CN108253966B - Three-dimensional simulation display method for flight of unmanned aerial vehicle - Google Patents
Three-dimensional simulation display method for flight of unmanned aerial vehicle Download PDFInfo
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- CN108253966B CN108253966B CN201611232234.4A CN201611232234A CN108253966B CN 108253966 B CN108253966 B CN 108253966B CN 201611232234 A CN201611232234 A CN 201611232234A CN 108253966 B CN108253966 B CN 108253966B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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Abstract
The invention provides a three-dimensional simulation display method for unmanned aerial vehicle flight, which is characterized in that three-dimensional modeling is carried out on a machine body and a holder combination, detected attitude data and detected course data are matched into an unmanned aerial vehicle three-dimensional model and a holder model, attitude and course transformation of the unmanned aerial vehicle three-dimensional model and the holder model are controlled according to real-time attitude and course data of an unmanned aerial vehicle, and meanwhile, course is adjusted through geomagnetic data, so that more accurate course control is realized; the attitude and the course of the model can be adjusted in real time, the model can be shown by switching the angle through the rotating display effect of the three-dimensional model, and the real attitude and the course of the unmanned aerial vehicle and the holder can be displayed more intuitively and simultaneously.
Description
Technical Field
The invention relates to the unmanned aerial vehicle technology, in particular to a three-dimensional simulation display method for flight of an unmanned aerial vehicle.
Background
The unmanned plane is called unmanned plane for short, and is an unmanned aerial vehicle operated by radio remote control equipment and a self-contained program control device. The unmanned aerial vehicle usually can be in a complex and unknown flying environment, so that the attitude may need to be changed or the course may need to be changed continuously in the flying process, the monitoring end needs to monitor the flying condition of the unmanned aerial vehicle, particularly the attitude and the course in real time, and in addition, as the holder camera is used for detecting the complex flying environment, the attitude of the holder also needs to be monitored in real time.
At present, more simulation monitoring is performed on the flight environment of the unmanned aerial vehicle, the monitoring of the unmanned aerial vehicle and the cradle head is not in place, generally, the attitude of the unmanned aerial vehicle or the cradle head in the flight process is displayed separately, a plurality of two-dimensional pictures or image data are generally used for representing the attitude and the course of the aircraft, and a monitor cannot directly judge the integral attitude and the course of the unmanned aerial vehicle and the attitude of the cradle head.
Disclosure of Invention
The invention aims to solve the technical problem of providing a three-dimensional simulation display method for the flight of an unmanned aerial vehicle, which can intuitively display the real postures and courses of an unmanned aerial vehicle body and a holder in real time and is convenient to monitor.
In order to solve the above problems, the present invention provides a three-dimensional simulation display method for flight of an unmanned aerial vehicle, wherein a first gyroscope, a first accelerometer and a geomagnetic sensor are arranged on a body of the unmanned aerial vehicle, a pan-tilt is carried on the unmanned aerial vehicle, and a second gyroscope and a second accelerometer which move along with a camera lens are arranged on the pan-tilt, and the display method comprises the following steps:
s1: acquiring angular acceleration data of the first gyroscope and acceleration data of the first accelerometer, and performing data calculation to obtain body attitude data; acquiring angular acceleration data of the second gyroscope and acceleration data of the second accelerometer, and performing data calculation to obtain holder attitude data;
s2: acquiring geomagnetic data of the geomagnetic sensor, adjusting the flight heading of the body according to the geomagnetic data, and adjusting the yaw angle of the holder attitude data according to the adjustment difference of the geomagnetic data to the body attitude data;
s3: establishing an unmanned aerial vehicle three-dimensional model, configuring a holder model on the unmanned aerial vehicle three-dimensional model, determining the body circle center of the unmanned aerial vehicle three-dimensional model, establishing a body three-axis coordinate system according to the body circle center, the holder circle center of the holder according to the relation between the holder and the body, and establishing a holder three-axis coordinate system according to the holder circle center;
s4: and matching the adjusted body attitude data to the three-axis body coordinate system to control the body attitude and the course of the three-dimensional unmanned aerial vehicle model, and matching the adjusted holder attitude data to the three-axis holder coordinate system to control the holder attitude of the holder model in the three-dimensional unmanned aerial vehicle model.
According to an embodiment of the present invention, in step S1, the angular acceleration data of the first gyroscope and the acceleration data of the first accelerometer are calculated according to a quaternion algorithm, so as to obtain a pitch angle, a yaw angle, and a roll angle of the body, which are used as the body attitude data; and calculating the angular acceleration data of the second gyroscope and the acceleration data of the second accelerometer according to a quaternion algorithm to obtain a pitch angle or a pitch angle and a yaw angle of the holder as the attitude data of the holder.
According to an embodiment of the present invention, in step S2, two times of geomagnetic data are obtained at short time intervals, a flight direction angle is determined according to the two times of geomagnetic data, and the flight direction angle is used to replace a yaw angle of the body posture data, so as to adjust a flight heading; and calculating the difference between the flight direction angle and the yaw angle of the body attitude data, and adjusting the yaw angle of the holder attitude data by using the difference.
According to an embodiment of the present invention, in step S3, a three-dimensional model of the drone is created according to a real drone, when the model is used for other real drones, the three-dimensional model of the drone is scaled proportionally according to the sizes of the other real drones, and a pan-tilt model is configured or adjusted on the three-dimensional model of the drone according to the installation position of the pan-tilt in the real drone.
According to one embodiment of the invention, a three-axis coordinate system of the unmanned aerial vehicle is established by taking the gravity center position of the three-dimensional model of the unmanned aerial vehicle as the center of a circle of the unmanned aerial vehicle.
According to one embodiment of the invention, the display device is used for display of a ground station or a remote controller.
According to an embodiment of the invention, the body is provided with a data acquisition module and a wireless transmission module, and the data acquisition module is used for acquiring data measured by the first gyroscope, the first accelerometer, the geomagnetic sensor, the second gyroscope and the second accelerometer and uploading the data to the ground station or the remote controller end through the wireless transmission module.
According to an embodiment of the invention, the body is further provided with an environment variable detection sensor for detecting an environment variable in a flight process, and the environment variable is uploaded to the ground station or the remote controller for analysis.
After the technical scheme is adopted, compared with the prior art, the invention has the following beneficial effects:
three-dimensional modeling is carried out on the combination of the machine body and the holder, detected attitude data and detected course data are matched into the three-dimensional model of the unmanned aerial vehicle and the holder model, attitude and course transformation of the three-dimensional model of the unmanned aerial vehicle and the holder model are controlled according to real attitude and course data of the unmanned aerial vehicle, and meanwhile, course is adjusted through geomagnetic data, so that more accurate course control is realized; the attitude and the course of the model can be adjusted in real time, the model can be shown by switching the angle through the rotating display effect of the three-dimensional model, and the real attitude and the course of the unmanned aerial vehicle and the holder can be displayed more intuitively and simultaneously.
Drawings
Fig. 1 is a schematic flow chart of a three-dimensional simulation display method for unmanned aerial vehicle flight according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather construed as limited to the embodiments set forth herein.
Referring to fig. 1, in an embodiment, in the three-dimensional simulation display method for unmanned aerial vehicle flight, a first gyroscope, a first accelerometer and a geomagnetic sensor are arranged on a body of the unmanned aerial vehicle, a pan-tilt is mounted on the unmanned aerial vehicle, and a second gyroscope and a second accelerometer which move along with a camera lens are arranged on the pan-tilt. But not limited to this, other sensors may also be provided in the body of the drone or on the pan-tilt head.
The display method comprises the following steps:
s1: acquiring angular acceleration data of the first gyroscope and acceleration data of the first accelerometer, and performing data calculation to obtain body attitude data; acquiring angular acceleration data of the second gyroscope and acceleration data of the second accelerometer, and performing data calculation to obtain holder attitude data;
s2: acquiring geomagnetic data of the geomagnetic sensor, adjusting the flight heading of the body according to the geomagnetic data, and adjusting the yaw angle of the holder attitude data according to the adjustment difference of the geomagnetic data to the body attitude data;
s3: establishing an unmanned aerial vehicle three-dimensional model, configuring a holder model on the unmanned aerial vehicle three-dimensional model, determining the body circle center of the unmanned aerial vehicle three-dimensional model, establishing a body three-axis coordinate system according to the body circle center, the holder circle center of the holder according to the relation between the holder and the body, and establishing a holder three-axis coordinate system according to the holder circle center;
s4: and matching the adjusted body attitude data to the three-axis body coordinate system to control the body attitude and the course of the three-dimensional unmanned aerial vehicle model, and matching the adjusted holder attitude data to the three-axis holder coordinate system to control the holder attitude of the holder model in the three-dimensional unmanned aerial vehicle model.
The first gyroscope on the unmanned aerial vehicle body can measure the angular acceleration of the body in flight in real time, the accelerometer can measure the acceleration of the body in flight, and preferably, the first gyroscope and the accelerometer are triaxial.
The cloud platform is carried on the unmanned aerial vehicle organism, but because the needs of shooing the field of vision, cloud platform camera generally can take place to rotate, sets up second gyroscope and second accelerometer on the camera lens, measures angular acceleration and the acceleration of camera lens in flight process respectively.
Because the gyroscope and the accelerometer may have errors which are not corrected during working, the measured heading direction is easy to deviate from the actual heading direction, so that the data measured by the sensors are required to be adjusted, the data measured by the geomagnetic sensor can be adjusted, and the geomagnetic sensor is data obtained by sensing the geomagnetic field, so that the position sensing is more accurate.
In one embodiment, the three-dimensional simulation display method for unmanned aerial vehicle flight is used for displaying on a ground station or a remote controller, so that monitoring of the attitude, the heading and the attitude of a holder of the unmanned aerial vehicle is realized.
In step S1, the ground station or the remote controller acquires angular acceleration data of the first gyroscope and acceleration data of the first accelerometer, and performs data calculation to obtain body attitude data; and angular acceleration data of the second gyroscope and acceleration data of the second accelerometer are also acquired, and data calculation is carried out to obtain the attitude data of the holder.
In one embodiment, the body is provided with a data acquisition module and a wireless transmission module, the data acquisition module is arranged in the body and connected with the first gyroscope, the first accelerometer, the geomagnetic sensor, the second gyroscope and the second accelerometer, at least acquires data measured by the sensors, and uploads the data to the ground station or the remote controller end through the wireless transmission module. The ground station or the remote controller end is correspondingly provided with a wireless transmission module for receiving and transmitting data. The wireless transmission module may be, for example, a WIFT module, a ZigBee module, a GPRS module, or a bluetooth module, and the like, and is not particularly limited. In the flight process, the wireless transmission module transmits the data acquired by the data acquisition module to the ground station or the remote controller end in real time so that the ground station or the remote controller end can monitor and check the data in real time and adjust the attitude and the course in time.
In one embodiment, in step S1, the ground station or the remote controller calculates the angular acceleration data of the first gyroscope and the acceleration data of the first accelerometer according to a quaternion algorithm to obtain a pitch angle, a yaw angle, and a roll angle of the body as body attitude data; and calculating the angular acceleration data of the second gyroscope and the acceleration data of the second accelerometer according to a quaternion algorithm to obtain the pitch angle or the pitch angle and the yaw angle of the holder as attitude data of the holder.
In the three-axis vertical coordinate system, the pitch angle is an angle formed by rotating around the X axis, the yaw angle is an angle formed by rotating around the Y axis, and the roll angle is an angle formed by rotating around the Z axis.
In step S2, the ground station or the remote controller acquires geomagnetic data of the geomagnetic sensor, and adjusts a yaw angle of the pan/tilt data according to a flight heading adjusted by the geomagnetic data and an adjustment difference between the geomagnetic data and the body attitude data.
Specifically, in an embodiment, in step S2, acquiring two times of geomagnetic data at short time intervals, determining a flight direction angle according to the two times of geomagnetic data, and replacing a yaw angle of the body attitude data with a line direction angle to adjust a flight heading; and calculating the difference between the flight direction angle and the yaw angle of the body attitude data, and adjusting the yaw angle of the holder attitude data by using the difference. Because the cloud platform sets up on the organism, and therefore organism yaw angle deviation is equal to cloud platform yaw angle also has the deviation in fact, but ground magnetic sensor sets up on the organism, and because the reason of cloud platform rotation, can't directly replace the yaw angle of cloud platform with the direction angle of ground magnetic data, adopt the dispersion to adjust and can overcome this problem. And the geomagnetic data obtained by the same geomagnetic sensor is used for adjusting the yaw angle of the body and the yaw angle of the holder in different modes, so that the device cost is greatly reduced.
In step S3, the ground station or the remote controller establishes a three-dimensional model of the unmanned aerial vehicle, and configures a holder model on the three-dimensional model of the unmanned aerial vehicle, where the three-dimensional model of the unmanned aerial vehicle does not necessarily need to restore the model of the real unmanned aerial vehicle, and the three-dimensional model of the unmanned aerial vehicle only needs to have the structure of the unmanned aerial vehicle and can obviously display the flight attitude and the heading of the unmanned aerial vehicle. After the three-dimensional model of the unmanned aerial vehicle is determined, the center of a circle of a machine body of the three-dimensional model of the unmanned aerial vehicle is determined, the determination of the center of a circle is crucial to the attitude and the course of the unmanned aerial vehicle, the different centers of a circle can lead to the different attitudes and courses of the unmanned aerial vehicle under the same data condition, a three-axis coordinate system of the machine body is established according to the center of a circle of the machine body, the center of a circle of a cloud platform of the cloud platform is determined according to the relationship between the center of a circle of the machine body and the cloud platform and the machine body, and the three-axis coordinate system of the cloud platform is established according to the center of a circle of the cloud platform.
In a three-axis coordinate system of the machine body, a Z axis is arranged from the head to the tail, the angle of rotation around the Z axis is a roll angle, a Y axis is arranged from the top to the bottom of the machine body, the angle of rotation around the Y axis is a yaw angle, an X axis is arranged from one side of the machine arm to the other side of the machine arm, and the angle of rotation around the X axis is a pitch angle. The tripod head three-axis coordinate system and the machine body three-axis coordinate system can be the same except that the circle center positions are different.
In one embodiment, in step S3, the three-dimensional model of the drone is created according to a real drone, but there are many types of drones, each type of drone is different, and the size of the drone is different, and when the initially created three-dimensional model of the drone is used for other real drones, the three-dimensional model of the drone is scaled according to the size of the other real drones, and certainly, the three-dimensional model of the drone can be scaled down appropriately during the display process. Because the mounting position of the cradle head on the unmanned aerial vehicle can be in fact, when the initially established three-dimensional model of the unmanned aerial vehicle is used for other real unmanned aerial vehicles, the cradle head model is configured or adjusted on the three-dimensional model of the unmanned aerial vehicle according to the mounting position of the cradle head in the real unmanned aerial vehicle.
In one embodiment, a three-axis coordinate system of the unmanned aerial vehicle is established by taking the gravity center position of the three-dimensional model of the unmanned aerial vehicle as the center of the circle of the unmanned aerial vehicle. The first gyroscope, the first accelerometer, the geomagnetic sensor, the second gyroscope and the second accelerometer are preferably arranged at the gravity center position of the real unmanned aerial vehicle.
In step S4, after the three-axis coordinate system of the unmanned aerial vehicle and the center of a circle are determined, the adjusted attitude data of the unmanned aerial vehicle are matched to the three-axis coordinate system of the unmanned aerial vehicle in such a way that the original center of the attitude data of the unmanned aerial vehicle is matched to the center of the three-axis coordinate system of the unmanned aerial vehicle, and then the data are mapped to the three-axis coordinate system of the unmanned aerial vehicle, so as to control the attitude and the heading of the three-dimensional model of the unmanned aerial vehicle to conform to the angle of the attitude data of the unmanned aerial vehicle in the three-axis coordinate system of the unmanned aerial vehicle, and simultaneously, the adjusted attitude data of the pan-tilt-head is matched to the three-axis coordinate system of the pan-tilt-head to control the pan-tilt-head attitude of the pan-head model in the three-axis model of the unmanned aerial vehicle.
In one embodiment, the body is further provided with an environment variable detection sensor for detecting an environment variable in the flight process, and the environment variable is uploaded to the ground station or the remote controller for analysis. The environment variable detection sensor can be, for example, a temperature sensor, an air pressure sensor, a humidity sensor and the like, and the detected temperature data, air pressure data and humidity data can be used for analyzing the environmental weather by a ground station or a remote controller end so as to judge whether to continue controlling the flight operation of the unmanned aerial vehicle.
The invention carries out three-dimensional modeling on the combination of the machine body and the holder, matches the detected attitude data and course data into the three-dimensional model of the unmanned aerial vehicle and the holder model, controls the attitude and course transformation of the three-dimensional model of the unmanned aerial vehicle and the holder model according to the real attitude and course data of the unmanned aerial vehicle, and simultaneously adjusts the course through the geomagnetic data, thereby realizing more accurate course control; the attitude and the course of the model can be adjusted in real time, the model can be shown by switching the angle through the rotating display effect of the three-dimensional model, and the real attitude and the course of the unmanned aerial vehicle and the holder can be displayed more intuitively and simultaneously.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the claims, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention.
Claims (7)
1. The utility model provides an unmanned aerial vehicle three-dimensional simulation display method of flight, its characterized in that, be provided with first gyroscope, first accelerometer and geomagnetic sensor on unmanned aerial vehicle's the organism, the overhead cloud platform that carries of unmanned aerial vehicle, be equipped with second gyroscope and the second accelerometer that moves along with the camera lens on the cloud platform, this display method includes following steps:
s1: acquiring angular acceleration data of the first gyroscope and acceleration data of the first accelerometer, and performing data calculation to obtain body attitude data; acquiring angular acceleration data of the second gyroscope and acceleration data of the second accelerometer, and performing data calculation to obtain holder attitude data;
s2: acquiring geomagnetic data twice at short time intervals, determining a flight direction angle according to the geomagnetic data twice, and replacing a yaw angle of the body attitude data with the flight direction angle to adjust a flight course; calculating the difference between the flight direction angle and the yaw angle of the body attitude data, and adjusting the yaw angle of the holder attitude data by using the difference;
s3: establishing an unmanned aerial vehicle three-dimensional model, configuring a holder model on the unmanned aerial vehicle three-dimensional model, determining the body circle center of the unmanned aerial vehicle three-dimensional model, establishing a body three-axis coordinate system according to the body circle center, the holder circle center of the holder according to the relation between the holder and the body, and establishing a holder three-axis coordinate system according to the holder circle center;
s4: and matching the adjusted body attitude data to the three-axis body coordinate system to control the body attitude and the course of the three-dimensional unmanned aerial vehicle model, and matching the adjusted holder attitude data to the three-axis holder coordinate system to control the holder attitude of the holder model in the three-dimensional unmanned aerial vehicle model.
2. The three-dimensional simulation display method for unmanned aerial vehicle flight according to claim 1, wherein in step S1, the angular acceleration data of the first gyroscope and the acceleration data of the first accelerometer are solved according to a quaternion algorithm to obtain a pitch angle, a yaw angle and a roll angle of the airframe as the airframe attitude data; and calculating the angular acceleration data of the second gyroscope and the acceleration data of the second accelerometer according to a quaternion algorithm to obtain a pitch angle or a pitch angle and a yaw angle of the holder as the attitude data of the holder.
3. The three-dimensional simulation display method for unmanned aerial vehicle flight according to claim 1, wherein in step S3, an unmanned aerial vehicle three-dimensional model is created according to a real unmanned aerial vehicle, when used for other real unmanned aerial vehicles, the unmanned aerial vehicle three-dimensional model is scaled according to the sizes of the other real unmanned aerial vehicles, and a pan-tilt model is configured or adjusted on the unmanned aerial vehicle three-dimensional model according to the installation positions of the pan-tilt in the other real unmanned aerial vehicles.
4. The three-dimensional simulation display method for unmanned aerial vehicle flight according to claim 3, wherein a three-axis coordinate system of the unmanned aerial vehicle is established by taking the center of gravity of the three-dimensional model of the unmanned aerial vehicle as the center of the vehicle.
5. The three-dimensional simulation display method for unmanned aerial vehicle flight according to claim 1, wherein the three-dimensional simulation display method for unmanned aerial vehicle flight is used for display of a ground station or a remote controller.
6. The three-dimensional simulation display method for unmanned aerial vehicle flight according to claim 5, wherein a data acquisition module and a wireless transmission module are arranged on the body, and the data acquisition module is used for acquiring data measured by the first gyroscope, the first accelerometer, the geomagnetic sensor, the second gyroscope and the second accelerometer and uploading the data to the ground station or the remote controller end through the wireless transmission module.
7. The three-dimensional simulation display method for unmanned aerial vehicle flight according to claim 5, wherein an environment variable detection sensor is further arranged on the body and used for detecting environment variables in the flight process and uploading the environment variables to the ground station or the remote controller for analysis.
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