阅读说明：本技术 一种机头方向校正方法及装置、飞行控制器 (Method and device for correcting direction of machine head and flight controller ) 是由 李晟华 林惠宏 于 2018-06-08 设计创作，主要内容包括：本发明公开一种机头方向校正方法及装置、飞行控制器,涉及无人机控制技术领域,以在保证飞行器安全飞行的前提下,简化天线安装自检过程。该校正方法包括：获取飞行器的姿态信息和飞行器的导航信息,根据飞行器的姿态信息和飞行器的导航信息,获得机头测定方向；机头测定方向与机头参照方向相同时,确定机头测定方向为机头校正方向,否则对机头测定方向进行反向,获得用于对飞行器进行导航的机头校正方向。所述机头方向校正装置用于实现上述校正方法。本发明提供的机头方向校正方法及装置、飞行控制器用于无人机控制中。(The invention discloses a method and a device for correcting a direction of a nose and a flight controller, and relates to the technical field of unmanned aerial vehicle control, so that an antenna installation self-checking process is simplified on the premise of ensuring safe flight of an aircraft. The correction method comprises the following steps: acquiring attitude information of the aircraft and navigation information of the aircraft, and acquiring a machine head measuring direction according to the attitude information of the aircraft and the navigation information of the aircraft; and if the measured direction of the aircraft nose is the same as the reference direction of the aircraft nose, determining the measured direction of the aircraft nose as the corrected direction of the aircraft nose, and if not, reversing the measured direction of the aircraft nose to obtain the corrected direction of the aircraft nose for navigating the aircraft. The machine head direction correcting device is used for realizing the correcting method. The invention provides a method and a device for correcting the direction of a machine head and a flight controller, which are used for unmanned aerial vehicle control.)

1. A method for correcting a head direction, comprising:

Acquiring attitude information of an aircraft and position information of two antennas; when the sea level is taken as a reference, the signal receiving positions of the two antennas are different in altitude;

determining the measuring direction of the aircraft nose according to the attitude information of the aircraft and the position information of the two antennas;

If the machine head measuring direction is the same as the machine head reference direction, determining the machine head measuring direction as a machine head correcting direction;

And if the measuring direction of the machine head is opposite to the reference direction of the machine head, reversing the measuring direction of the machine head to obtain the correcting direction of the machine head.

2. the handpiece orientation correction method according to claim 1, wherein the position information of both antennas is RTK positioning information.

3. The handpiece orientation correction method according to claim 1,

The aircraft nose direction of reference is that the antenna that the signal reception position height above sea level was located the organism coordinate system positive direction when using sea level as the benchmark, and when the antenna that the signal reception position height above sea level was located the organism coordinate system negative direction, the aircraft nose direction of measurement of setting for, according to the attitude information of aircraft with the positional information of two antennas, it includes to obtain aircraft nose direction of measurement:

according to the attitude information of the aircraft and the position information of the two antennas, setting that the measuring direction of the aircraft head is that the antenna with low altitude of the signal receiving position points to the antenna with high altitude of the signal receiving position;

Or the like, or, alternatively,

the machine head reference direction is a machine head measuring direction set when an antenna with a low signal receiving position altitude is positioned in the positive direction of a machine body coordinate system with sea level as a reference and an antenna with a high signal receiving position altitude is positioned in the negative direction of the machine body coordinate system; the obtaining a measured nose direction according to the attitude information of the aircraft and the position information of the two antennas comprises:

and according to the attitude information of the aircraft and the position information of the two antennas, setting that the measuring direction of the aircraft head is directed to the antenna with the lower altitude of the signal receiving position by the antenna with the higher altitude of the signal receiving position.

4. the handpiece orientation correction method according to claim 3,

When the aircraft nose reference direction refers to the situation that an antenna with a high signal receiving position altitude is located in the positive direction of an aircraft body coordinate system when the sea level is taken as a reference, and an antenna with a low signal receiving position altitude is located in the negative direction of the aircraft body coordinate system, the set aircraft nose measuring direction is the aircraft nose measuring direction, the attitude information of the aircraft is the attitude angle alpha of the aircraft, the included angle formed by the connection line of the signal receiving positions of the two antennas and the aircraft body plane of the aircraft is gamma, and the absolute value of the height difference when the aircraft body plane is taken as the reference of the signal receiving positions of the two antennas is h;

the position information of the two antennas is a first position coordinate (u, v, w) and a second position coordinate (x, y, z); u is first latitude data, v is first longitude data, w is first altitude data, x is second latitude data, y is second longitude data, and z is second altitude data;

when the attitude angle α of the aircraft is 0 °, and if w > z, the setting that the head measurement direction is directed from the antenna with the lower altitude signal receiving position to the antenna with the higher altitude signal receiving position includes: setting the head measurement direction to be directed from (x, y, z) to (u, v, z); if w < z, the setting of the head measurement direction from the antenna with the low altitude signal receiving position to the antenna with the high altitude signal receiving position comprises: setting the head measurement direction to be directed from (u, v, w) to (x, y, w);

When the attitude angle α of the aircraft is greater than 0 ° and less than 90 °, if w > z, the setting that the head measurement direction is directed from the antenna with the low altitude signal reception position to the antenna with the high altitude signal reception position includes: setting the measuring direction of the handpiece to be directed from (x, y, z) to (u, v, w-h/cos alpha); if w < z, the setting of the head measurement direction from the antenna with the low altitude signal receiving position to the antenna with the high altitude signal receiving position comprises: setting the measuring direction of the handpiece to be (x, y, z-h/cos alpha) pointed by (u, v, w);

When the attitude angle α of the aircraft is greater than-90 ° and less than 0 °, if w > z, | α | < γ, or w < z, | α | > γ, the setting that the head determination direction is directed from the antenna with the low altitude signal reception position to the antenna with the high altitude signal reception position includes: setting the head measurement direction to be directed from (x, y, z) to (u, v, w-hcos alpha); if w < z, | α | < γ, or w > z, | α | > γ, the setting of the head measurement direction is such that the antenna with the lower altitude signal receiving position points to the antenna with the higher altitude signal receiving position includes: setting the head measurement direction to be directed from (u, v, w) to (x, y, z-hcos α).

5. The handpiece direction correction method according to claim 3, wherein the handpiece reference direction is a handpiece measurement direction set when an antenna having a low signal reception position altitude is located in a positive direction of a body coordinate system with reference to sea level and an antenna having a high signal reception position altitude is located in a negative direction of the body coordinate system; the attitude information of the aircraft is an attitude angle alpha of the aircraft, and an included angle formed by a signal receiving position connecting line of the two antennas and a plane of a fuselage of the aircraft is gamma; the absolute value of the height difference of the signal receiving positions of the two antennas by taking the plane of the body as a reference is h;

the position information of the two antennas is a first position coordinate (u, v, w) and a second position coordinate (x, y, z), u is first latitude data, v is first longitude data, w is first altitude data, x is second latitude data, y is second longitude data, and z is second altitude data;

when the attitude angle α of the aircraft is greater than-90 ° and less than 0 °, if w < z, the setting that the head measurement direction is directed from the antenna with the higher altitude signal receiving position to the antenna with the lower altitude signal receiving position includes: setting the measuring direction of the machine head to be directed to (u, v, w) from (x, y, z-h/cos alpha); if w > z, said setting said handpiece measurement direction to be directed from the antenna with the higher elevation signal receiving location to the antenna with the lower elevation signal receiving location comprises: setting the measuring direction of the machine head to be (x, y, z) pointed by (u, v, w-h/cos alpha);

when the attitude angle α of the aircraft is 0 °, and if w is less than z, the setting that the head measurement direction is directed from the antenna with the higher altitude signal receiving position to the antenna with the lower altitude signal receiving position includes: setting the measuring direction of the machine head to be directed to (u, v, w) from (x, y, w); if w > z, said setting said handpiece measurement direction to be directed from the antenna with the higher elevation signal receiving location to the antenna with the lower elevation signal receiving location comprises: setting the head measurement direction to be directed from (u, v, z) to (x, y, z);

when the attitude angle α of the aircraft is greater than 0 ° and less than 90 °, if w is less than z, α is less than γ, or w is greater than z, and α is greater than γ, the setting of the head measurement direction such that the antenna with the higher altitude of the signal receiving position is directed to the antenna with the lower altitude of the signal receiving position includes: setting the measuring direction of the machine head to be directed to (u, v, w) from (x, y, z-h/cos alpha); if w > z, and α < γ, or w < z, α > γ, said setting said handpiece measurement direction to be directed from the antenna at the signal receiving location with the higher elevation to the antenna at the signal receiving location with the lower elevation comprises: the head measurement direction is set to point from (u, v, w-h/cos α) to (x, y, z).

6. the handpiece direction correction method according to claim 4 or 5, wherein when w ═ z, | α | ═ γ, the handpiece direction correction method further includes:

Adjusting the attitude of the aircraft;

And after the attitude of the aircraft is adjusted, updating the attitude information of the aircraft and the position information of the two antennas.

7. the nose direction correction method according to any one of claims 1 to 5, wherein when receiving attitude information of an aircraft and navigation information of the aircraft, the nose direction correction method further includes:

And receiving a handpiece reference direction, wherein a straight line of the handpiece reference direction is parallel to a straight line of the handpiece measuring direction.

8. according toThe nose direction correction method as claimed in claim 7, wherein the attitude information of the aircraft is a pitch angle θ and/or a roll angle

when the attitude information of the aircraft is a pitch angle theta, the straight line of the head reference direction is parallel to the connecting line of the head and the tail of the aircraft;

When the attitude information of the aircraft is roll angleor the attitude information of the aircraft is a pitch angle theta and a roll anglethe straight line of the head reference direction intersects with a connecting line of a head and a tail of the aircraft, and the head direction correction method further comprises the following steps of:

And carrying out spatial transformation on the nose correction direction, so that the nose correction direction is parallel to the connection line of the nose and the tail of the aircraft.

9. the handpiece orientation correction method according to any one of claims 1 to 5, wherein when the handpiece measurement direction is opposite to the handpiece reference direction, the handpiece orientation correction method further comprises:

And generating reminding information for reminding a user of abnormal antenna installation, and sending the reminding information to the client.

10. a head direction correcting device characterized by comprising:

the receiving module is respectively connected with the attitude sensor and the two antennas and is used for acquiring attitude information of the aircraft and position information of the two antennas; when the sea level is taken as a reference, the signal receiving positions of the two antennas are different in altitude;

The processing module is connected with the receiving module and used for determining and obtaining the measuring direction of the nose according to the attitude information of the aircraft and the position information of the two antennas;

the direction determining module is connected with the processing module and is used for determining the machine head measuring direction as a machine head correcting direction when the machine head measuring direction is the same as the machine head reference direction; and when the measuring direction of the machine head is opposite to the reference direction of the machine head, carrying out reverse processing on the measuring direction of the machine head to obtain the correcting direction of the machine head.

11. the handpiece orientation correction device of claim 10, wherein the two antennas are both RTK antennas for providing RTK positioning information.

12. the handpiece orientation correction device according to claim 10,

The aircraft nose reference direction is a set aircraft nose measuring direction when an antenna with a high signal receiving position altitude is positioned in the positive direction of an aircraft body coordinate system with sea level as a reference and an antenna with a low signal receiving position altitude is positioned in the negative direction of the aircraft body coordinate system, and the processing module is specifically used for setting the aircraft nose measuring direction to be an antenna with the high signal receiving position altitude pointed by the antenna with the low signal receiving position altitude according to the attitude information of the aircraft and the position information of the two antennas;

Or the like, or, alternatively,

the machine head reference direction is a machine head measuring direction set when an antenna with a low signal receiving position altitude is positioned in the positive direction of a machine body coordinate system with sea level as a reference and an antenna with a high signal receiving position altitude is positioned in the negative direction of the machine body coordinate system; the processing module is specifically configured to set the aircraft nose measurement direction to be an antenna with a high altitude signal receiving position pointing to an antenna with a low altitude signal receiving position according to the attitude information of the aircraft and the position information of the two antennas.

13. the device for correcting the hand-piece direction according to claim 12, wherein the hand-piece measuring direction is set when the hand-piece reference direction is a hand-piece measuring direction in which an antenna having a high signal receiving position altitude is located in a positive direction of a body coordinate system with reference to a sea level and an antenna having a low signal receiving position altitude is located in a negative direction of the body coordinate system;

the attitude information of the aircraft is an attitude angle alpha of the aircraft, and an included angle formed by a signal receiving position connecting line of the two antennas and a plane of a fuselage of the aircraft is gamma; the absolute value of the height difference of the signal receiving positions of the two antennas by taking the plane of the body as a reference is h; the position information of the two antennas is a first position coordinate (u, v, w) and a second position coordinate (x, y, z), u is first latitude data, v is first longitude data, w is first altitude data, x is second latitude data, y is second longitude data, and z is second altitude data;

The processing module is specifically configured to set the aircraft nose measurement direction to be directed from (x, y, z) to (u, v, z) according to the attitude information of the aircraft and the position information of the two antennas when w > z is equal to 0 ° and set the aircraft nose measurement direction to be directed from (u, v, w) to (x, y, w) according to the attitude information of the aircraft and the position information of the two antennas when w < z;

Setting the aircraft nose measuring direction to be (u, v, w-h/cos alpha) pointed by (x, y, z) according to the attitude information of the aircraft and the position information of the two antennas when the attitude angle alpha of the aircraft is more than 0 DEG and less than 90 DEG if w is more than z, and setting the aircraft nose measuring direction to be (x, y, z-h/cos alpha) pointed by (u, v, w) according to the attitude information of the aircraft and the position information of the two antennas if w is less than z;

and if the attitude angle alpha of the aircraft is larger than-90 degrees and smaller than 0 degrees, if w is larger than z, | alpha | < gamma, or w is smaller than z, | alpha | > gamma, the head measuring direction is set to point to (u, v, w-h/cos alpha) from (x, y, z) according to the attitude information of the aircraft and the position information of the two antennas, if w is smaller than z, | alpha | < gamma, or w is larger than z, | alpha | > gamma, and the head measuring direction is set to point to (x, y, z-h/cos alpha) from (u, v, w) according to the attitude information of the aircraft and the position information of the two antennas.

14. the device for correcting the handpiece direction according to claim 12, wherein the handpiece reference direction is a handpiece measurement direction set when an antenna having a low signal reception position altitude is located in a positive direction of a body coordinate system with reference to a sea level and an antenna having a high signal reception position altitude is located in a negative direction of the body coordinate system;

The attitude information of the aircraft is an attitude angle alpha of the aircraft, the orthographic projection distance of the two antennas on the plane of the aircraft body is L, and the included angle formed by the connecting line of the signal receiving positions of the two antennas and the plane of the aircraft body is gamma; the absolute value of the height difference of the signal receiving positions of the two antennas by taking the plane of the body as a reference is h; the position information of the two antennas is a first position coordinate (u, v, w) and a second position coordinate (x, y, z), u is first latitude data, v is first longitude data, w is first altitude data, x is second latitude data, y is second longitude data, and z is second altitude data;

The processing module is specifically configured to set the aircraft nose measurement direction to be (u, v, w) from (x, y, z-h/cos α) according to the attitude information of the aircraft and the position information of the two antennas when the attitude angle α of the aircraft is greater than-90 ° and less than or equal to 0 °, if w is less than z, and set the aircraft nose measurement direction to be (x, y, z) from (u, v, w-h/cos) according to the attitude information of the aircraft and the position information of the two antennas if w is greater than z;

Setting the aircraft nose measuring direction to point to (u, v, w) from (x, y, w) according to attitude information of the aircraft and position information of the two antennas if w < z, and setting the aircraft nose measuring direction to point to (x, y, z) from (u, v, z) according to attitude information of the aircraft and position information of the two antennas if w > z;

And if alpha is larger than 0 DEG and smaller than 90 DEG, if alpha is smaller than gamma, and w is smaller than z, or w is larger than z, and alpha is larger than gamma, the aircraft head measuring direction is pointed to (u, v, w) by (x, y, z-h/cos alpha) according to the attitude information of the aircraft and the position information of the two antennas, if alpha is smaller than gamma, and w is larger than z, or w is smaller than z, alpha is larger than gamma, and the aircraft head measuring direction is pointed to (x, y, z) by (u, v, w-h/cos alpha) according to the attitude information of the aircraft and the position information of the two antennas.

15. the device according to claim 13 or 14, wherein the processing module is further configured to generate an attitude adjustment command and an information update command when w ═ z, | α | ═ γ;

the aircraft nose direction correcting device also comprises a sending module connected with the attitude controller and used for sending an attitude adjusting instruction to the attitude controller so that the attitude controller adjusts the attitude of the aircraft according to the attitude adjusting instruction;

the receiving module is further used for updating the attitude information of the aircraft and the position information of the two antennas after the attitude of the aircraft is adjusted according to the information updating instruction.

16. the device for correcting the direction of the handpiece according to any one of claims 10 to 14, wherein the receiving module is further connected to a client for setting the reference direction of the handpiece, and the receiving module is further configured to receive the reference direction of the handpiece, and a straight line of the reference direction of the handpiece is parallel to a straight line of the measuring direction of the handpiece.

17. The device according to any one of claims 10 to 14, wherein the attitude information of the aircraft is a pitch angle θ and/or a roll angle θ

when the attitude information of the aircraft is a pitch angle theta, the straight line of the head reference direction is parallel to the connecting line of the head and the tail of the aircraft;

When the attitude information of the aircraft is roll angleor the attitude information of the aircraft is a pitch angle theta and a roll anglethe aircraft nose reference direction is located on a straight line which is crossed with a connecting line of the aircraft nose and the aircraft tail of the aircraft, the aircraft nose direction correcting device further comprises a space transformation module which is connected with the direction determining module and used for determining the attitude information of the aircraft as a roll angleOr the attitude information of the aircraft is a pitch angle theta and a roll angleand if the measuring direction of the aircraft nose is the same as the reference direction of the aircraft nose, the correcting direction of the aircraft nose is subjected to spatial transformation, so that the correcting direction of the aircraft nose is parallel to the connecting line of the aircraft nose and the aircraft tail of the aircraft.

18. the device for correcting the direction of a machine head according to any one of claims 10 to 14,

If the attitude information of the aircraft is the pitch angle theta of the aircraft, the first antenna and the second antenna are arranged on a straight line where a body shaft of the aircraft is located;

if the attitude information of the aircraft is the roll angleor the attitude information of the aircraft includes a pitch angle theta and a roll angle thetathe first antenna and the second antenna are located on either side of a fuselage axis of the aircraft.

19. The handpiece orientation correction device according to any one of claims 10 to 14, wherein the processing module is further configured to generate a warning message for prompting a user that the antenna is abnormally installed when the handpiece measurement orientation is opposite to the handpiece reference orientation;

The machine head direction correcting device further comprises a sending module connected with the processing module and used for sending the reminding information to the client.

20. A flight controller comprising the device for correcting the direction of a nose according to any one of claims 10 to 19.

Technical Field

the invention relates to the technical field of unmanned aerial vehicle control, in particular to a method and a device for correcting a direction of a machine head and a flight controller.

Background

the carrier-time kinematic (RTK) technique is a Real-time dynamic measurement technique that can accurately position a positioning object in centimeter level, and is often used in aircraft navigation.

At present, the aircraft adopts two RTK antennas to carry out centimeter level accurate positioning to the aircraft to confirm the aircraft nose direction of aircraft, thereby reach the purpose of navigating the aircraft, but because the appearance structure of RTK antenna does not have the difference, two RTK antennas connect on the two female mouth interfaces of aircraft in reverse very easily, make the aircraft nose direction of the aircraft that two RTK antennas confirmed and the actual aircraft nose direction of aircraft opposite, lead to the aircraft out of control, the crash accident appears even.

In order to solve the problems, after the two RTK antennas are connected with the double female port interface of the aircraft, the aircraft is controlled to fly according to a set air route. In the flight process, whether the aircraft nose direction track determined by the two RTK antennas is consistent with the actual flight direction is judged, if not, the two RTK antennas are reversely connected with the double female port interfaces of the aircraft, the aircraft needs to be controlled to suspend urgently and land forcibly, and then the connection between the two RTK antennas and the double female port interfaces of the aircraft is changed.

disclosure of Invention

The invention aims to provide a method and a device for correcting the direction of a nose and a flight controller, which are used for simplifying the judgment process of whether two antennas are reversely connected with a double female port interface of an aircraft on the premise of ensuring the safe flight of the aircraft.

in order to achieve the above purpose, the invention provides the following technical scheme:

A method for correcting the direction of a machine head comprises the following steps:

Acquiring attitude information of an aircraft and position information of two antennas; when the sea level is taken as a reference, the signal receiving positions of the two antennas are different in altitude;

Determining the measuring direction of the aircraft nose according to the attitude information of the aircraft and the position information of the two antennas;

if the machine head measuring direction is the same as the machine head reference direction, determining the machine head measuring direction as a machine head correcting direction;

And if the measuring direction of the machine head is opposite to the reference direction of the machine head, reversing the measuring direction of the machine head to obtain the correcting direction of the machine head.

Optionally, the position information of the two antennas is RTK positioning information.

Optionally, the aircraft nose reference direction is that when using sea level as the benchmark, the antenna that the signal reception position height above sea level is located the organism coordinate system positive direction, and when the antenna that the signal reception position height above sea level was located the organism coordinate system negative direction, the aircraft nose measuring direction of settlement, according to the attitude information of aircraft with the positional information of two antennas, it includes to obtain aircraft nose measuring direction:

According to the attitude information of the aircraft and the position information of the two antennas, setting that the measuring direction of the aircraft head is that the antenna with low altitude of the signal receiving position points to the antenna with high altitude of the signal receiving position;

Or the like, or, alternatively,

the machine head reference direction is a machine head measuring direction set when an antenna with a low signal receiving position altitude is positioned in the positive direction of a machine body coordinate system with sea level as a reference and an antenna with a high signal receiving position altitude is positioned in the negative direction of the machine body coordinate system; the obtaining a measured nose direction according to the attitude information of the aircraft and the position information of the two antennas comprises:

and according to the attitude information of the aircraft and the position information of the two antennas, setting that the measuring direction of the aircraft head is directed to the antenna with the lower altitude of the signal receiving position by the antenna with the higher altitude of the signal receiving position.

preferably, when the aircraft nose reference direction is the positive direction of a body coordinate system of an antenna with a high signal receiving position altitude when the sea level is taken as a reference, and the negative direction of the body coordinate system of an antenna with a low signal receiving position altitude, the set aircraft nose measuring direction is the attitude angle alpha of the aircraft, the included angle formed by the connecting line of the signal receiving positions of the two antennas and the plane of the aircraft body of the aircraft is gamma, and the absolute value of the height difference when the signal receiving positions of the two antennas take the plane of the aircraft body as a reference is h;

the position information of the two antennas is a first position coordinate (u, v, w) and a second position coordinate (x, y, z); u is first latitude data, v is first longitude data, w is first altitude data, x is second latitude data, y is second longitude data, and z is second altitude data;

when the attitude angle α of the aircraft is 0 °, and if w > z, the setting that the head measurement direction is directed from the antenna with the lower altitude signal receiving position to the antenna with the higher altitude signal receiving position includes: setting the head measurement direction to be directed from (x, y, z) to (u, v, z); if w < z, the setting of the head measurement direction from the antenna with the low altitude signal receiving position to the antenna with the high altitude signal receiving position comprises: setting the head measurement direction to be directed from (u, v, w) to (x, y, w);

When the attitude angle α of the aircraft is greater than 0 ° and less than 90 °, if w > z, the setting that the head measurement direction is directed from the antenna with the low altitude signal reception position to the antenna with the high altitude signal reception position includes: setting the measuring direction of the handpiece to be directed from (x, y, z) to (u, v, w-h/cos alpha); if w < z, the setting of the head measurement direction from the antenna with the low altitude signal receiving position to the antenna with the high altitude signal receiving position comprises: setting the measuring direction of the handpiece to be (x, y, z-h/cos alpha) pointed by (u, v, w);

when the attitude angle α of the aircraft is greater than-90 ° and less than 0 °, if w > z, | α | < γ, or w < z, | α | > γ, the setting that the head determination direction is directed from the antenna with the low altitude signal reception position to the antenna with the high altitude signal reception position includes: setting the head measurement direction to be directed from (x, y, z) to (u, v, w-hcos alpha); if w < z, | α | < γ, or w > z, | α | > γ, the setting of the head measurement direction is such that the antenna with the lower altitude signal receiving position points to the antenna with the higher altitude signal receiving position includes: setting the head measurement direction to be directed from (u, v, w) to (x, y, z-hcos α).

Preferably, the handpiece reference direction is a handpiece measurement direction set when the antenna with the low signal receiving position altitude is located in the positive direction of the body coordinate system and the antenna with the high signal receiving position altitude is located in the negative direction of the body coordinate system with the sea level as a reference; the attitude information of the aircraft is an attitude angle alpha of the aircraft, and an included angle formed by a signal receiving position connecting line of the two antennas and a plane of a fuselage of the aircraft is gamma; the absolute value of the height difference of the signal receiving positions of the two antennas by taking the plane of the body as a reference is h;

The position information of the two antennas is a first position coordinate (u, v, w) and a second position coordinate (x, y, z), u is first latitude data, v is first longitude data, w is first altitude data, x is second latitude data, y is second longitude data, and z is second altitude data;

when the attitude angle α of the aircraft is greater than-90 ° and less than 0 °, if w < z, the setting that the head measurement direction is directed from the antenna with the higher altitude signal receiving position to the antenna with the lower altitude signal receiving position includes: setting the measuring direction of the machine head to be directed to (u, v, w) from (x, y, z-h/cos alpha); if w > z, said setting said handpiece measurement direction to be directed from the antenna with the higher elevation signal receiving location to the antenna with the lower elevation signal receiving location comprises: setting the measuring direction of the machine head to be (x, y, z) pointed by (u, v, w-h/cos alpha);

When the attitude angle α of the aircraft is 0 °, and if w is less than z, the setting that the head measurement direction is directed from the antenna with the higher altitude signal receiving position to the antenna with the lower altitude signal receiving position includes: setting the measuring direction of the machine head to be directed to (u, v, w) from (x, y, w); if w > z, said setting said handpiece measurement direction to be directed from the antenna with the higher elevation signal receiving location to the antenna with the lower elevation signal receiving location comprises: setting the head measurement direction to be directed from (u, v, z) to (x, y, z);

when the attitude angle α of the aircraft is greater than 0 ° and less than 90 °, if w is less than z, α is less than γ, or w is greater than z, and α is greater than γ, the setting of the head measurement direction such that the antenna with the higher altitude of the signal receiving position is directed to the antenna with the lower altitude of the signal receiving position includes: setting the measuring direction of the machine head to be directed to (u, v, w) from (x, y, z-h/cos alpha); if w > z, and α < γ, or w < z, α > γ, said setting said handpiece measurement direction to be directed from the antenna at the signal receiving location with the higher elevation to the antenna at the signal receiving location with the lower elevation comprises: the head measurement direction is set to point from (u, v, w-h/cos α) to (x, y, z).

further, when w is equal to z and α is equal to γ, the handpiece direction correction method further includes:

adjusting the attitude of the aircraft;

and after the attitude of the aircraft is adjusted, updating the attitude information of the aircraft and the position information of the two antennas.

Optionally, when receiving the attitude information of the aircraft and the navigation information of the aircraft, the aircraft nose direction correction method further includes:

And receiving a handpiece reference direction, wherein a straight line of the handpiece reference direction is parallel to a straight line of the handpiece measuring direction.

preferably, the attitude information of the aircraft is a pitch angle theta and/or a roll angle

When the attitude information of the aircraft is a pitch angle theta, the straight line of the head reference direction is parallel to the connecting line of the head and the tail of the aircraft;

when the attitude information of the aircraft is roll angleOr the attitude information of the aircraft is a pitch angle theta and a roll anglethe straight line of the head reference direction intersects with a connecting line of a head and a tail of the aircraft, and the head direction correction method further comprises the following steps of:

and carrying out spatial transformation on the nose correction direction, so that the nose correction direction is parallel to the connection line of the nose and the tail of the aircraft.

Optionally, when the measured direction of the handpiece is opposite to the reference direction of the handpiece, the method for correcting the direction of the handpiece further includes:

and generating reminding information for reminding a user of abnormal antenna installation, and sending the reminding information to the client.

Compared with the prior art, in the aircraft nose direction correction method provided by the invention, when the sea level is taken as a reference, the altitude of the signal receiving positions of the two antennas is different, so that the aircraft nose measuring direction can be judged according to the attitude information of the aircraft and the position information of the two antennas as long as the aircraft is powered on; then comparing the machine head measuring direction with a preset machine head reference direction, and when the machine head measuring direction is opposite to the machine head reference direction, indicating that the installation positions of the two antennas are opposite, only reversing the machine head measuring direction to obtain a machine head correcting direction so as to further carry out continuous flight navigation on the aircraft by utilizing the machine head correcting direction, and not needing to hover and land in the flight process and reinstall the two antennas; therefore, the aircraft nose direction correction method provided by the invention can carry out self-checking on the installation positions of the two antennas before the aircraft takes off, and when the installation positions of the two antennas are opposite, the aircraft nose measuring direction is processed in a reverse way, and then the aircraft is navigated by using the obtained aircraft nose correction direction, so that the safety accident that the aircraft fails and can not hover and land when the installation positions of the two antennas are opposite is avoided; therefore, the nose direction correction method provided by the invention simplifies the judgment process of whether the two antennas are reversely connected with the double female port interface of the aircraft on the premise of ensuring the safe flight of the aircraft.

the present invention also provides a machine head direction correcting device, including:

the receiving module is respectively connected with the attitude sensor and the two antennas and is used for acquiring attitude information of the aircraft and position information of the two antennas; the signal receiving positions of the two antennas are different in altitude with the sea level as a reference;

the processing module is connected with the receiving module and used for determining and obtaining the measuring direction of the nose according to the attitude information of the aircraft and the position information of the two antennas;

The direction determining module is connected with the processing module and is used for determining the machine head measuring direction as a machine head correcting direction when the machine head measuring direction is the same as the machine head reference direction; and when the measuring direction of the machine head is opposite to the reference direction of the machine head, carrying out reverse processing on the measuring direction of the machine head to obtain the correcting direction of the machine head.

optionally, the two antennas are both RTK antennas for providing RTK positioning information.

optionally, the aircraft nose reference direction is a set aircraft nose measurement direction when an antenna with a high signal receiving position altitude is located in a positive direction of a body coordinate system with sea level as a reference and an antenna with a low signal receiving position altitude is located in a negative direction of the body coordinate system, and the processing module is specifically configured to set the aircraft nose measurement direction to be an antenna with a low signal receiving position altitude pointing to the antenna with a high signal receiving position altitude according to attitude information of the aircraft and position information of the two antennas;

or the like, or, alternatively,

The machine head reference direction is a machine head measuring direction set when an antenna with a low signal receiving position altitude is positioned in the positive direction of a machine body coordinate system with sea level as a reference and an antenna with a high signal receiving position altitude is positioned in the negative direction of the machine body coordinate system; the processing module is specifically configured to set the aircraft nose measurement direction to be an antenna with a high altitude signal receiving position pointing to an antenna with a low altitude signal receiving position according to the attitude information of the aircraft and the position information of the two antennas.

Preferably, when the handpiece reference direction is the handpiece measurement direction set when the antenna with the high signal receiving position altitude is located in the positive direction of the body coordinate system and the antenna with the low signal receiving position altitude is located in the negative direction of the body coordinate system with the sea level as the reference;

The attitude information of the aircraft is an attitude angle alpha of the aircraft, and an included angle formed by a signal receiving position connecting line of the two antennas and a plane of a fuselage of the aircraft is gamma; the absolute value of the height difference of the signal receiving positions of the two antennas by taking the plane of the body as a reference is h; the position information of the two antennas is a first position coordinate (u, v, w) and a second position coordinate (x, y, z), u is first latitude data, v is first longitude data, w is first altitude data, x is second latitude data, y is second longitude data, and z is second altitude data;

The processing module is specifically configured to set the aircraft nose measurement direction to be directed from (x, y, z) to (u, v, z) according to the attitude information of the aircraft and the position information of the two antennas when w > z is equal to 0 ° and set the aircraft nose measurement direction to be directed from (u, v, w) to (x, y, w) according to the attitude information of the aircraft and the position information of the two antennas when w < z;

Setting the aircraft nose measuring direction to be (u, v, w-h/cos alpha) pointed by (x, y, z) according to the attitude information of the aircraft and the position information of the two antennas when the attitude angle alpha of the aircraft is more than 0 DEG and less than 90 DEG if w is more than z, and setting the aircraft nose measuring direction to be (x, y, z-h/cos alpha) pointed by (u, v, w) according to the attitude information of the aircraft and the position information of the two antennas if w is less than z;

and if the attitude angle alpha of the aircraft is larger than-90 degrees and smaller than 0 degrees, if w is larger than z, | alpha | < gamma, or w is smaller than z, | alpha | > gamma, the head measuring direction is set to point to (u, v, w-h/cos alpha) from (x, y, z) according to the attitude information of the aircraft and the position information of the two antennas, if w is smaller than z, | alpha | < gamma, or w is larger than z, | alpha | > gamma, and the head measuring direction is set to point to (x, y, z-h/cos alpha) from (u, v, w) according to the attitude information of the aircraft and the position information of the two antennas.

preferably, the handpiece reference direction is a handpiece measurement direction set when the antenna with the low signal receiving position altitude is located in the positive direction of the body coordinate system and the antenna with the high signal receiving position altitude is located in the negative direction of the body coordinate system with the sea level as a reference;

The attitude information of the aircraft is an attitude angle alpha of the aircraft, the orthographic projection distance of the two antennas on the plane of the aircraft body is L, and the included angle formed by the connecting line of the signal receiving positions of the two antennas and the plane of the aircraft body is gamma; the absolute value of the height difference of the signal receiving positions of the two antennas by taking the plane of the body as a reference is h; the position information of the two antennas is a first position coordinate (u, v, w) and a second position coordinate (x, y, z), u is first latitude data, v is first longitude data, w is first altitude data, x is second latitude data, y is second longitude data, and z is second altitude data;

the processing module is specifically configured to set the aircraft nose measurement direction to be (u, v, w) from (x, y, z-h/cos α) according to the attitude information of the aircraft and the position information of the two antennas when the attitude angle α of the aircraft is greater than-90 ° and less than or equal to 0 °, if w is less than z, and set the aircraft nose measurement direction to be (x, y, z) from (u, v, w-h/cos) according to the attitude information of the aircraft and the position information of the two antennas if w is greater than z;

Setting the aircraft nose measuring direction to point to (u, v, w) from (x, y, w) according to attitude information of the aircraft and position information of the two antennas if w < z, and setting the aircraft nose measuring direction to point to (x, y, z) from (u, v, z) according to attitude information of the aircraft and position information of the two antennas if w > z;

And if alpha is larger than 0 DEG and smaller than 90 DEG, if alpha is smaller than gamma, and w is smaller than z, or w is larger than z, and alpha is larger than gamma, the aircraft head measuring direction is pointed to (u, v, w) by (x, y, z-h/cos alpha) according to the attitude information of the aircraft and the position information of the two antennas, if alpha is smaller than gamma, and w is larger than z, or w is smaller than z, alpha is larger than gamma, and the aircraft head measuring direction is pointed to (x, y, z) by (u, v, w-h/cos alpha) according to the attitude information of the aircraft and the position information of the two antennas.

further, the processing module is further configured to generate an attitude adjustment instruction and an information update instruction when w is equal to z and i α is equal to γ;

the aircraft nose direction correcting device also comprises a sending module connected with the attitude controller and used for sending an attitude adjusting instruction to the attitude controller so that the attitude controller adjusts the attitude of the aircraft according to the attitude adjusting instruction;

the receiving module is further used for updating the attitude information of the aircraft and the position information of the two antennas after the attitude of the aircraft is adjusted according to the information updating instruction.

optionally, the receiving module is further connected to a client, the client is configured to set the handpiece reference direction, the receiving module is further configured to receive the handpiece reference direction, and a straight line where the handpiece reference direction is located is parallel to a straight line where the handpiece measurement direction is located.

optionally, the attitude information of the aircraft is a pitch angle θ and/or a roll angle

when the attitude information of the aircraft is a pitch angle theta, the straight line of the head reference direction is parallel to the connecting line of the head and the tail of the aircraft;

when the attitude information of the aircraft is roll angleor the attitude information of the aircraft is a pitch angle theta and a roll angleThe aircraft nose reference direction is located on a straight line which is crossed with a connecting line of the aircraft nose and the aircraft tail of the aircraft, the aircraft nose direction correcting device further comprises a space transformation module which is connected with the direction determining module and used for determining the attitude information of the aircraft as a roll angleor the attitude information of the aircraft is a pitch angle theta and a roll angleAnd if the measuring direction of the aircraft nose is the same as the reference direction of the aircraft nose, the correcting direction of the aircraft nose is subjected to spatial transformation, so that the correcting direction of the aircraft nose is parallel to the connecting line of the aircraft nose and the aircraft tail of the aircraft.

optionally, if the attitude information of the aircraft is a pitch angle θ of the aircraft, the first antenna and the second antenna are arranged on a straight line where a body axis of the aircraft is located;

if the attitude information of the aircraft is the roll angleor the attitude information of the aircraft includes a pitch angle theta and a roll angle thetaThe first antenna and the second antenna are located on either side of a fuselage axis of the aircraft.

Optionally, the processing module is further configured to generate a prompting message for prompting the user that the antenna is abnormally mounted when the machine head measurement direction is opposite to the machine head reference direction;

the machine head direction correcting device further comprises a sending module connected with the processing module and used for sending the reminding information to the client.

compared with the prior art, the beneficial effects of the machine head direction correcting device provided by the invention are the same as those of the machine head direction correcting method in the technical scheme, and the detailed description is omitted.

the invention also provides a flight controller which comprises the nose direction correcting device in the technical scheme.

Compared with the prior art, the beneficial effects of the flight controller provided by the invention are the same as those of the aircraft nose direction correction method in the technical scheme, and are not repeated herein.

drawings

the accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a diagram of an application scenario in accordance with an embodiment of the present invention;

fig. 2 is a block diagram of a flight controller according to an embodiment of the present invention;

FIG. 3 is a flowchart of a method for calibrating a handpiece according to an embodiment of the present invention;

FIG. 4 is a flow chart of setting the measurement direction of the handpiece in the embodiment of the present invention;

FIG. 5 is another flow chart of setting the measurement direction of the handpiece in the embodiment of the present invention;

FIG. 6 is a schematic representation of a body coordinate system of an aircraft;

fig. 7 is a schematic view of the head measurement direction in the first head reference direction when θ is 0 in the embodiment of the present invention;

FIG. 8 is a schematic view of the measurement direction of the handpiece in the first handpiece reference direction when 0 ° < θ < 90 ° in the embodiment of the present invention;

FIG. 9 is a schematic view of the measurement direction of the handpiece in the first handpiece reference direction when-90 < theta < 0 deg. and | theta < gamma in the embodiment of the present invention;

FIG. 10 is a schematic diagram of the relative position of the measurement direction of the tool tip in the reference direction of the first tool tip when the angle is-90 < theta < 0 DEG and theta > gamma in the embodiment of the present invention;

Fig. 11 is a schematic view of the head measurement direction in the second head reference direction when θ is 0 in the embodiment of the present invention;

FIG. 12 is a schematic view of the measuring direction of the hand in the second hand reference direction when 0 < theta < 90 DEG and theta < gamma in the embodiment of the present invention;

FIG. 13 is a schematic view of the measurement direction of the handpiece in the second handpiece reference direction when θ > γ and θ < 90 ° in the embodiment of the present invention;

FIG. 14 is a schematic view of the handpiece measurement direction at-90 ° < θ < 0 ° in a second handpiece reference direction in an embodiment of the present invention;

reference numerals:

1-aircraft, 10-flight controller;

100-plane of the body, 101-direction correcting device of the machine head;

101 a-a receiving module, 101 b-a processing module;

101 c-direction determination module, 101 d-sending module;

101 e-space conversion module, 102-attitude controller;

11-a first antenna, 12-a second antenna;

13-attitude sensor, 2-measuring device;

21-an RTK information service platform, 22-a navigation satellite;

3-client, a-high altitude signal receiving location;

B-low altitude signal reception position, HP-level.

Detailed Description

the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

At present, a first RTK antenna should be connected to a first female port interface of an aircraft, a second RTK antenna should be connected to a second female port interface of the aircraft, but due to the same appearance structure of the first RTK antenna and the second RTK antenna, when the first RTK antenna and the second RTK antenna are installed on the aircraft, the first RTK antenna is connected to the second female port interface of the aircraft, and the second RTK antenna is connected to the first female port interface of the aircraft, which is defined as a problem that the first RTK antenna and the second RTK antenna are reversely connected to a double female port interface of the aircraft.

although the prior art has disclosed a method for determining that a first antenna (e.g., a first RTK antenna) and a second antenna (e.g., a second RTK antenna) are reversely connected to a dual female interface of an aircraft, the process is complicated and time-consuming, it is difficult to ensure safe flight of the aircraft, and the aircraft is prone to crash. To solve the problems in the prior art, embodiments of the present invention provide a method and an apparatus for correcting a direction of a head, and a flight controller, which can be applied to the application scenario shown in fig. 1.

as shown in fig. 1 and 2, the position information of the first antenna 11 provided by the measuring device 2 (i.e., the first position information measured by the first antenna 11), the position information of the second antenna 12 provided by the measuring device 2 (i.e., the second position information measured by the second antenna 12) is received by the second antenna 12, the position information of the first antenna 11 and the position information of the second antenna 12 are provided to the head direction correcting device 101, and at the same time, the attitude sensor 13 monitors the attitude information of the aircraft 1 and provides the attitude information of the aircraft 1 to the head direction correcting device 101, so that the head direction correcting device 101 reverses the head measuring direction to obtain the head correcting direction to navigate the aircraft 1 when a problem occurs in the head measuring direction (the head measuring direction is opposite to the head reference direction). Meanwhile, the machine head direction correction device 101 may also send a prompt message to the client 3 when the machine head measurement direction is opposite to the machine head reference direction, so that the user can know the antenna installation abnormality through the client 3. The aircraft 1 is powered on, and the nose direction correction device 101 can start the nose direction correction, which is essentially a self-test process of antenna installation. If the self-checking result shows that the first antenna 11 and the second antenna 12 are reversely connected to the female port interface of the aircraft 1, the aircraft 1 can be navigated by using the aircraft nose calibration direction only by calibrating the aircraft nose measurement direction (namely, performing reverse processing); without the need for the antenna installer to reinstall the antenna. The following describes in detail a handpiece orientation correction method provided by an embodiment of the present invention with reference to the accompanying drawings.

As shown in fig. 1 to 3 and 7 to 14, a method for correcting a handpiece orientation according to an embodiment of the present invention includes the steps of:

Step S100: attitude information of the aircraft 1 and position information of the two antennas are acquired. The position information of the two antennas includes position information of the first antenna 11 and position information of the second antenna 12; when the sea level is taken as a reference, the altitude of the signal receiving position of the first antenna 11 is different from the altitude of the signal receiving position of the second antenna 12;

step S200: obtaining a machine head measuring direction according to the attitude information of the aircraft 1, the position information of the first antenna 11 and the position information of the second antenna 12;

if the handpiece measurement direction is opposite to the handpiece reference direction, then step 311 is executed;

if the handpiece measurement direction is the same as the handpiece reference direction, S312 is executed;

Step S311: reversing the measuring direction of the machine head to obtain the correcting direction of the machine head;

Step S312: and determining the machine head measuring direction as the machine head correcting direction.

In the handpiece direction correction method provided based on the above embodiment, the altitude of the signal receiving position of the first antenna 11 is different from the altitude of the signal receiving position of the second antenna 12 with the sea level as the reference, so that the aircraft can judge the measuring direction of the handpiece according to the attitude information of the aircraft 1, the position information of the first antenna 11 and the position information of the second antenna 12 as long as the aircraft is powered on; then comparing the machine head measuring direction with a preset machine head reference direction, and when the machine head measuring direction is opposite to the machine head reference direction, indicating that the installation positions of the two antennas are opposite (the first antenna 11 and the second antenna 12 are reversely connected to a female port interface of the aircraft 1), only reversing the machine head measuring direction at this time to obtain a machine head correcting direction, so as to further carry out continuous flight navigation on the aircraft by utilizing the machine head correcting direction, and not to hover and land in the flight process and reinstall the two antennas; therefore, the aircraft nose direction correction method provided by the embodiment of the invention can carry out self-checking on the installation positions of the two antennas before the aircraft takes off, usually after the aircraft is assembled and before the aircraft is tried, and when the installation positions of the two antennas are opposite, after the aircraft nose measuring direction is reversely processed, the aircraft is navigated by using the obtained aircraft nose correction direction, so that the safety accident that the aircraft fails to hover and land when the installation positions of the two antennas are opposite is avoided; therefore, the aircraft nose direction correction method provided by the embodiment of the invention simplifies the judgment process of whether the two antennas are reversely connected with the double female port interface of the aircraft on the premise of ensuring the safe flight of the aircraft.

it should be noted that, in the above embodiment, the first antenna 11 and the second antenna 12 may be antennas for receiving general GPS positioning information, or RTK antennas for receiving RTK positioning information, and when the first antenna 11 and the second antenna 12 are both RTK antennas, as shown in fig. 1 and fig. 2, the measuring apparatus 2 includes an RTK information service platform 21 and a navigation satellite 22 that communicate with each other; the navigation satellite 22 can be a GPS navigation satellite or a Beidou navigation satellite; the first antenna 11 and the second antenna 12 both communicate with the RTK information service platform 21 and the navigation satellite 22, so that the first antenna 11 and the second antenna 12 receive the correction data and the positioning information issued by the RTK information service platform 21 in real time, and correct the positioning information by using the correction data, thereby obtaining the RTK positioning information of the first antenna 11 and the RTK positioning information of the second antenna 12.

in some embodiments, when the measured direction of the handpiece is opposite to the reference direction of the handpiece, as shown in fig. 1 to 3, the method for calibrating the direction of the handpiece according to the embodiments of the present invention further includes:

Step S313 in parallel with step S311: and generating reminding information for reminding the user of the antenna installation abnormity, and sending the reminding information to the client 3, so that the client 3 provides the reminding information of the antenna installation abnormity for the user.

in some embodiments, whether the handpiece reference direction coincides with the handpiece measured direction should be determined in a predetermined manner with respect to the handpiece reference direction. The handpiece reference direction may be a handpiece reference direction provided by a client, and may also be set according to the following definition:

as shown in fig. 4, when the head reference direction is the head measurement direction set when the antenna with the high signal receiving position altitude is located in the positive body coordinate system direction and the antenna with the low signal receiving position altitude is located in the negative body coordinate system direction with reference to the sea level, the above-mentioned obtaining the head measurement direction from the attitude information of the aircraft 1, the position information of the first antenna 11, and the position information of the second antenna 12 as shown in fig. 1 and 2 includes:

the head measurement direction is set to be directed from the antenna having the low altitude signal reception position to the antenna having the high altitude signal reception position, based on the attitude information of the aircraft 1, the position information of the first antenna 11, and the position information of the second antenna 12.

as shown in fig. 5, the handpiece measurement direction is set when the handpiece reference direction is the direction in which the antenna with the low signal receiving position altitude is located in the positive direction of the body coordinate system and the antenna with the high signal receiving position altitude is located in the negative direction of the body coordinate system with the sea level as the reference; then, as shown in fig. 1 and fig. 2, the obtaining the measured nose direction according to the attitude information of the aircraft and the position information of the two antennas includes:

The head measurement direction is set to be directed from the antenna having the higher altitude of the signal reception position to the antenna having the lower altitude of the signal reception position, based on the attitude information of the aircraft 1, the position information of the first antenna 11, and the position information of the second antenna 12.

In the above embodiment, the antenna with a high altitude signal receiving position may be the first antenna 11 or the second antenna 12, and similarly, the antenna with a low altitude signal receiving position may be the first antenna 11 or the second antenna 12, specifically based on the actual position information of the first antenna 11 and the second antenna 12.

as shown in fig. 6, the above-mentioned body coordinate system is a basic coordinate system of inertial navigation of the aircraft, and conforms to the right-hand rule, the origin is at the center of gravity of the aircraft, the X-axis points to the heading direction of the aircraft, the Y-axis points to the right side of the aircraft from the origin (viewed from the aircraft's flight direction to the heading direction), and the Z-axis direction is determined by the right-hand rule according to the X, Y axis, specifically referring to a three-dimensional coordinate system formed by the XYZ axes shown in fig. 6.

the following describes the setting process of the measuring direction of the handpiece in detail with reference to fig. 1 to 5 and 6 to 14, and the following setting process is only used to explain the embodiment of the present invention. Wherein, the orthographic projection of the first antenna 11 on the fuselage plane 100 (the plane formed by the XY axes shown in fig. 6) and the orthographic projection of the second antenna 12 on the fuselage plane 100 are at a distance L, and the included angle formed by the connection line of the signal receiving positions of the first antenna 11 and the second antenna 12 and the fuselage plane 100 of the aircraft 1 is γ; the absolute value of the height difference between the signal receiving position of the first antenna 11 and the signal receiving position of the second antenna 12 with the body plane 100 as a reference is h; the position information of the first antenna 11 is first position coordinates (u, v, w), u is first latitude data, v is first longitude data, and w is first altitude data; the position information of the second antenna 12 is second position coordinates (x, y, z), x is second latitude data, y is second longitude data, and z is second altitude data.

the machine head reference direction is set when the antenna with the high altitude of the signal receiving position using the sea level as a reference is positioned in the positive direction of the machine body coordinate system, and the antenna with the low altitude of the signal receiving position is positioned in the negative direction of the machine body coordinate system. As shown in fig. 4 and 6 to 10, the step S200 specifically includes:

step S211: judging the angle range of the attitude angle alpha of the aircraft 1;

If alpha is less than 0 degrees and less than 90 degrees, executing step S212;

if α is 0 °, performing step S213;

if 0 ° < α < 90 °, go to step S214;

step S212: judging the relation between the attitude angle | alpha | and gamma of the aircraft 1, and judging the size relation between w and z;

if | α | < γ, and w > z, go to step S215;

If | α | < γ and w < z, go to step S216;

If | α | > γ and w < z, go to step S215;

If | α | > γ and w > z, go to step S216;

If | α | ═ γ, and w ═ z, then since there is no altitude difference between the altitude at which the signal receiving position of the first antenna is located and the altitude at which the signal receiving position of the second antenna is located, the nose direction of the aircraft 1 cannot be determined, step S219 is performed;

Step S213: judging the size relationship between w and z;

if w > z, go to step S217;

if w is less than z, go to step S218;

Step S214: judging the size relationship between w and z;

if w > z, go to step S215;

If w is less than z, go to step S216;

step S215: setting the measuring direction of the handpiece to be (u, v, w-h/cos alpha) pointed by (x, y, z);

step S216: setting the measuring direction of the handpiece to be (x, y, z-h/cos alpha) pointed by (u, v, w);

step S217: setting the measuring direction of the machine head to be directed to (u, v, w) from (x, y, z);

step S218: setting the measuring direction of the machine head to be (x, y, z) pointed by (u, v, w);

step S219: adjusting the attitude of the aircraft 1 to change the attitude information of the aircraft 1 and correspondingly change the attitude angle alpha of the aircraft 1;

the attitude information of the aircraft 1, the position information of the first antenna 11, and the position information of the second antenna 12 in step S100 are updated to finally acquire the nose measuring direction of the aircraft 1.

when the handpiece reference direction refers to the situation that the antenna with the low signal receiving position altitude is located in the positive direction of the body coordinate system and the antenna with the high signal receiving position altitude is located in the negative direction of the body coordinate system, the set handpiece measurement direction is determined; as shown in fig. 5, 10 to 14, the step S200 specifically includes:

step S221: judging the angle range of the attitude angle alpha of the aircraft 1;

If alpha is less than 0 degrees and less than 90 degrees, executing step S222;

if α is 0 °, performing step S223;

if 0 DEG < alpha < 90 DEG, executing step S224;

step S222: judging the size relationship between w and z;

If w is less than z, go to step S225;

if w > z, go to step S226;

Step S223: judging the size relationship between w and z;

if w is less than z, go to step S227;

If w > z, go to step S228;

Step S224: judging the relation between the attitude angle alpha and gamma of the aircraft 1, and judging the size relation between w and z;

If α < γ and w < z, go to step S225;

if α is less than γ and w is greater than z, go to step S226;

If α > γ and w > z, go to step S225;

if α > γ and w < z, go to step S226;

If α ═ γ, and w ═ z, step S229 is performed;

Step S225: setting the measuring direction of the machine head to be (u, v, w) pointed by (x, y, z-h/cos alpha);

Step S226: setting the measuring direction of the handpiece to point to (x, y, z) from (u, v, w-h/cos alpha);

step S227: setting the measuring direction of the machine head to point to (u, v, w) from (x, y, w);

step S228: setting the head measurement direction to be directed from (u, v, z) to (x, y, z);

Step S229: adjusting the attitude of the aircraft 1 to change the attitude information of the aircraft 1 and correspondingly change the attitude angle alpha of the aircraft 1; the attitude information of the aircraft 1, the position information of the first antenna 11, and the position information of the second antenna 12 in step S100 are updated to finally acquire the nose measuring direction of the aircraft 1.

as shown in fig. 6, the attitude angle α of the aircraft 1 is a pitch angle θ and/or a roll angleThe pitch angle theta is an included angle between an X axis of the body coordinate system and a ground plane (horizontal plane) when the aircraft 1 rotates around a Y axis of the body coordinate system; when the nose of the aircraft 1 is high relative to the tail of the aircraft 1, the pitch angle theta is positive. Roll angleIs the included angle between the Y axis of the aircraft 1 and the ground plane (horizontal plane) when the aircraft 1 rotates around the X axis of the body coordinate system. When the aircraft 1 rotates around the X axis of the body coordinate system as viewed from the nose of the aircraft 1, the aircraft 1 rotates clockwise around the X axis of the body coordinate system as the positive direction of the roll angle. When the attitude angle α of the aircraft 1 is the pitch angle θ, the first antenna 11 and the second antenna 12 are arranged along the X-axis direction of the body coordinate system of the aircraft 1 (the X-axis of the body coordinate system is defined as the body axis), as long as the altitude of the signal receiving position of the first antenna 11 is different from the altitude of the signal receiving position of the second antenna 12 (for example, the first antenna may be arrangedAntenna 11 is provided at the nose of aircraft 1 and second antenna 12 is provided at the tail of aircraft 1) so that whether the resulting nose measurement direction is from an antenna with a low signal reception location elevation to an antenna with a high signal reception location elevation, or from an antenna with a high signal reception location elevation to an antenna with a low signal reception location elevation, the direction is along a line parallel to the line connecting the nose and tail of the aircraft, and as for the nose measurement direction, either opposite to the nose reference direction or the same as the nose reference direction. When the measured direction of the aircraft nose is the same as the reference direction of the aircraft nose, the measured direction of the aircraft nose can be used as the actual aircraft nose direction for navigation of the aircraft; when the measured direction of the aircraft nose is opposite to the reference direction of the aircraft nose, the measured direction of the aircraft nose needs to be reversed so as to be used for navigation of the aircraft.

When the attitude angle alpha of the aircraft 1 is a pitch angle theta and a roll angle thetaor roll angleMeanwhile, the first antenna 11 and the second antenna 12 are arranged on two sides of the X axis of the body coordinate system, namely the first antenna 11 and the second antenna 12 are arranged on two sides of the body axis; at the moment, the straight line of the obtained head measuring direction is crossed with the connecting line of the head and the tail of the aircraft.

When the measured direction of the handpiece is the same as the reference direction of the handpiece, as shown in fig. 3, and the measured direction of the handpiece is determined as the handpiece calibration direction or after the handpiece calibration direction is obtained, the method for calibrating the handpiece direction further comprises:

Step S400: and spatially transforming the nose correction direction to enable the nose correction direction to be parallel to the connection line of the nose and the tail of the aircraft.

In fig. 7 to 14, a represents a high altitude signal receiving position, B represents a low altitude signal receiving position, X represents an X axis of a body coordinate system, and an arrow direction of a straight line in which BK represents a head calibration direction.

wherein the first machine head reference direction is the machine body measurement direction set according to the flow shown in fig. 4 when the antenna with the high signal receiving position is arranged at the machine head and the antenna with the low signal receiving position is arranged at the machine tail; fig. 7 shows a schematic view of the head measuring direction in the first head reference direction reflecting the relative position of the X-axis of the body plane 100 and the horizontal plane HP when θ is 0, and fig. 8 shows a schematic view of the head measuring direction in the first head reference direction reflecting the relative position of the X-axis of the body plane 100 and the horizontal plane HP when θ is 0 ° < θ < 90 °; FIG. 9 is a schematic view of the machine head measurement orientation at the first machine head reference orientation for-90 < θ < 0, and | θ < γ, reflecting the relative position of the X-axis of the machine body plane 100 to the horizontal plane HP; fig. 10 shows a schematic representation of the machine head measurement direction in the first machine head reference direction at-90 ° < θ < 0 °, and | θ | > γ, reflecting the relative position of the X-axis of the machine body plane 100 to the horizontal plane HP.

the machine head reference direction is the machine body measurement direction set according to the flow shown in fig. 5 when the antenna with the low signal receiving position is arranged at the machine head and the antenna with the high signal receiving position is arranged at the machine tail; fig. 11 shows a schematic view of the head measurement direction in the second head reference direction, reflecting the relative position of the Y-axis of the fuselage plane 100 to the horizontal plane HP, when θ is 0, fig. 12 shows a schematic view of the head measurement direction in the second head reference direction, reflecting the relative position of the Y-axis of the fuselage plane 100 to the horizontal plane HP, when 0 ° < θ < 90 °, and θ < γ; FIG. 13 shows a schematic representation of the measured handpiece orientation at the second handpiece reference orientation for 0 ° < θ < 90 °, and θ > γ, reflecting the relative position of the Y-axis of the fuselage plane 100 to the horizontal plane HP, and FIG. 14 shows a schematic representation of the measured handpiece orientation at the second handpiece reference orientation for-90 ° < θ < 0 °, reflecting the relative position of the Y-axis of the fuselage plane 100 to the horizontal plane HP.

it will be appreciated that embodiments of the present invention provide a method of handpiece orientation correction that performs all of the functions of the method by a microprocessor programmed to perform one or more of the operations and/or functions described herein. In some embodiments, the controller is executed in whole or in part by specially configured hardware (e.g., by one or more application specific integrated circuits or asics (s)).

As shown in fig. 1 to 3 and fig. 7 to 14, a handpiece orientation correction apparatus 101 according to an embodiment of the present invention, and a specific operation process of the handpiece orientation correction apparatus 101 is described with reference to the foregoing description, the handpiece orientation correction apparatus 101 includes:

A receiving module 101a connected to the attitude sensor 13, the first antenna 11, and the second antenna 12, respectively, for receiving attitude information of the aircraft 1, position information of the first antenna 11, and position information of the second antenna 12; taking sea level as a reference, the altitude of the signal receiving position of the first antenna is different from the altitude of the signal receiving position of the second antenna; the first antenna 11 and the second antenna 12 are both RTK antennas for providing RTK positioning information, but may be ordinary positioning antennas.

the processing module 101b is connected with the receiving module 101a and is used for determining the measuring direction of the nose according to the attitude information of the aircraft 1, the position information of the first antenna 11 and the position information of the second antenna 12;

A direction determining module 101c connected to the processing module 101b, for determining the handpiece measurement direction as a handpiece calibration direction when the handpiece measurement direction is the same as the handpiece reference direction; when the measuring direction of the machine head is opposite to the reference direction of the machine head, carrying out reverse processing on the measuring direction of the machine head to obtain the correcting direction of the machine head; the nose alignment direction is used to navigate the aircraft 1.

Compared with the prior art, the beneficial effects of the machine head direction correction device 101 provided by the embodiment of the invention are the same as those of the machine head direction correction method provided by the embodiment, and are not described herein again.

as shown in fig. 2 and 3, if the handpiece reference direction is the handpiece measurement direction set when the antenna with the high altitude of the signal receiving position is located in the positive direction of the body coordinate system and the antenna with the low altitude of the signal receiving position is located in the negative direction of the body coordinate system with the sea level as the reference; the processing module 101b is specifically configured to set the head measurement direction to be directed from the antenna with the low altitude signal reception position to the antenna with the high altitude signal reception position, based on the attitude information of the aircraft 1, the position information of the first antenna 11, and the position information of the second antenna 12.

If the handpiece reference direction is the handpiece measurement direction set when the antenna with the low signal receiving position altitude is positioned in the positive direction of the body coordinate system and the antenna with the high signal receiving position altitude is positioned in the negative direction of the body coordinate system by taking the sea level as the reference; the processing module 101b is specifically configured to set the head measurement direction to be directed from the antenna with the higher altitude of the signal receiving position to the antenna with the lower altitude of the signal receiving position, based on the attitude information of the aircraft 1, the position information of the first antenna 11, and the position information of the second antenna 12.

specifically, as shown in fig. 2 to 4 and fig. 7 to 14, the processing unit 101b for setting the handpiece measurement direction according to the embodiment of the present invention can be divided into the following two cases. The attitude information of the aircraft 1 is an attitude angle alpha of the aircraft, the orthographic projection distance between the first antenna 11 and the second antenna 12 on the fuselage plane 100 is L, and the included angle formed by the connecting line of the signal receiving positions of the first antenna 11 and the second antenna 12 and the fuselage plane 100 of the aircraft 1 is gamma; the absolute value of the height difference between the signal receiving position of the first antenna 11 and the signal receiving position of the second antenna 12 with the body plane 100 as a reference is h; the position information of the first antenna 11 is first position coordinates (u, v, w), u is first latitude data, v is first longitude data, and w is first altitude data; the position information of the second antenna 12 is second position coordinates (x, y, z), x is second latitude data, y is second longitude data, and z is second altitude data.

in the first case: when the handpiece reference direction is the antenna with the high signal receiving position altitude in the positive direction of the body coordinate system and the antenna with the low signal receiving position altitude in the negative direction of the body coordinate system, the set handpiece measurement direction is determined. As shown in fig. 2 to 4 and fig. 7 to 10, the processing module 101b is specifically configured to:

when the attitude angle α of the aircraft is 0 °, if w > z, the aircraft nose measurement direction is set to point from (x, y, z) to (u, v, z) based on the attitude information of the aircraft and the position information of the two antennas, and if w < z, the aircraft nose measurement direction is set to point from (u, v, w) to (x, y, w) based on the attitude information of the aircraft 1, the position information of the first antenna 11, and the position information of the second antenna 12;

if w > z, the aircraft 1 attitude angle α is greater than 0 ° and less than 90 °, the aircraft nose measurement direction is set to be directed from (x, y, z) to (u, v, w-h/cos α) based on the aircraft 1 attitude information, the first antenna 11 position information, and the second antenna 12 position information, and if w < z, the aircraft nose measurement direction is set to be directed from (u, v, w) to (x, y, z-h/cos α) based on the aircraft 1 attitude information, the first antenna 11 position information, and the second antenna 12 position information;

if w > z and | α | < γ at the attitude angle α of the aircraft 1 is greater than-90 ° and less than 0 °, setting the head measurement direction to (u, v, w-h/cos α) from (x, y, z) based on the attitude information of the aircraft 1, the position information of the first antenna 11 and the position information of the second antenna 12, and setting the head measurement direction to (x, y, z-h/cos α) from (u, v, w) based on the attitude information of the aircraft 1, the position information of the first antenna 11 and the position information of the second antenna 12 if | α | < γ; if w < z and | α | > γ, the head measurement direction is set to be directed from (x, y, z) to (u, v, w-h/cos α) based on the attitude information of the aircraft 1, the position information of the first antenna 11, and the position information of the second antenna 12, and if w > z and | α | > γ, the head measurement direction is set to be directed from (u, v, w) to (x, y, z-h/cos α) based on the attitude information of the aircraft 1, the position information of the first antenna 11, and the position information of the second antenna 12.

In the second case: when the handpiece reference direction is the antenna with the high signal receiving position altitude in the positive direction of the body coordinate system and the antenna with the low signal receiving position altitude in the negative direction of the body coordinate system, the set handpiece measurement direction is determined. As shown in fig. 2, 3, 5, and 11-14, the processing module 101b is specifically configured to:

when the attitude angle α of the aircraft 1 is larger than-90 ° and smaller than 0 °, if w < z, the hand measurement direction is set to point (u, v, w) from (x, y, z-h/cos α) based on the attitude information of the aircraft 1, the position information of the first antenna 11, and the position information of the second antenna 12, and if w > z, the hand measurement direction is set to point (x, y, z) from (u, v, w-h/cos α) based on the attitude information of the aircraft 1, the position information of the first antenna 11, and the position information of the second antenna 12.

Setting a head measurement direction to point (u, v, w) from (x, y, w) based on attitude information of the aircraft, position information of the first antenna 11, and position information of the second antenna 12 if w < z, and setting the head measurement direction to point (x, y, z) from (u, v, z) based on attitude information of the aircraft 1, position information of the first antenna 11, and position information of the second antenna 12 if w > z, at an attitude angle α of the aircraft 1 equal to 0 ° if w < z;

when the attitude angle α of the aircraft 1 is greater than 0 ° and less than 90 °, if α < γ, and w < z, the hand measurement direction is set to point from (x, y, z-h/cos α) to (u, v, w) based on the attitude information of the aircraft 1, the position information of the first antenna 11, and the position information of the second antenna 12, if α < γ, and w > z, the hand measurement direction is set to point from (u, v, w-h/cos α) to (x, y, z) based on the attitude information of the aircraft 1, the position information of the first antenna 11, and the position information of the second antenna 12, if w > z, and α > γ, the hand measurement direction is set to point from (x, y, z-h/cos α) to (u, v, w), if w < z and α > γ, the aircraft head measurement direction is set to be directed from (u, v, w-h/cos α) to (x, y, z) based on the attitude information of the aircraft, the position information of the first antenna 11, and the position information of the second antenna 12.

further, as shown in fig. 2, fig. 3, fig. 4 and fig. 5, the processing module 11 is further configured to generate an attitude adjustment command and an information update command when the attitude angle α of the aircraft is greater than-90 ° and less than 0 °, w ═ z, | α | γ.

the nose direction correction device 101 provided by the embodiment of the present invention further includes a sending module 101d connected to the attitude controller 102 and the processing module 11, and configured to send an attitude adjustment instruction to the attitude controller 102, so that the attitude controller 102 adjusts the attitude of the aircraft 1 according to the attitude adjustment instruction; and the receiving module 101a is further configured to update the attitude information of the aircraft 1, the position information of the first antenna 11, and the position information of the second antenna 12 after the attitude of the aircraft 1 is adjusted according to the information update instruction.

as shown in fig. 2 and 3, the receiving module 101a is further connected to the client 3, the client 3 is configured to set a handpiece reference direction, the receiving module 101a is further configured to receive the handpiece reference direction, and a straight line of the handpiece reference direction is parallel to a straight line of the handpiece measurement direction.

in addition, the processing module 101b is further configured to generate a prompting message for prompting the user that the antenna is abnormally mounted when the handpiece measurement direction is opposite to the handpiece reference direction; the sending module 101d is configured to send the reminding information to the client 3.

Optionally, when the attitude information of the aircraft 1 includes pitch angle θ and/or roll angleIf the attitude information of the aircraft 1 is the pitch angle theta of the aircraft 1, the first antenna 11 and the second antenna 12 are arranged on the straight line where the body axis of the aircraft 1 is located, and at this time, the straight line where the head reference direction is located is parallel to the head and tail connecting line of the aircraft 1.

if the attitude information of the aircraft 1 is roll angleor attitude information of the aircraft 1 is pitch angle theta and roll angleThe first antenna 11 and the second antenna 12 are located on both sides of the body axis of the aircraft 1, and at this time, a straight line where the head reference direction is located intersects with a head-tail connecting line of the aircraft 1.

when the attitude information of the aircraft 1 is the roll angleor attitude information of the aircraft 1 is pitch angle theta and roll angleat the time, because the head is on the straight line of the reference directionCrossing the aircraft nose and tail connecting line of the aircraft 1, which makes the nose measuring direction as the nose calibration direction, or after obtaining the nose calibration direction, it is also necessary to perform spatial transformation on the nose calibration direction, so that the nose measuring direction is parallel to the aircraft nose and tail connecting line. Based on this, as shown in fig. 2, the nose direction correction apparatus provided by the embodiment of the present invention further includes a space transformation module 101e respectively connected to the direction determination module 101c, and configured to determine the roll angle as the attitude information of the aircraftOr attitude information of the aircraft as pitch angle theta and roll angleduring the process, the nose correction direction is spatially transformed, so that the nose correction direction is parallel to the nose and tail connecting line of the aircraft 1.

an embodiment of the present invention further provides a flight controller 10, as shown in fig. 2, where the flight controller 10 includes the above-described handpiece orientation correction apparatus 101.

Compared with the prior art, the beneficial effects of the flight controller 10 provided by the embodiment of the invention are the same as those of the aircraft nose calibration device, and are not described herein again.

as shown in fig. 2, of course, the flight controller 10 further includes an attitude controller 102 for controlling the attitude of the aircraft 1, and the attitude controller 102 interacts information with the transmission module 101d included in the nose calibration device.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.