Unmanned aerial vehicle navigation information updating method and device

Abstract

The embodiment of the invention provides an unmanned aerial vehicle navigation information updating method and device. The method comprises the steps that a corresponding target quaternion is determined according to a pre-obtained attitude transfer matrix from a vehicle body coordinate system of an unmanned aerial vehicle to a northeast ground system; angular velocity data measured by a gyroscopeof the unmanned aerial vehicle are corrected based on the current magnetometer measurement data, accelerometer measurement data and GPS measurement data of the unmanned aerial vehicle in the flight state; numerical value updating on the target quaternion is conducted by applying the corrected angular velocity data, and the target quaternion subjected to numerical value updating is converted into attitude information in the navigation information of the unmanned aerial vehicle; and numerical updating is conducted on the position and speed information in the navigation information. Acquisition accuracy of the navigation information of the unmanned aerial vehicle can be effectively improved, and acquisition efficiency of the navigation information of the unmanned aerial vehicle can be effectively improved.

Description

technical field [0001] This application relates to the technical field of data processing, in particular to a method and device for updating navigation information of a drone. Background technique [0002] Micro-electromechanical systems (MEMS) have been applied to many fields such as aerospace and automotive electronics. Compared with high-precision inertial sensors, MEMS sensors have the characteristics of small size, light weight, and high noise. Therefore, MEMS sensors are especially suitable for small UAVs, and because MEMS can integrate a series of disciplines and technologies such as mechanics, optics, electronics, materials, and information technology on a small chip, it has great potential as a new research field of interdisciplinary science. Great research and application value, especially MEMS sensor data can be used to obtain navigation information of small UAVs. [0003] At present, when small UAVs are performing navigation calculations, due to the poor accurac...

AI Technical Summary

Problems solved by technology

[0003] At present, when small UAVs are performing navigation calculations, due to the poor accuracy of the MEMS sensors used, they often cannot obtain accurate information from a single sensor. The constant value deviation and random drift cause a large error. If the accelerometer and magnetometer are used to obtain attitude information, the error will be large due to the mixed linear acceleration in the accelerometer and the interference of the magnetometer.

Images