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Course deviation determination method and device, equipment, and storage medium

A heading deviation and determination method technology, applied in the field of unmanned aerial vehicles, can solve the problems of heading deviation of unmanned aerial vehicles, the lack of fixed installation positions of dual antennas, and the reduction of heading accuracy, so as to achieve the effect of improving accuracy.

Inactive Publication Date: 2018-11-13
TOPXGUN NAN JING ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The existing technology has the following defects: the installation position of the dual-antenna RTK needs to be strictly required. However, due to the structural limitations of many drones, the dual-antenna has no fixed installation position, which makes the drone's course deviate and reduces the accuracy of the course.

Method used

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  • Course deviation determination method and device, equipment, and storage medium
  • Course deviation determination method and device, equipment, and storage medium
  • Course deviation determination method and device, equipment, and storage medium

Examples

Experimental program
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Embodiment 1

[0026] figure 1 It is a flow chart of a method for determining a course deviation provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of determining a course deviation. The method can be executed by a device for determining a course deviation, and the device is composed of software and / Or hardware to implement, and generally can be integrated in the UAV. Specifically include the following steps:

[0027] Step 101, control the nose of the UAV to fly along the first direction without yaw to set the distance, and during the flight, calculate the measured heading angle of the UAV through the dual-antenna carrier phase difference RTK technology, and the measured heading angle is The angle between the RTK heading and the set standard direction.

[0028] Among them, the RTK antenna is not limited by the installation position, and does not need to be symmetrically installed on both sides of the nose of the UAV. The user can choose the ...

Embodiment 2

[0043] Figure 4 It is a flow chart of a method for determining a course deviation provided by Embodiment 2 of the present invention. This embodiment is optimized on the basis of the foregoing embodiments. Such as Figure 4 As shown, the method includes:

[0044] Step 201, receiving satellite data through the first RTK antenna and the second RTK antenna in the dual antennas.

[0045] Wherein, the first RTK antenna and the second RTK antenna are fixedly installed on the drone according to the structure of the drone. During the flight of the UAV, the satellite data is received through the first RTK antenna and the second RTK antenna. Optionally, the distance between the two antennas is greater than a preset distance threshold, and the RTK positioning state is set to a fixed solution. The distance threshold may be 30 centimeters.

[0046] Step 202, controlling the UAV to hover at the first location for a first preset time under GPS mode.

[0047] Among them, the GPS mode me...

Embodiment 3

[0061] Figure 5 It is a flow chart of a method for determining a course deviation provided by Embodiment 3 of the present invention. This embodiment is optimized on the basis of the foregoing embodiments. Such as Figure 5 As shown, the method includes:

[0062] Step 301, control the nose of the UAV to fly along the first direction without yaw to set the distance, and during the flight, calculate the measured heading angle of the UAV through the dual-antenna carrier phase difference RTK technology, and the measured heading angle is The angle between the RTK heading and the set standard direction.

[0063] Step 302. Obtain the corrected angle between the first direction and the standard direction.

[0064] Step 303 : Determine the course deviation angle of the UAV according to the corrected included angle and the measured course angle, where the course deviation angle is the included angle between the nose direction of the UAV and the RTK course.

[0065] Step 304, storing...

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Abstract

The embodiment of the invention discloses a course deviation determination method and device, equipment and a storage medium. The method comprises the steps of controlling the head of an unmanned aerial vehicle to fly a set distance in the first direction without yaw flight, and calculating the measurement course angle of the unmanned aerial vehicle through a double-antenna carrier phase difference RTK technology, wherein the measurement course angle is an included angle between the RTK course and the set standard direction; acquiring a correcting included angle between the first direction andthe set standard direction; determining the course deviation angle of the unmanned aerial vehicle according to the correction included angle and the measurement course angle, and the course deviationangle is an included angle between the head direction of the unmanned aerial vehicle and the RTK course. According to the technical scheme, the problem that the installation position of a double-antenna needs to be strictly required in the prior art is solved, so that the installation position of the double-antenna is not limited, and the unmanned aerial vehicle can obtain the course deviation angle through the dynamic flight process, and the effect of improving the accuracy of the course of the unmanned aerial vehicle is achieved.

Description

technical field [0001] Embodiments of the present invention relate to unmanned aerial vehicle technology, and in particular to a method, device, equipment, and storage medium for determining a course deviation. Background technique [0002] Carrier phase differential (Real-time kinematic, RTK) positioning technology is a real-time dynamic positioning technology based on carrier phase observations, which can provide real-time three-dimensional positioning results of the station in the specified coordinate system, and achieve centimeter-level accuracy. In the RTK operation mode, the base station collects satellite data, and transmits its observation value and site coordinate information to the mobile station through the data link, and the mobile station performs real-time carrier phase analysis on the collected satellite data and the received data link. Differential processing (less than one second) to obtain centimeter-level positioning results. RTK positioning technology is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/54
CPCG01S19/54
Inventor 张羽王露李少斌尹亮亮
Owner TOPXGUN NAN JING ROBOTICS CO LTD
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