Aerial vehicle flight error correcting device and correcting method as well as unmanned aerial vehicle

Abstract

The invention discloses an aerial vehicle flight error connecting device and correcting method as well as an unmanned aerial vehicle. The correcting method comprises steps as follows: an aerial vehicle height H and continuously shot ground images are acquired by an optical flow sensing module, and the optical flow sensing module performs data processing to obtain signals of aerial vehicle velocity V; an inertial navigation module performs inertial navigation on the aerial vehicle and generates corresponding inertial navigation data; a flight control unit receives the aerial vehicle velocity signals transmitted by the optical flow sensing module and the inertial navigation data transmitted by the inertial navigation module and performs data processing, and flight error correction is performed on the inertial navigation by the aid of the aerial vehicle velocity signals. According to the technical scheme, flight errors can be still corrected in the environment where GPS (global positioning system) signals cannot be received and accurate navigation for the aerial vehicle is realized.

Description

technical field [0001] The invention relates to the technical field of aircraft, in particular to an aircraft flight error correction device, a correction method and an unmanned aerial vehicle. Background technique [0002] With the development of science and technology, UAV flying equipment began to enter people's field of vision, and gradually penetrated into people's lives, improving people's lives. The application range of unmanned aerial vehicle is more and more extensive, for example, it has a wide range of applications in professional fields such as aerial photography, surveying, disaster control and real-time monitoring. [0003] At the same time, higher requirements are put forward for the navigation and positioning accuracy of the aircraft. At present, the commonly used navigation technologies during the flight of the aircraft mainly include inertial navigation and satellite positioning (GPS) navigation. Accurate navigation and positioning. [0004] However, in s...

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Problems solved by technology

[0004] However, in some enclosed spaces, spaces where GPS signals may be blocked, and areas with strong electromagnetic interference, GPS signals cannot be transmitted to the aircraft normally. When the aircraft cannot receive GPS signals, it can only rely on inertial navigation technology to fly. The inertial navigation technology is realized through the integral principle, and there must be a certain error in itself, and the error will gradually accumulate and increase with the prolongation of time, which will cause a large error in the long-term navigation accuracy of the aircraft, so that in a closed space Or in an environment where GPS signals cannot be received, such as areas with strong electromagnetic signal interference, the flight accuracy of the aircraft will be greatly deviated, and even normal positioning and flight will not be possible.

[0005] In addition, because relying solely on inertial navigation will cause large accuracy errors after a period of time, a long period of initial calibration is required after each flight and before the second flight, which is cumbersome and time-consuming.

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