Unmanned aerial vehicle and heading alignment method and device thereof, and storage medium

Abstract

The invention discloses an unmanned aerial vehicle and a heading alignment method and device thereof, and a computer-readable storage medium. The heading alignment method of the unmanned aerial vehicle comprises the steps of: calculating an attitude based on a speed output by a global navigation satellite system; determining a first heading angle according to the attitude, and calculating a firstacceleration according to the speed and the attitude; calculating a heading difference value between an inertial device and the global navigation satellite system according to the first acceleration and a second acceleration output by the inertial device; and sing a sum of the first heading angle and the heading difference value as a heading angle of the inertial device in a navigation coordinatesystem. According to the heading alignment method disclosed by the invention, the heading difference value between the inertial device and the global navigation satellite system can be figured out according to the first acceleration obtained by the global navigation satellite system and the second acceleration obtained by the inertial device, so that the initial heading alignment of the inertial device is completed theoretically, and the heading alignment efficiency and convenience are improved.

Description

technical field [0001] The present application relates to the technical field of navigation and positioning, and in particular to an unmanned aerial vehicle and its course alignment method, device and computer-readable storage medium. Background technique [0002] At present, the application of multi-rotor drones is becoming more and more extensive, and has been successfully applied in the fields of remote sensing mapping, plant protection, power inspection and so on. UAVs generally need to install global navigation satellite systems for position and velocity calculations, and use inertial devices for motion attitude detection. In the prior art, especially on medium and large unmanned aerial vehicles, the global navigation satellite system mostly uses dual antennas, and it is necessary to strictly ensure that the coordinate system of the inertial device is consistent with the heading of the dual antennas, which poses a high challenge to the installation process of the inerti...

AI Technical Summary

Problems solved by technology

In the prior art, especially on medium and large unmanned aerial vehicles, the global navigation satellite system mostly uses dual antennas, and it is necessary to strictly ensure that the coordinate system of the inertial device is consistent with the heading of the dual antennas, which poses a high challenge to the installation process of the inertial device. requirements, which are difficult to achieve in practical applications

Moreover, the installation of dual antennas will also be limited by the size and installation space of the drone

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