Title:
METHOD AND DEVICE FOR SELECTING INITIAL VALUE OF HEADING ANGLE OF UNMANNED AERIAL VEHICLE, AND UNMANNED AERIAL VEHICLE
Document Type and Number:
WIPO Patent Application WO/2021/078002
Kind Code:
A1
Abstract:
A method and device for selecting an initial value of a heading angle of an unmanned aerial vehicle (10), and an unmanned aerial vehicle (10). The method comprises: acquiring flight environment information of an unmanned aerial vehicle (10) (S21); configuring an initial value of a heading angle according to the flight environment information (S22); performing data fusion on sensor data acquired by a sensor and the initial value of the heading angle, so as to obtain a corrected heading angle (S23); and determining a heading of the unmanned aerial vehicle (10) according to the corrected heading angle (S24). The method is used to obtain flight environment information of the unmanned aerial vehicle (10), such that the impact of the external environment on a magnetometer can be eliminated on the basis of the flight environment information, and the magnetometer can thus provide a more accurate initial value of the heading angle to the unmanned aerial vehicle (10) for data fusion. In this way, even if the unmanned aerial vehicle (10) takes off in a ground environment of magnetic interference, the heading angle is still accurate to a certain degree, thereby reducing the probability of the unmanned aerial vehicle (10) breaking apart when taking off in such kind of ground environment, and improving flight safety.
Inventors:
LI YINGJIE (CN)
ZHANG TIANBAO (CN)
CHEN GANG (CN)
ZHANG TIANBAO (CN)
CHEN GANG (CN)
Application Number:
PCT/CN2020/118848
Publication Date:
April 29, 2021
Filing Date:
September 29, 2020
Export Citation:
Assignee:
AUTEL ROBOTICS CO LTD (CN)
International Classes:
G05D1/08; G05D1/10
Foreign References:
| CN110554712A | 2019-12-10 | |||
| CN110488865A | 2019-11-22 | |||
| CN106200681A | 2016-12-07 | |||
| CN108196570A | 2018-06-22 | |||
| CN107543540A | 2018-01-05 | |||
| KR20180074363A | 2018-07-03 |
Attorney, Agent or Firm:
LIUJIA CHINA IP LAW OFFICE (CN)
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