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Dynamic force bearing center position detection method for symmetrical-layout multi-rotor unmanned aerial vehicle

A multi-rotor UAV, center position technology, applied in three-dimensional position/course control, vehicle position/route/height control, attitude control, etc., can solve the problem that multi-rotor UAVs cannot fit together perfectly, Achieve the effects of improving energy utilization, strong innovation, and enhanced stability

Active Publication Date: 2017-07-07
SHENZHEN XIANGNONG INNOVATION TECH CO LTD
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AI Technical Summary

Problems solved by technology

Due to the above reasons, the flight control system and the multi-rotor UAV with symmetrical layout cannot be perfectly matched together, and there are always various small problems in the flight of multi-rotor UAV with symmetrical layout.

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  • Dynamic force bearing center position detection method for symmetrical-layout multi-rotor unmanned aerial vehicle
  • Dynamic force bearing center position detection method for symmetrical-layout multi-rotor unmanned aerial vehicle

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Embodiment Construction

[0034] The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0035] see figure 1 with figure 2 , the detection method of the dynamic stress center position of the symmetrical layout multi-rotor UAV of the present invention comprises the following steps:

[0036] (1) The symmetrical layout of the multi-rotor UAV is static, and the geometric center position information of the UAV rotor surface is collected to obtain the geometric center position graphic equation in the specific rotor surface area;

[0037] (2) The multi-rotor UAV with a symmetrical layout takes off and flies arbitrarily, and the center of gravity position information of the UAV is obtained by using the graphical equation of the geometric center position, which is recorded in the form of a dynamic vector space coordinate point;

[0038] (3) Utilize the sensor to c...

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Abstract

The invention discloses a dynamic force bearing center position detection method for a symmetrical-layout multi-rotor unmanned aerial vehicle. The method comprises steps: (1) when the unmanned aerial vehicle is motionless, the geometric central position information of a rotor surface is acquired, and a geometric central position graph equation is obtained; (2) in the case of flying when the unmanned aerial vehicle takes off, the graph equation is used to obtain gravity center position information of the unmanned aerial vehicle, and the information is recorded in a dynamic vector space coordinate point form; (3) the rotation speed and the spatial attitude position information of each rotor of the unmanned aerial vehicle are acquired, data features of the two are extracted, and a flying path equation and a spatial attitude equation for the unmanned aerial vehicle are obtained; (4) the spatial attitude equation is used to be combined with the geometric central position graph equation, a dynamic force bearing center position equation for the unmanned aerial vehicle is obtained; (5) the dynamic spatial vector coordinates of the gravity center and the dynamic spatial vector coordinates of the dynamic force bearing center position are compared in real time, and the dynamic change relationship between the two is obtained; and (6) a flying control system processes and compares the dynamic relationship between the two in real time, and the unmanned aerial vehicle is assisted for attitude adjustment.

Description

technical field [0001] The invention relates to the field of aircraft parameter acquisition research, in particular to a method for detecting the dynamic stress center position of a symmetrical layout multi-rotor UAV. Background technique [0002] In recent years, with the development of computer technology, automatic control technology and high-performance sensor technology, unmanned aerial vehicles (UAVs) have received widespread attention and been vigorously developed in the fields of agriculture, civil, industry and military. At present, there are many types of UAVs, including fixed-wing, single-rotor, multi-rotor, unmanned airship, unmanned paraglider, etc. Among them, multi-rotor UAVs can be divided into symmetrical layout and asymmetric layout from the structural point of view. There are two types, and the multi-rotor UAV with symmetrical layout is the most common because of its ease of operation. [0003] At the same time, with the popularity of multi-rotor UAVs wit...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 李继宇姚伟祥兰玉彬欧阳帆黎志宏林晋立李一凡
Owner SHENZHEN XIANGNONG INNOVATION TECH CO LTD
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