The Hover Anti-Wind Parallel Algorithm Running in Airborne Computer Which on Rotorcraft Drone

Abstract

Research and implementation of a parallel algorithm that simultaneously executes other business tasks while high-precision fixed-point hovering indoors and outdoors, which run in the multi-core airborne pilot computer on rotorcraft UA V, and supported by GNSS-RTK or UWB and other positioning technologies. It is mainly used for the situation that business tasks have higher requirements for the positioning point, in this case, if the strong air flow affects the positioning effect, and the flight controller itself cannot correct the position in time, it will affect the business task execution effect or even make the task unable to perform correctly. The algorithm was tested several times in the actual project scenario, and compared with the situation that the algorithm was not used, the average completion rate of business tasks increased from about 84 % to more than 98%, exceeding the lower design limit requirements of this project (96.4%), and in the case of sufficient computing power of the airborne computer, it did not have a significant impact on the original execution rate of the service. The code implemented according to this algorithm currently runs on the multi-core computing equipment outside the flight controller, and does not affect the flight controller to control the attitude of UA V. After large number of actual measurements, no accident such as crashes and collisions caused by this algorithm, its safety is assured.