The invention provides a double-flying-wing unmanned aerial vehicle airspeed measuring device and a measuring method thereof. The method comprises the following steps: S0, judging the current flight stage of a double-flying-wing unmanned aerial vehicle; the method comprises the following steps: S1, according to an airspeed value Vi measured by four airspeed meters, resolving the airspeed value Vi to an airframe coordinate system to obtain a measurement result Wi; and S2, judging the actual wind direction according to the measurement result Wi, and selecting the measurement result Wi of the airspeed meter under the airframe coordinate system as the current wind speed measurement value according to the actual wind direction, thereby obtaining the wind speed measurement values in three directions. And S3, performing Kalman filtering on the wind speeds Vx, Vy and Vz in three directions in the airframe coordinate system to obtain an optimal estimated value of the wind speed at the current moment, and further obtaining a horizontal plane wind direction or a three-dimensional plane wind direction. And S4, adjusting the attitude of the double-flying-wing unmanned aerial vehicle according to different flight stages and wind directions of the double-flying-wing unmanned aerial vehicle. The flight precision and the control stability of the double-flying-wing unmanned aerial vehicle are improved, and the influence of the wind speed on the flight of the unmanned aerial vehicle is reduced.
本发明提供一种双飞翼无人机空速测量装置及其测量方法,其中的方法包括:S0、判断双飞翼无人机当前的飞行阶段;S1、根据四个空速计测量得到的空速值Vi,并把空速值Vi解算到机体坐标系,得到测量结果Wi;S2、根据测量结果Wi判断实际风向,并根据实际风向选择机体坐标系下的空速计的测量结果Wi作为当前的风速测量值,即得到三个方向的风速测量值。S3、对机体坐标系中三个方向上的风速Vx、Vy和Vz进行卡尔曼滤波,得到当前时刻风速的最优估计值,进而得到水平面风向或立体面风向。S4、根据双飞翼无人机的不同飞行阶段以及风向对双飞翼无人机的姿态进行调整。本发明提高了双飞翼无人机的飞行精度和控制稳定性,减小了风速对无人机飞行的影响。
Airspeed measuring device and method for double-flying-wing unmanned aerial vehicle
双飞翼无人机空速测量装置及其测量方法
2023-03-14
Patent
Electronic Resource
Chinese
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