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为了保证无人机飞行过程中的安全可靠性,需对无人机转角偏移量进行测量。传统的测量方法为了简化计算过程,保证同步性,忽略了无人机飞行中的转角方向偏移误差,以遗传算法进行迭代计算,由于子代不断继承父代的包含误差的基因,导致测量过程存在较大缺陷,提出一种基于改进遗传算法的无人机转角偏移测量方法,分析了无人机转角偏移测量原理,给出遗传算法的一般模型,在此基础上,引入随机方向法,给出选择空间,确定基点,对产生的个体数以及产生的个体进行记录统计,产生一个随机向量,通过判断比较各自的适应值,获取优良的个体,从而有效实现无人机转角偏移量的测量。仿真结果表明,所提方法在增强无人机转角偏移量测量精度及可靠性方面具有很高的优越性。
In order to ensure the safety and reliability during the UAV flight, the UAV’s angular displacement needs to be measured. In order to simplify the calculation process and ensure synchronization, the traditional measurement method ignores the angular misalignment error in UAV flight. Genetic algorithm iterates the calculation. As the offspring inherits the gene of the father, which contains the error, the measurement process It has a big flaw. A method based on improved genetic algorithm is proposed to measure the rotation angle of UAV. The principle of measuring the rotation angle of UAV is analyzed. The general model of genetic algorithm is given. Based on this, the random direction method , Given the choice of space, determine the base point, the number of individuals and the individual generated by the recording statistics, resulting in a random vector, by judging the respective fitness value, access to good individuals, which effectively achieve UAV corner offset Measurement. The simulation results show that the proposed method has high superiority in enhancing the measurement accuracy and reliability of the UAV corner offset.