The invention discloses a rotor unmanned aerial vehicle catapult-assisted take-off control method and device, and the method comprises the steps: obtaining the data of an accelerometer on a rotor unmanned aerial vehicle, determining the overload value of the rotor unmanned aerial vehicle according to the data, and comparing the overload value with a preset first overload value threshold value; when the overload value is not smaller than the first overload value threshold value, controlling to start a motor of each rotor wing, controlling the angular rate of the rotor wing unmanned aerial vehicle according to the acquired data of the gyroscope, and comparing whether the current overload value is smaller than a second overload value threshold value or not; and when the overload value is smaller than the second overload threshold value, acquiring data of the accelerometer, the gyroscope and the geomagnetic sensor of the unmanned rotorcraft, fusing the data of the accelerometer, the gyroscope and the geomagnetic sensor through an extended Kalman filtering algorithm to obtain pose information of the unmanned rotorcraft, and performing attitude control on the unmanned rotorcraft by using the pose information. According to the scheme, the takeoff reliability of the rotor unmanned aerial vehicle under large overload can be guaranteed.
本发明公开了一种旋翼无人机弹射起飞控制方法和装置,所述方法包括:获取旋翼无人机上加速度计的数据,根据所述数据确定旋翼无人机的过载值,并比较过载值与预设的第一过载值阈值的大小;当过载值不小于所述第一过载值阈值时,控制启动各个旋翼的电机,根据获取的陀螺仪的数据对旋翼无人机的角速率进行控制,并比较当前的过载值是否小于第二过载值阈值;当过载值小于所述第二过载值阈值时,获取旋翼无人机的所述加速度计、陀螺仪和地磁传感器的数据,将上述三者的数据通过扩展卡尔曼滤波算法融合得到旋翼无人机的位姿信息,并利用位姿信息对所述无人机进行姿态控制。上述方案能够保证大过载下旋翼无人机起飞的可靠性。
Rotor unmanned aerial vehicle catapult-assisted take-off control method and device
旋翼无人机弹射起飞控制方法和装置
2024-05-14
Patent
Elektronische Ressource
Chinesisch
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