Three-rotor-wing unmanned aerial vehicle attitude detecting system and detecting method based on PIR (passive infrared receiving)

Abstract

The invention discloses a three-rotor-wing unmanned aerial vehicle attitude detecting system and a detecting method based on PIR (passive infrared receiving). The system comprises a PIR sensor array,a PIR signal filtering and amplifying circuit and a PIR attitude information processing center, wherein the PIR sensor array comprises a PIR detecting sensor and a PIR standard sensor. The detecting method comprises the steps of front-end data collection, middle data filter conversion, data operation and attitude angle solution. Compared with the prior art, the system disclosed by the invention can serve as an attitude detecting system which can be independently utilized, so that a three-rotor-wine unmanned aerial vehicle has stronger adaptability to various flying environments and especiallycan finish tasks of attitude detection, flying control and the like in the absence of the support of an attitude detecting system like a gyroscope and the like. No matter being utilized as a main detecting method of an unmanned aerial vehicle or applied to additional calibration detection design, the attitude detecting system disclosed by the invention can well improve reliability and stability ofunmanned attitude detection.

Description

technical field [0001] The invention relates to a PIR-based three-rotor unmanned aerial vehicle attitude detection system, which belongs to the field of unmanned aerial vehicle attitude detection technology and PIR sensor control technology, in particular to the field of unmanned aerial vehicle attitude detection with asymmetric structures such as three-rotors. Background technique [0002] The so-called UAV attitude detection system mainly means that in a given flight state, the control system should make the UAV free from external interference as much as possible and keep the given flight state unchanged. But in fact, the given reference state during the actual flight of the UAV is extremely vulnerable to external interference, especially for UAVs with asymmetric structures such as three-rotors, which are prone to rollover or overturning. [0003] At this stage, the measurement equipment for UAV attitude adjustment mainly includes gyroscopes, accelerometers, magnetometers,...

AI Technical Summary

Problems solved by technology

Among them, the detection method based on the inertial navigation system is relatively traditional and relatively mature, that is, the measurement of the attitude angle information of the aircraft is completed through sensors such as gyroscopes and accelerometers. The impact of accuracy and sensitivity makes the measurement data easy to cause the accumulation of original errors, which seriously affects the accuracy of the measurement results; among them, the detection method based on multi-sensor information fusion is a major trend in the development of UAV attitude detection system technology. The mainstream means are: Using the four-element and minimum gradient method, the multi-sensor information such as accelerometer, gyroscope and magnetometer is fused to estimate the attitude angle

This solves the dependence on single sensor performance indicators in the traditional sense, and greatly improves the accuracy of front-end data collection. The cost of hardware for control is increased, and the optimization of the internal parameters of the algorithm also greatly affects the accuracy of the measurement results

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