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CN-122020528-A - Load weight measurement method based on unmanned aerial vehicle rotor wing tension

CN122020528ACN 122020528 ACN122020528 ACN 122020528ACN-122020528-A

Abstract

The invention relates to the technical field of unmanned aerial vehicle control, and discloses a load weight measurement method based on unmanned aerial vehicle rotor wing tension, which comprises the steps of obtaining a plurality of original lift measurement values generated by each rotor wing in a set sampling period when an unmanned aerial vehicle is in a stable flight state to form a corresponding lift original value set of each rotor wing, carrying out data cleaning and validity verification on each lift original value set, removing abnormal values, then calculating to obtain a preliminary lift value of each rotor wing, and calculating a global lift reference value according to the preliminary lift values of all rotor wings. The invention can effectively fuse the multi-sensor data, dynamically compensate the influences of factors such as flight attitude, aerodynamic change and the like in calculation, thereby providing stable and reliable weight estimation when the unmanned aerial vehicle hovers, cruises or even executes certain maneuvering actions and providing key data support for flight control, cruising evaluation and task planning.

Inventors

  • LIU XU

Assignees

  • 杭州星空穿梭科技有限责任公司

Dates

Publication Date
20260512
Application Date
20260211

Claims (8)

  1. 1. The load weight measuring method based on the rotor wing tension of the unmanned aerial vehicle is characterized by comprising the following steps of: S1, acquiring a plurality of original lift force measured values generated by each rotor wing in a set sampling period when the unmanned aerial vehicle is in a stable flight state, and forming a lift force original value set corresponding to each rotor wing; S2, carrying out data cleaning and effectiveness verification on each lifting original value set, and calculating to obtain a preliminary lifting value of each rotor wing after removing abnormal values; S3, calculating a global lift force reference value according to the preliminary lift force values of all the rotor wings, and setting a reasonable screening range based on the reference value; S4, screening out a preliminary lift force value within the reasonable screening range, and taking the preliminary lift force value as an effective rotor wing lift force value; s5, calculating the total lift force and the current load weight of the unmanned aerial vehicle based on the effective rotor wing lift force value, real-time attitude information of the unmanned aerial vehicle and an aerodynamic model of the rotor wing; Wherein the weight of the load Calculated by the following core formula: ; In the above-mentioned method, the step of, Representing the number of active rotors; Represent the first An effective rotor lift value; Represent the first The tension coefficient compensation factors of the individual rotors; representing gravitational acceleration; And Respectively representing a real-time pitch angle and a roll angle of the unmanned aerial vehicle; Indicating the reference dead weight of the unmanned aerial vehicle.
  2. 2. The method for measuring the load weight based on the rotor tension of the unmanned aerial vehicle according to claim 1, wherein the data cleaning and the validity verification are carried out on each lifting original value set, and the method comprises the following steps: determining whether the variance of all values in the set is less than a preset minimum variance threshold, (1) If yes, judging that the corresponding sensor data is invalid, and discarding the set; (2) If not, filtering the numerical values in the set to be ranked before And then back Wherein Is a preset proportion; and calculating an arithmetic average value of the filtered residual data points as a preliminary lift value of the rotor wing.
  3. 3. The method for measuring the load weight based on the rotor tension of the unmanned aerial vehicle according to claim 1, wherein the reasonable screening range is set, specifically: Calculating arithmetic mean of all preliminary lift values And standard deviation ; The lower limit of the screening range is defined as Defined as Wherein Is a coefficient preset according to the confidence level.
  4. 4. The method for measuring load weight based on rotor tension of unmanned aerial vehicle according to claim 1, wherein the tension coefficient compensation factor The determining method of (1) comprises the following steps: (1) Obtaining the atmospheric density of the current flight altitude Rotor rotation speed And rotor blade characteristic parameters; (2) On-line calculation or table look-up acquisition is performed through the following models: ; Wherein, the Is the tension coefficient of the rotor wing; Is the radius of the rotor wing; Is the theoretical tension value at the current rotational speed and standard atmospheric conditions.
  5. 5. The method for measuring load weight based on rotor tension of unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle in a stable flying state means: The change rates of the pitch angle, the roll angle and the yaw angle of the unmanned aerial vehicle are lower than respective preset thresholds, and the fluctuation amplitude of the acceleration of each axis under the machine body coordinate system is within a preset range.
  6. 6. The method for measuring load weight based on unmanned aerial vehicle rotor tension according to claim 1, wherein the method for measuring load weight further comprises the step of adaptive dynamic estimation of load weight: (1) Performing a load weight measurement method based on the rotor wing tension of the unmanned aerial vehicle in a plurality of continuous measurement periods to obtain a load weight time sequence ; (2) Processing the time sequence by adopting a self-adaptive filter based on a motion model so as to inhibit high-frequency noise and track the gradual change trend of the load; wherein the state updating process of the adaptive filter comprises a process noise covariance matrix adjusted according to the flight state.
  7. 7. The method for measuring load weight based on unmanned aerial vehicle rotor tension according to claim 6, wherein the method for measuring load weight further comprises the steps of sensor health management and data fusion: (1) Recording historical data reliability scores for each lift force measurement channel; (2) In the current calculation, for each effective rotor lift value Assigning a weight The weight is positively correlated with the reliability score of its channel.
  8. 8. The method for measuring load weight based on rotor tension of unmanned aerial vehicle according to claim 7, wherein the value of lift of each effective rotor is determined by And assigning weights The total lift force is calculated by adopting a weighted summation mode: ; In the above-mentioned method, the step of, Indicating the total lift magnitude.

Description

Load weight measurement method based on unmanned aerial vehicle rotor wing tension Technical Field The invention relates to the technical field of unmanned aerial vehicle control, in particular to a load weight measurement method based on unmanned aerial vehicle rotor wing tension. Background Currently, when an unmanned aerial vehicle performs tasks such as transportation, mapping, agricultural spraying and the like, real-time accurate sensing of load weight is critical to flight safety, energy consumption management and task planning. Traditional load measurement methods mainly rely on static ground weighing before take-off or are calculated through an empirical model for indirectly estimating battery current and thrust, and real-time and on-line accurate measurement is difficult to achieve in the flight process. Some existing technologies attempt to acquire weight information by installing sensors on landing gear or analyzing power system parameters in flight, but these methods are often limited by additional hardware burden, complicated calibration process, or are sensitive to changes of unmanned aerial vehicle's flight attitude, maneuvering state and environmental conditions (such as air density), resulting in larger measurement errors under dynamic and complicated actual flight conditions, insufficient robustness, and difficulty in meeting the requirement of high-precision autonomous flight control on real-time and reliable load state feedback. Disclosure of Invention The invention provides a load weight measuring method based on unmanned aerial vehicle rotor wing tension to solve the existing technical problems, and solves the problem that the prior art is difficult to meet the feedback of high-precision autonomous flight control on real-time and reliable load state. In order to solve the above technical problems, according to one aspect of the present invention, more specifically, a load weight measurement method based on a rotor tension of an unmanned aerial vehicle, comprising the following steps: S1, acquiring a plurality of original lift force measured values generated by each rotor wing in a set sampling period when the unmanned aerial vehicle is in a stable flight state, and forming a lift force original value set corresponding to each rotor wing; S2, carrying out data cleaning and effectiveness verification on each lifting original value set, and calculating to obtain a preliminary lifting value of each rotor wing after removing abnormal values; S3, calculating a global lift force reference value according to the preliminary lift force values of all the rotor wings, and setting a reasonable screening range based on the reference value; S4, screening out a preliminary lift force value within the reasonable screening range, and taking the preliminary lift force value as an effective rotor wing lift force value; s5, calculating the total lift force and the current load weight of the unmanned aerial vehicle based on the effective rotor wing lift force value, real-time attitude information of the unmanned aerial vehicle and an aerodynamic model of the rotor wing; Wherein the weight of the load Calculated by the following core formula: ; In the above-mentioned method, the step of, Representing the number of active rotors; Represent the first An effective rotor lift value; Represent the first The tension coefficient compensation factors of the individual rotors; representing gravitational acceleration; And Respectively representing a real-time pitch angle and a roll angle of the unmanned aerial vehicle; Indicating the reference dead weight of the unmanned aerial vehicle. Further, data cleaning and validity verification are performed on each lifting force original value set, including: determining whether the variance of all values in the set is less than a preset minimum variance threshold, (1) If yes, judging that the corresponding sensor data is invalid, and discarding the set; (2) If not, filtering the numerical values in the set to be ranked before And then backWhereinIs a preset proportion; and calculating an arithmetic average value of the filtered residual data points as a preliminary lift value of the rotor wing. Further, a reasonable screening range is set, specifically: Calculating arithmetic mean of all preliminary lift values And standard deviation; The lower limit of the screening range is defined asDefined asWhereinIs a coefficient preset according to the confidence level. Further, the tension coefficient compensation factorThe determining method of (1) comprises the following steps: (1) Obtaining the atmospheric density of the current flight altitude Rotor rotation speedAnd rotor blade characteristic parameters; (2) On-line calculation or table look-up acquisition is performed through the following models: ; Wherein, the Is the tension coefficient of the rotor wing; Is the radius of the rotor wing; Is the theoretical tension value at the current rotational speed and standard atmosph