounding environment is a windless environment, the external force of airflow interference cannot be brought to the unmanned aerial vehicle, and the interference in the gravity center calibration of the unmanned aerial vehicle is avoided.

In a particular embodiment, the center of gravity calibration conditions may include:

(1) the unmanned aerial vehicle has the positioning hovering capacity: in the above algorithm, the derivation process can be established on the assumption that the unmanned aerial vehicle is already in a balanced state, that is, only when the unmanned aerial vehicle is in a static state, since it is difficult to maintain the balance of the unmanned aerial vehicle with multiple selection wings by human, the unmanned aerial vehicle is required to have a positioning hovering capability without manual operation. Further, whether the unmanned aerial vehicle is in an equilibrium state or not can be judged through positioning data, image data, attitude data and the like, for example, position information of the unmanned aerial vehicle can be acquired through a positioning device (such as a Global Positioning System (GPS), a carrier phase differential technology (RTK) and the like), and when the acquired position of the unmanned aerial vehicle is not changed, the unmanned aerial vehicle can be considered to be in a hovering state; or a plurality of images of the surrounding environment of the unmanned aerial vehicle can be acquired through the vision sensor within a certain time interval, the acquired images are subjected to image processing, and when the position of an object in the acquired image is not changed, the unmanned aerial vehicle can be considered to be in a hovering state; or the acceleration and speed information of the unmanned aerial vehicle can be acquired through an Inertial Measurement Unit (IMU), when the acceleration and the speed of the unmanned aerial vehicle are zero, the unmanned aerial vehicle can be considered to be in a hovering state, and in other embodiments, the determination can be performed through data fusion of one or more of the above determination modes, so as to improve the accuracy of the determination.

(2) Ambient airflow is stable and windless: when the wind speed of the surrounding environment is high, the unmanned aerial vehicle is subjected to external force caused by airflow interference, so that even if the unmanned aerial vehicle is in a positioning hovering state, due to the introduction of new external force which is difficult to estimate and cannot be ignored, the derivation of the formula is invalid, and the environment required to be calibrated is necessarily a calm airflow environment without wind. Whether the unmanned aerial vehicle is in a windless environment or not can be judged according to the inclination angle data of the unmanned aerial vehicle and the like, and a wind power collecting device is obtained and arranged for judgment.

(3) The IMU (inertial measurement unit) of the unmanned aerial vehicle calibrates correctly: the IMU must have been calibrated to eliminate steady state errors due to temperature etc. that would otherwise be considered by the algorithm described above as being due to center of gravity offset. The common unmanned aerial vehicle has an IMU calibration function, and the IMU is recommended to be recalibrated before the gravity center calibration is carried out each time.

In some embodiments, the distance of the UAV from the ground is greater than a predetermined distance. In this embodiment, the unmanned aerial vehicle is ensured to be at a predetermined distance from the ground, for example, at a height of more than 2 meters from the ground, so as to reduce the turbulence effect caused by the ground.

In some embodiments, when the gravity center calibration condition is not satisfied, the calibration is stopped, and a first instruction is sent to the control terminal. In this embodiment, the first instruction includes a reason for not satisfying the barycentric calibration condition and adjustment advice information.

In some embodiments, when the calibration fails, the calibration is stopped, and a second instruction is sent to the control terminal. In this embodiment, the second instruction includes a reason for the failed calibration in this embodiment.

Adopt the technical scheme of this application, can obtain the deviation of current unmanned vehicles's actual focus position and standard position, thereby can eliminate the decline of the flight quality that the focus position deviation caused according to this deviation, the technical scheme of this application is simple and convenient to the user, maneuverability is strong, and can promote unmanned vehicles ' load adaptation ability to a greater extent, the user can adapt the load of oneself to unmanned vehicles frame on and do not need worry the deterioration of flight quality, make the ability that unmanned vehicles supports third party's load have obvious improvement.

In a second aspect of the present application, an unmanned aerial vehicle control device is provided, and fig. 4 shows a schematic diagram of an unmanned aerial vehicle control device 40 according to an embodiment of the present application. Wherein the control device 40 comprises:

and the processor 402 is configured to acquire target flight data and current flight data, determine a control state quantity according to the target flight data and the current flight data, and perform center-of-gravity calibration of the unmanned aerial vehicle according to the control state quantity.

In some embodiments, processor 402 may include one or more microprocessors.

In some embodiments, the processor 402 performing calibration of the center of gravity of the unmanned aerial vehicle according to the control state quantities includes: and calculating the offset data of the gravity center of the unmanned aerial vehicle and the tension center of the unmanned aerial vehicle according to the control state quantity.

In some embodiments, the bias data comprises one or a combination of: bias position, bias mass, bias force, bias moment.

And defining the circle centers of the circumscribed circles of the regular polygons surrounded by all the motor positions as equivalent tension centers. As shown in fig. 2, taking a four-rotor unmanned aerial vehicle as an example, the four-rotor unmanned aerial vehicle comprises four motors, point O is an equivalent tension center of the four-rotor unmanned aerial vehicle, and according to the force translation theorem, the tension of all the motors can be equivalent to the sum of the total tension T acting on the equivalent tension center and the two moments τ around a horizontal axis_x、τ_y。

T＝G (1)

T×d_y+τ_x＝0 (2)

When the unmanned aerial vehicle has reached a steady state, the method comprises

T＝T_c(3)

τ_x＝τ_xc(4)

In some embodiments, further comprising: a memory 404 for storing offset data.

In some embodiments, memory 404 may be a serial memory, or a parallel memory. The memory 404 may be a RAM memory, or a ROM memory.

In some embodiments, processor 402 is further configured to generate a control component based on the offset data and control a power plant of the unmanned aerial vehicle based on the control component.

In some embodiments, processor 402 is further configured to compare the offset data to a predetermined threshold and determine whether the unmanned aerial vehicle's load mounting location exceeds a specified mounting range based on the comparison.

In some embodiments, processor 402 determining whether the load installation location of the UAV exceeds a specified installation range based on the comparison comprises: and determining that the load installation position of the unmanned aerial vehicle exceeds a specified installation range under the condition that the comparison result is that the offset data is greater than or equal to a preset threshold value, and determining that the load installation position of the unmanned aerial vehicle does not exceed the specified installation range under the condition that the comparison result is that the offset data is less than the preset threshold value. It is understood that in other embodiments, it may be determined whether the load installation position of the unmanned aerial vehicle exceeds the specified installation range according to other suitable preset rules; for example, in the case that the comparison result is that the offset data is greater than the preset threshold value, it is determined that the load installation position of the unmanned aerial vehicle exceeds a prescribed installation range; and in the case that the comparison result is that the offset data is less than or equal to the preset threshold value, determining that the load installation position of the unmanned aerial vehicle does not exceed the specified installation range, and not limiting the present invention.

In some embodiments, the processor 402 is further configured to record the control state quantity within a preset time period, and perform calibration of the center of gravity of the unmanned aerial vehicle according to the control state quantity within the preset time period.

In some embodiments, the processor 402 is further configured to obtain status data of the unmanned aerial vehicle, determine whether the status data satisfies a barycentric calibration condition, and perform barycentric calibration of the unmanned aerial vehicle according to the control state quantity when the status data satisfies the barycentric calibration condition.

In some embodiments, the status data includes one or a combination of: positioning data, image data, attitude data, acceleration data, angular velocity data.

In some embodiments, the center of gravity calibration condition includes the UAV being in equilibrium.

In some embodiments, the center of gravity calibration condition further includes that the inertial measurement unit of the unmanned aerial vehicle has been data calibrated.

In some embodiments, processor 402 is further configured to obtain environmental data of the UAV and determine whether the environmental data satisfies a center-of-gravity calibration condition; and when the surrounding environment data meet the gravity center calibration condition, performing the gravity center calibration of the unmanned aerial vehicle according to the control state quantity.

In some embodiments, the ambient data includes ambient airflow or ambient wind speed.

In some embodiments, the barycentric calibration condition includes that the wind speed of the environment in which the unmanned aerial vehicle is located is less than a preset wind speed.

In a particular embodiment, the center of gravity calibration conditions may include:

In some embodiments, the processor 402 is further configured to stop the calibration and send a first instruction to the control terminal when the center-of-gravity calibration condition is not satisfied. In this embodiment, the first instruction includes a reason for not satisfying the barycentric calibration condition and adjustment advice information.

In some embodiments, the processor 402 is further configured to stop the calibration and send a second instruction to the control terminal when the calibration fails. In this embodiment, the second instruction includes a reason for the failed calibration in this embodiment.

In embodiments of the third aspect of the present application, an unmanned aerial vehicle is presented, and fig. 5 shows a schematic view of an unmanned aerial vehicle 50 of an embodiment of the present application. Wherein, this unmanned vehicles 50 includes:

the controller 502 is configured to obtain target flight data and current flight data, and determine a control state quantity according to the target flight data and the current flight data; and carrying out gravity center calibration of the unmanned aerial vehicle according to the control state quantity.

In one embodiment, the control state quantities comprise at least four control state quantities: total pull force command, yaw axis torque command, pitch axis torque command, roll axis torque command. Specifically, the controller 502 obtains target flight data and current flight data of the unmanned aerial vehicle 50, and during controlling the flight of the unmanned aerial vehicle 50, at least four control state quantities are given according to the target flight data and the current flight data: total pull force command, yaw axis torque command, pitch axis torque command, roll axis torque command. Further, the unmanned aerial vehicle includes a power plant, which may be, for example, at least one motor, and the four control state quantities correspond to forces and moments that the unmanned aerial vehicle 50 receives due to the respective motors, that is, total pulling force, yaw axis torque, pitch axis torque, roll axis torque. Further, the center of gravity of the unmanned aerial vehicle 50 is calibrated in accordance with the control state quantity. Further, the deviation of the center of gravity of the unmanned aerial vehicle 50 from the center of tension of the unmanned aerial vehicle 50 is obtained from the control state quantity.

In some embodiments, the controller 502 may include one or more microprocessors.

In some embodiments, the controller 502 performing calibration of the center of gravity of the unmanned aerial vehicle according to the control state quantities includes: and calculating the offset data of the gravity center of the unmanned aerial vehicle and the tension center of the unmanned aerial vehicle according to the control state quantity.

In some embodiments, the bias data comprises one or a combination of: bias position, bias mass, bias force, bias moment.

In an embodiment, as shown in fig. 6, the flight control system of the unmanned aerial vehicle includes a flight controller 602, a motor 604, a propulsion mechanism 606 (e.g., a propeller), and a sensor 608, and the stabilization and the manipulation of the unmanned aerial vehicle are realized by the flight control system, specifically, a speed instruction or a position instruction of a remote controller or an upper computer is input to the flight controller 602 as a target flight state, the sensor 608 acquires a current flight state and sends the current flight state to the flight controller 602, the flight controller 602 performs calculation and analysis according to the current flight state and the target flight state, generates an instruction and sends the instruction to the motor 604, and the motor 604 drives the propulsion mechanism 606 to adjust the attitude of the unmanned aerial vehicle. The sensor 608 may be a sensor of an unmanned aerial vehicle component such as the propulsion mechanism 606 and the motor 604, or may be disposed at another suitable position of the unmanned aerial vehicle, and is configured to obtain a current flight status of the unmanned aerial vehicle.

At least four control state quantities are continuously given during the flight of the unmanned aerial vehicle: total tension command T_cYaw axis torque command τ_zcPitch axis torque command τ_ycRoll torque command τ_xcThe four control state quantities correspond to the forces and moments that the drone will eventually receive due to the rotation speed of the various motors, i.e. the total tension T, the yaw axis torque τ_zPitch axis torque τ_yTransverse rolling shaft torque tau_x。

And defining the circle centers of the circumscribed circles of the regular polygons surrounded by all the motor positions as equivalent tension centers. As shown in fig. 2, taking a four-rotor unmanned aerial vehicle as an example, the four-rotor unmanned aerial vehicle comprises four motors, point O is an equivalent tension center of the four-rotor unmanned aerial vehicle, and according to the force translation theorem, the tension of all the motors can be equivalent to the sum of the total tension T acting on the equivalent tension center and the two moments τ around a horizontal axis_x、τ_y。

T＝G (1)

T×d_y+τ_x＝0 (2)

When the unmanned aerial vehicle has reached a steady state, the method comprises

T＝T_c(3)

τ_x＝τ_xc(4)

In some embodiments, the unmanned aerial vehicle 50 further comprises: a memory 504 for storing bias data.

In some embodiments, memory 504 may be a serial memory, or a parallel memory. The memory 404 may be a RAM memory, or a ROM memory.

In some embodiments, controller 502 is further configured to generate a control component based on the offset data and control a power plant of the unmanned aerial vehicle based on the control component.

In the embodiment, the control component is generated according to the offset data, and the power device of the unmanned aerial vehicle is controlled according to the control component so as to reduce the offset data, so that the unmanned aerial vehicle can stably fly and the flying quality is improved. The flight control system can more accurately distribute the control quantity of each control channel and reduce the coupling quantity among the channels. For example, the controller 502 of the UAV 50 can accurately distribute the pulling forces of the power plants based on the stored offset data through feedforward control at each takeoff, so that the equivalent center of pulling force also acts on the actual center of gravity, and such early compensation can eliminate the aforementioned "takeoff nod" problem. Or the tension of each power device is accurately distributed in the flying process of the unmanned aerial vehicle 50, so that the equivalent tension center also acts on the actual center of gravity, and the flying quality is ensured.

In some embodiments, the controller 502 is further configured to compare the offset data with a preset threshold, and determine whether the unmanned aerial vehicle's load mounting location exceeds a prescribed mounting range according to the comparison result.

In some embodiments, the controller 502 determining whether the load installation position of the unmanned aerial vehicle exceeds the prescribed installation range based on the comparison result includes: determining that the load installation position of the unmanned aerial vehicle exceeds a specified installation range under the condition that the comparison result is that the offset data is greater than or equal to a preset threshold value; and determining that the load installation position of the unmanned aerial vehicle does not exceed the specified installation range under the condition that the comparison result is that the offset data is smaller than the preset threshold value. It is understood that in other embodiments, it may be determined whether the load installation position of the unmanned aerial vehicle exceeds the specified installation range according to other suitable preset rules; for example, in the case that the comparison result is that the offset data is greater than the preset threshold value, it is determined that the load installation position of the unmanned aerial vehicle exceeds a prescribed installation range; and in the case that the comparison result is that the offset data is less than or equal to the preset threshold value, determining that the load installation position of the unmanned aerial vehicle does not exceed the specified installation range, and not limiting the present invention.

In some embodiments, the controller 502 is further configured to record the control state quantity within a preset time period, and perform calibration of the center of gravity of the unmanned aerial vehicle according to the control state quantity within the preset time period.

In some embodiments, the controller 502 is further configured to obtain status data of the unmanned aerial vehicle and determine whether the status data satisfies a center-of-gravity calibration condition; and when the state data meet the gravity center calibration condition, performing gravity center calibration of the unmanned aerial vehicle according to the control state quantity.

In some embodiments, the status data includes one or a combination of: positioning data, image data, attitude data, acceleration data, angular velocity data.

In some embodiments, the barycentric calibration condition includes that the unmanned aerial vehicle is in a balanced state, the wind speed of the environment in which the unmanned aerial vehicle is located is less than a preset wind speed, and the inertial measurement unit of the unmanned aerial vehicle is subjected to data calibration.

In some embodiments, the center of gravity calibration condition further includes that the inertial measurement unit of the unmanned aerial vehicle has been data calibrated.

In some embodiments, the controller 502 is further configured to obtain the surrounding environment data of the unmanned aerial vehicle, and determine whether the surrounding environment data satisfies the center-of-gravity calibration condition; and when the surrounding environment data meet the gravity center calibration condition, performing the gravity center calibration of the unmanned aerial vehicle according to the control state quantity.

In some embodiments, the ambient data includes ambient airflow or ambient wind speed.

In some embodiments, the barycentric calibration condition includes that the wind speed of the environment in which the unmanned aerial vehicle is located is less than a preset wind speed.

In a particular embodiment, the center of gravity calibration conditions may include:

In some embodiments, the controller 502 is further configured to stop the calibration and send a first instruction to the control terminal when the center-of-gravity calibration condition is not satisfied. In this embodiment, the first instruction includes a reason for not satisfying the barycentric calibration condition and adjustment advice information.

In some embodiments, the controller 502 is further configured to stop the calibration and send a second instruction to the control terminal when the calibration fails. In this embodiment, the second instruction includes a reason for the failed calibration in this embodiment.

In an embodiment of the fourth aspect of the present application, a system of an unmanned aerial vehicle is proposed, and fig. 7 shows a schematic diagram of a system 70 of an unmanned aerial vehicle according to an embodiment of the present application. Wherein the system 70 of the unmanned aerial vehicle comprises:

the control terminal 702 is used for sending a gravity center calibration instruction to the unmanned aerial vehicle;

and the unmanned aerial vehicle 704 is used for performing gravity center calibration according to the gravity center calibration command to obtain a calibration result.

In this embodiment, when a user needs to use unmanned aerial vehicle 704 for loading, the user sends a center-of-gravity calibration instruction to unmanned aerial vehicle 704 through control terminal 702, and unmanned aerial vehicle 704 receives the center-of-gravity calibration instruction, so as to implement center-of-gravity calibration to obtain a calibration result, where the calibration result may include: calibration success, calibration failure, calibration data, etc.

In some embodiments, unmanned aerial vehicle 704 is also configured to send the calibration results to a control terminal.

In some embodiments, the control terminal 702 further comprises a display device for displaying the calibration result.

In this embodiment, the display device of the control terminal 702 may display the calibration result, so as to ensure that the user can intuitively obtain the calibration result.

In some embodiments, calibration of the center of gravity of unmanned aerial vehicle 704 according to the center of gravity calibration instructions includes: and acquiring target flight data and current flight data according to the gravity center calibration instruction, determining a control state quantity according to the target flight data and the current flight data, and calibrating the gravity center of the unmanned aerial vehicle 704 according to the control state quantity.

In this embodiment, the control state quantities include at least four control state quantities: total pull force command, yaw axis torque command, pitch axis torque command, roll axis torque command. Specifically, target flight data and current flight data of the unmanned aerial vehicle 704 are acquired, and in the process of controlling the flight of the unmanned aerial vehicle 704, at least four control state quantities are given according to the target flight data and the current flight data: total pull force command, yaw axis torque command, pitch axis torque command, roll axis torque command. Further, the unmanned aerial vehicle 704 includes a power plant, which may be, for example, at least one motor, and the four control state quantities correspond to forces and moments to which the unmanned aerial vehicle 704 is subjected due to the rotational speeds of the respective motors, that is, total drag, yaw axis torque, pitch axis torque, roll axis torque. Further, the center of gravity of the unmanned aerial vehicle 704 is calibrated based on the control state quantity. Further, the deviation of the center of gravity of the unmanned aerial vehicle 704 from the center of tension of the unmanned aerial vehicle 704 is obtained based on the control state quantity, so that the deterioration of flight quality due to the deviation of the position of the center of gravity can be eliminated based on this deviation.

In some embodiments, calibration of the unmanned aerial vehicle's center of gravity by unmanned aerial vehicle 704 based on the control state quantities includes: and calculating the offset data of the gravity center of the unmanned aerial vehicle and the tension center of the unmanned aerial vehicle according to the control state quantity.

In some embodiments, the bias data comprises one or a combination of: bias position, bias mass, bias force, bias moment.

And defining the circle centers of the circumscribed circles of the regular polygons surrounded by all the motor positions as equivalent tension centers. As shown in fig. 2, taking a four-rotor unmanned aerial vehicle as an example, the four-rotor unmanned aerial vehicle comprises four motors, point O is an equivalent tension center of the four-rotor unmanned aerial vehicle, and according to the force translation theorem, the tension of all the motors can be equivalent to the sum of the total tension T acting on the equivalent tension center and the two moments τ around a horizontal axis_x、τ_y。

T＝G (1)

T×d_y+τ_x＝0 (2)

When the unmanned aerial vehicle has reached a steady state, the method comprises

T＝T_c(3)

τ_x＝τ_xc(4)

In some embodiments, unmanned aerial vehicle 704 is also used to store bias data.

In this embodiment, after the offset data of the center of gravity of the unmanned aerial vehicle 704 and the center of tension of the unmanned aerial vehicle 704 is calculated, the offset data may be stored in a nonvolatile memory such as Flash, EEPROM, or the like, and under the condition of bearing the same load, the unmanned aerial vehicle 704 loads the offset data after being powered on each time, and the unmanned aerial vehicle can perform feed-forward control according to the offset data during each takeoff, so that the equivalent center of tension also acts on the actual center of gravity, and such advance compensation can eliminate the aforementioned "takeoff nodding" problem.

In some embodiments, control terminal 702 is also configured to store the bias data and to transmit the bias data to the UAV. In this embodiment, the offset data may also be stored on control terminal 702, and control terminal 702 may send the offset data directly to UAV 704 when sending the center of gravity calibration instructions.

In some embodiments, unmanned aerial vehicle 704 is further configured to generate a control component based on the bias data and to control a power plant of unmanned aerial vehicle 704 based on the control component.

In the embodiment, the control component is generated according to the offset data, and the power device of the unmanned aerial vehicle is controlled according to the control component so as to reduce the offset data, so that the unmanned aerial vehicle can stably fly and the flying quality is improved. The unmanned aerial vehicle 704 can more accurately distribute the control quantity of each control channel and reduce the coupling quantity among the channels. For example, the control system of UAV 704 may be able to accurately distribute the pulling forces of each power plant based on stored offset data via feed forward control such that the center of equivalent pulling force also acts on the actual center of gravity, such early compensation may eliminate the "takeoff nod" problem described above. Or the tension of each power device is accurately distributed in the flying process of the unmanned aerial vehicle 704, so that the equivalent tension center also acts on the actual center of gravity, and the flying quality is ensured.

In some embodiments, unmanned aerial vehicle 704 is further configured to compare the offset data to a predetermined threshold value and determine whether the unmanned aerial vehicle's load mounting location exceeds a specified mounting range based on the comparison.

In some embodiments, determining whether the unmanned aerial vehicle's load installation location exceeds the specified installation range based on the comparison result by unmanned aerial vehicle 704 includes: determining that the load installation position of the unmanned aerial vehicle 704 exceeds a specified installation range under the condition that the comparison result is that the offset data is greater than or equal to the preset threshold value; in the case where the comparison result is that the offset data is smaller than the preset threshold value, it is determined that the load installation position of unmanned aerial vehicle 704 does not exceed the prescribed installation range. It is understood that in other embodiments, it may be determined whether the load installation position of the unmanned aerial vehicle exceeds the specified installation range according to other suitable preset rules; for example, in the case that the comparison result is that the offset data is greater than the preset threshold value, it is determined that the load installation position of the unmanned aerial vehicle exceeds a prescribed installation range; and in the case that the comparison result is that the offset data is less than or equal to the preset threshold value, determining that the load installation position of the unmanned aerial vehicle does not exceed the specified installation range, and not limiting the present invention.

In one embodiment, after calculating the offset data, the unmanned aerial vehicle 704 can automatically detect whether the load is supported or not, or whether the position of the load is reasonable, by comparing the offset data with a preset threshold (i.e., an offset range) supported by the unmanned aerial vehicle 704 and informing a user whether the installation position of the load exceeds the preset threshold.

In some embodiments, unmanned aerial vehicle 704 is further configured to send a result of whether the load installation location exceeds a prescribed installation range to control terminal 702; the display device is also used for displaying the result of whether the load mounting position exceeds the specified mounting range.

In this embodiment, the control terminal 702 displays the result of whether the load attachment position exceeds the prescribed attachment range to prompt the user to adjust the load attachment position.

In some embodiments, the unmanned aerial vehicle 704 is further configured to record the control state quantity within a preset time period, and perform the center-of-gravity calibration of the unmanned aerial vehicle 704 according to the control state quantity within the preset time period.

In some embodiments, the prompting device of unmanned aerial vehicle 704 issues calibration prompts during the calibration of the center of gravity according to the center of gravity calibration instructions.

In this embodiment, in order to make the user know the progress in real time, the status may be reported to the user by flashing a special color of the status light of the unmanned aerial vehicle, sounding a set sound, or the like.

In some embodiments, the UAV 704 is further configured to acquire the status data and determine whether the status data satisfies a barycentric calibration condition, and perform a barycentric calibration according to the barycentric calibration instruction when the status data satisfies the barycentric calibration condition.

In some embodiments, unmanned aerial vehicle 704 is also configured to send calibration progress information to control terminal 702. For example, the calibration status is reported to the user by a method of displaying a progress bar on the app of the control terminal 702.

In some embodiments, the status data includes one or a combination of: positioning data, image data, attitude data, acceleration data, angular velocity data.

In some embodiments, the center of gravity calibration condition includes the UAV being in equilibrium.

In some embodiments, the center of gravity calibration condition further includes that the inertial measurement unit of the unmanned aerial vehicle has been data calibrated.

In some embodiments, the unmanned aerial vehicle 704 is further configured to acquire surrounding environment data of the unmanned aerial vehicle, determine whether the surrounding environment data satisfies a barycentric calibration condition, and perform barycentric calibration of the unmanned aerial vehicle according to the control state quantities when the surrounding environment data satisfies the barycentric calibration condition.

In some embodiments, the ambient data includes ambient airflow or ambient wind speed.

In some embodiments, the barycentric calibration condition includes that the wind speed of the environment in which the unmanned aerial vehicle is located is less than a preset wind speed.

In a particular embodiment, the center of gravity calibration conditions may include:

In some embodiments, unmanned aerial vehicle 704 is a distance from the ground that is greater than a preset distance. In this embodiment, the unmanned aerial vehicle is ensured to be at a predetermined distance from the ground, for example, at a height of more than 2 meters from the ground, so as to reduce the turbulence effect caused by the ground.

In some embodiments, the UAV 704 is further configured to stop calibration and send a first command to the control terminal 702 when the state data does not satisfy the barycentric calibration condition. Information that the state data does not satisfy the barycentric calibration condition (e.g., the unmanned aerial vehicle is not in an equilibrium state) and adjustment suggestion information (e.g., please adjust the hovering state of the unmanned aerial vehicle) may be displayed through a display device of the control terminal 702.

In some embodiments, the first instruction includes a reason for not satisfying the center of gravity calibration condition and adjustment recommendation information.

In some embodiments, the UAV 704 is further configured to stop calibration and send a second command to the control terminal 702 when the calibration fails.

In some embodiments, the second instruction includes a calibration failure reason.

In some embodiments, during the process of performing the center-of-gravity calibration according to the center-of-gravity calibration command, if the state data does not satisfy the center-of-gravity calibration condition, the unmanned aerial vehicle 704 stops the calibration and sends a first command to the control terminal 702.

In this embodiment, if a user performs an operation during calibration or data convergence is poor due to limited sensor accuracy, it is possible to interrupt the calibration operation in advance and to feed back to the user a calibration failure and the reason for the failure through the app of the control terminal 702.

FIG. 8 illustrates an interactive implementation of the center of gravity calibration operation of an embodiment of the present application.

Wherein, the interaction implementation step comprises:

(1) the user operates the unmanned vehicles to finish takeoff operation, and the unmanned vehicles enter a positioning hovering mode, and meanwhile, the height of the unmanned vehicles above 2 meters away from the ground is ensured, so that the turbulence influence caused by the ground is reduced:

(2) after receiving the trigger command, the unmanned aerial vehicle checks whether the current state and the environment can be subjected to gravity center calibration operation, for example, if the attitude output is not 0 when the unmanned aerial vehicle detects suspension, the unmanned aerial vehicle feeds back to the terminal app that the gravity center calibration cannot be currently performed, and reminds the user to perform IMU calibration and move to the windless environment for operation to start again. If all checks are passed, the unmanned aerial vehicle automatically enters a gravity center calibration process;

(3) the unmanned aerial vehicle records each control quantity output by the controller for eliminating the gravity center offset within a period of time, calculates data within a period of time, eliminates random errors through an averaging method and the like, and then calculates the estimated value of the gravity center level offset by using the algorithm. In order to enable a user to know the progress in real time, the state can be reported to the user through a method that a status lamp of the unmanned aerial vehicle flashes a special color lamp or a progress bar is displayed on a terminal app in real time;

(4) if a user operates during calibration or data convergence is poor due to limited sensor precision, calibration operation may be interrupted in advance and the user is fed back a calibration failure and the reason for the failure through the terminal app.

(5) After the flight control system calculates the estimated value of convergence, the user is informed of the success of calibration through the terminal app, and the value is stored in the nonvolatile memory for the continuous use of the flight when the same load is borne later.

(6) At this point, the entire center of gravity calibration process is completed.

After the gravity center offset value is estimated by the algorithm, the offset range supported by the unmanned aerial vehicle in the gravity center calibration process is compared, and whether the installation position of a user exceeds a specified range or not is informed, so that the unmanned aerial vehicle can automatically detect whether the load is supported or not.

The interactive terminal for gravity center calibration can be terminals such as terminal app, a remote controller and an upper computer, and the application is not limited.

In other embodiments, if the positioning accuracy of the unmanned aerial vehicle is very high, the calibration of the center of gravity of the unmanned aerial vehicle can also be performed in indoor or non-open scenes.

The embodiment of the application is suitable for the unmanned vehicles with real-time load changes, for example, for the situation that the loads of oil-driven unmanned vehicles, plant protection unmanned vehicles and the like change in real time, the flight controller of the unmanned vehicles can calibrate the gravity centers in real time so as to adapt to the loads changing in real time, ensure the stability and safety of flight and improve the use experience of users. Further, when the unmanned aerial vehicle is in a hovering state, the current gravity center bias level is updated and calculated, and a user can be reminded in a dangerous situation.

An embodiment of a fifth aspect of the present application provides a computer storage medium having program instructions stored therein, where the program instructions are configured to implement: acquiring target flight data and current flight data, and determining control state quantity according to the target flight data and the current flight data; and carrying out gravity center calibration of the unmanned aerial vehicle according to the control state quantity.

In this embodiment, the control state quantities include at least four control state quantities: total pull force command, yaw axis torque command, pitch axis torque command, roll axis torque command. Specifically, target flight data and current flight data of the unmanned aerial vehicle are obtained, and in the process of controlling the flight of the unmanned aerial vehicle, at least four control state quantities are given according to the target flight data and the current flight data: total pull force command, yaw axis torque command, pitch axis torque command, roll axis torque command. Further, the unmanned aerial vehicle comprises a power plant, which may be for example at least one motor, and the four control state quantities correspond to the forces and moments experienced by the unmanned aerial vehicle due to the respective motors, i.e. total pull, yaw axis torque, pitch axis torque, roll axis torque. Further, the center of gravity of the unmanned aerial vehicle is calibrated according to the control state quantity. Further, the deviation between the gravity center of the unmanned aerial vehicle and the tension center of the unmanned aerial vehicle is obtained according to the control state quantity.

In some embodiments, the computer storage medium may be volatile memory, or non-volatile memory. The computer storage media may also be serial memory or parallel memory. The computer storage medium may be a RAM memory, or a ROM memory.

In some embodiments, the program instructions for implementing calibration of the center of gravity of the unmanned aerial vehicle based on the control state quantities include: and calculating the offset data of the gravity center of the unmanned aerial vehicle and the tension center of the unmanned aerial vehicle according to the control state quantity.

In some embodiments, the bias data comprises one or a combination of: bias position, bias mass, bias force, bias moment.

In one embodiment, the flight controller of the unmanned aerial vehicle continuously gives out at least four control state quantities during the control of the flight of the unmanned aerial vehicle: total tension command T_cYaw axis torque command τ_zcPitch axis torque command τ_ycRoll torque command τ_xcThese four control state quantities will correspond to the forces and moments that the drone will eventually experience because of the rotation speed of the various motors, i.e. the total tension T, the yaw axis torque τ_zPitch axis torque τ_yTransverse rolling shaft torque tau_x。

And defining the circle centers of the circumscribed circles of the regular polygons surrounded by all the motor positions as equivalent tension centers. As shown in fig. 2, taking a four-rotor unmanned aerial vehicle as an example, the four-rotor unmanned aerial vehicle comprises four motors, point O is an equivalent tension center of the four-rotor unmanned aerial vehicle, and according to the force translation theorem, the tension of all the motors can be equivalent to the sum of the total tension T acting on the equivalent tension center and the two moments τ around a horizontal axis_x、τ_y。

T＝G (1)

T×d_y+τ_x＝0 (2)

When the unmanned aerial vehicle has reached a steady state, the method comprises

T＝T_c(3)

τ_x＝τ_xc(4)

In some embodiments, the program instructions are further for implementing: the offset data is stored.

In some embodiments, the program instructions are further for implementing: and obtaining a control component according to the offset data, and controlling a power device of the unmanned aerial vehicle according to the control component.

In some embodiments, the program instructions are further for implementing: and comparing the offset data with a preset threshold value, and determining whether the load installation position of the unmanned aerial vehicle exceeds a specified installation range according to the comparison result.

In some embodiments, the program instructions enable determining whether the load installation location of the UAV exceeds the specified installation range based on the comparison comprises: determining that the load installation position of the unmanned aerial vehicle exceeds a specified installation range under the condition that the comparison result is that the offset data is greater than or equal to a preset threshold value; and determining that the load installation position of the unmanned aerial vehicle does not exceed the specified installation range under the condition that the comparison result is that the offset data is smaller than the preset threshold value. It is understood that in other embodiments, it may be determined whether the load installation position of the unmanned aerial vehicle exceeds the specified installation range according to other suitable preset rules; for example, in the case that the comparison result is that the offset data is greater than the preset threshold value, it is determined that the load installation position of the unmanned aerial vehicle exceeds a prescribed installation range; and in the case that the comparison result is that the offset data is less than or equal to the preset threshold value, determining that the load installation position of the unmanned aerial vehicle does not exceed the specified installation range, and not limiting the present invention.

In some embodiments, the program instructions are further for implementing: and recording the control state quantity in the preset time period, and calibrating the gravity center of the unmanned aerial vehicle according to the control state quantity in the preset time period.

In some embodiments, the program instructions are further for implementing: before the step of calibrating the gravity center of the unmanned aerial vehicle according to the control state quantity, acquiring state data of the unmanned aerial vehicle, and judging whether the state data meets the gravity center calibration condition; and when the state data meet the gravity center calibration condition, performing the gravity center calibration of the unmanned aerial vehicle according to the control state quantity.

In some embodiments, the status data includes one or a combination of: positioning data, image data, attitude data, acceleration data, angular velocity data.

In some embodiments, the center of gravity calibration condition includes the UAV being in equilibrium.

In some embodiments, the center of gravity calibration condition further includes that the inertial measurement unit of the unmanned aerial vehicle has been data calibrated.

In this embodiment, before performing the center-of-gravity calibration of the unmanned aerial vehicle, it is determined whether the state data satisfies a condition that allows the center-of-gravity calibration, for example, whether the center-of-gravity calibration condition is that the unmanned aerial vehicle is in a balanced state, and the center-of-gravity calibration performed only when the unmanned aerial vehicle is in the balanced state is accurate, where the balanced state includes a hovering mode and a mode in which a horizontal position is stationary during course rotation in a positioning mode. The gravity center calibration condition can also be that the inertial measurement unit of the unmanned aerial vehicle carries out data calibration, and the data acquired by the inertial measurement unit are all accurate data on the basis that the unmanned aerial vehicle is in a balanced state, so that the accuracy of the gravity center calibration is improved.

In some embodiments, the program instructions are further for implementing: acquiring surrounding environment data of the unmanned aerial vehicle, and judging whether the surrounding environment data meet a gravity center calibration condition; and when the surrounding environment data meet the gravity center calibration condition, performing the gravity center calibration of the unmanned aerial vehicle according to the control state quantity.

In some embodiments, the ambient data includes ambient airflow or ambient wind speed.

In some embodiments, the barycentric calibration condition includes that the wind speed of the environment in which the unmanned aerial vehicle is located is less than a preset wind speed.

In a particular embodiment, the center of gravity calibration conditions may include:

In some embodiments, the program instructions are further for implementing: and when the gravity center calibration condition is not met, stopping calibration and sending a first instruction to the control terminal. In this embodiment, the first instruction includes a reason for not satisfying the barycentric calibration condition and adjustment advice information.

In some embodiments, the program instructions are further for implementing: and when the calibration fails, stopping the calibration and sending a second instruction to the control terminal. In this embodiment, the second instruction includes a reason for the failed calibration in this embodiment.

In the description herein, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance unless explicitly stated or limited otherwise; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

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