Complete the entire flight process including takeoff, air flight, mission execution, return, etc. Cheng's core learning system realizes full control and management of drones and is the brain of the drone.

UAV attitude stabilization and control

Coordinate with navigation subsystem to complete track control

Takeoff and return control

Drone flight management

UAV mission management and control

emergency control

Classification: Divided into platform-type inertial navigation and strapdown-type inertial navigation.

The accelerometer and gyroscope on the carrier are used to measure the angular motion information and linear motion information of the aircraft respectively, and then hand them to the calculation module together with the initial attitude, initial heading, and initial position, and the calculation module calculates the aircraft An autonomous navigation method based on navigation parameters such as attitude, speed, heading, and position.

The Kalman filter algorithm uses the state space model of signal and noise, uses the estimated value at the previous moment and the observed value at the current moment to update the estimate of the state variable and obtain the current estimated value.

Applications: Robot navigation, control, sensor data fusion and even military radar systems and missile tracking, etc. For example: in radar, Kalman filter uses the dynamic information of the target to try to remove the influence of noise and obtain an optimal estimate of the target position.

The PID controller is a linear controller that mainly forms a control deviation based on the given value and the actual output value, and then uses the deviation to give a reasonable control amount.

Application: In the field of engineering applications, the control algorithm based on classic PID is still the simplest and most effective control scheme. Currently, several mainstream open source flight controls use PID control algorithms to achieve UAV attitude and trajectory control.