摘要
针对无人机非正常飞行中的自由落体运动和翻转运动情况,分别采用"自由落体判断"算法和"翻滚判断"算法进行判断,设计了算法阈值获取实验,实现了自由落体判断条件和翻滚判断条件阈值参数的设置;针对无人机伞降着陆后回收困难的问题,采用"落点定位"的设计思路,设计一款手机应用软件,实现了无人机的实时定位。系统通过大量模拟飞行和实飞测试,结果表明,相比于当前的伞降系统Smart chutes或者大疆Dropsafe,本系统具有开伞响应速度快的特点,从判断出失控到降落伞完全撑开只需0. 5 s,另外,系统还具有落点定位精确、对无人机非正常飞行状态的判断准确、能够独立于无人机飞控系统稳定运行的特点。
Aiming at the situation of free falling and flip motion of UAV in abnormal flight, the algorithm of "free falling" and "flip judgment" are used to judge, and the threshold acquisition experiment of the algorithm is designed, which realizes the setting of threshold parameters of free falling judgment condition and flip judgment condition. Aiming at the problem of difficult recovery after parachute drop landing of UAV, a mobile phone application software is designed based on the idea of "landing point positioning", which realizes real-time positioning of UAV system. The system is tested by a large number of simulative flight and real flight tests. The results show that compared with the current parachute drop system Smart chutes or Dropsafe in Dajiang, the system has the characteristics of fast response to parachute opening. It takes only 0. 5 second to judge the runaway parachute and fully open it. In addition, the system has the characteristics of precise landing location, accurate judgment of UAV's abnormal flight state, and stable operation of UAV "sindependent flight control system.
作者
廖锐
周永录
普园媛
刘宏杰
尉洪
李红光
王子豪
Liao Rui;Zhou Yonglu;Pu Yuanyuan;Liu Hongjie;Wei Hong;Li Hongguang;Wang Zihao(School of Information Science & Engineering,Yunnan University,Kunming 650500,China)
出处
《电子测量与仪器学报》
CSCD
北大核心
2019年第9期16-24,共9页
Journal of Electronic Measurement and Instrumentation
关键词
无人机
降落伞避损
自由落体判断
翻转判断
落点定位
UAV
loss avoidance of parachute
free fall judgment
flip judgment
landing position
