The invention relates to an unmanned aerial vehicle airspeed sensing device and a flight control method, and belongs to the technical field of unmanned aerial vehicle perception and control, the unmanned aerial vehicle airspeed sensing device is realized through an airspeed sensor based on a hot line and is combined with measurement of an inertial measurement unit IMU, data fusion is carried out through a state estimation method of extended Kalman filtering, and the unmanned aerial vehicle airspeed sensing device is obtained. On-line unmanned aerial vehicle speed and position sensing is achieved, the local positioning problem of the unmanned aerial vehicle in special environments such as closed space exploration and areas lacking satellite positioning is further solved, and the flight control effect is improved.
本发明涉及一种无人机空速感测装置及飞行控制方法,属于无人机感知及控制技术领域,本发明的无人机空速感测装置通过基于热线的空速传感器实现,并与惯性测量单元IMU的量测结合,通过扩展卡尔曼滤波的状态估计方法进行数据融合,实现在线的无人机速度及位置感知,进一步解决无人机在封闭空间探索、缺乏卫星定位的区域等特殊环境下的局部定位问题,并改善飞行控制的效果。
Unmanned aerial vehicle airspeed sensing device and flight control method
一种无人机空速感测装置及飞行控制方法
2024-11-08
Patent
Electronic Resource
Chinese
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