Quad-rotor unmanned aerial vehicle attitude calculation method and device and terminal equipment

• Main Authors: ZHANG LINLIN, LIANG JIANSHU, ZHOU HAOYU
• Format: Patent
• Language: Chinese; English
• Published: 27.10.2020
• Subjects: CALCULATING; COMPUTING; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention provides a quad-rotor unmanned aerial vehicle attitude calculation method and device and terminal equipment, and the method comprises the steps of obtaining gyroscope data and accelerometer data of a quad-rotor unmanned aerial vehicle, and carrying out the filtering of the gyroscope data and the accelerometer data; carrying out quaternion attitude updating on the basis of the gyroscope data subjected to filtering processing to obtain a quaternion conversion matrix, and carrying out error calculation on the accelerometer data subjected to filtering processing on the basis of the quaternion conversion matrix to obtain an accelerometer error; performing filtering processing on the accelerometer error, and performing PI adjustment on the error after filtering processing to obtainan error compensation amount; and compensating the attitude angle in the filtered gyroscope data according to the error compensation amount, and performing quaternion attitude updating based on the compensated attitude angle