The invention discloses a time convolution network-based vibration noise suppression method for a small unmanned aerial vehicle sensor. The method comprises the following steps that: an external high-precision measurement system is utilized to obtain high-precision measurement values of an attitude angle and an angular speed during flight of a unmanned aerial vehicle, and at the same time, a gyroscope angular speed measurement value of an onboard MEMS inertial measurement unit of a flight control system under the influence of internal noise of the unmanned aerial vehicle is recorded, and a training data set and a test set after data are constructed after data cleaning and time synchronization processing are performed; a multi-layer time convolution network is built for training and testing, a trained model is called on a small embedded system for test flight verification. Experimental data shows that the time convolution network can effectively retain original signal characteristics and greatly reduce the influence of noise on a gyroscope measurement result.
本发明公开了一种基于时间卷积网络的小型无人机传感器的振动噪声抑制方法,首先利用外部高精度测量系统,获得无人机飞行期间姿态角及角速度的高精度测量值,并同步记录无人机内部噪声影响下飞控系统板载MEMS惯性测量单元的陀螺仪角速度测量值,经数据清洗及时间同步处理后构建训练数据集与测试集;搭建多层时间卷积网络,进行训练和测试,并在小型嵌入式系统上调用训练后的模型进行试飞验证,实验数据表明,时间卷积网络可有效保留原始信号特征,并大大降低噪声对陀螺仪测量结果的影响。
Unmanned aerial vehicle sensor vibration noise suppression method
一种无人机传感器振动噪声抑制方法
2020-11-06
Patent
Elektronische Ressource
Chinesisch
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