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WO2021081781A1 - Procédé de chauffage pour capteur inertiel de robot sans personnel - Google Patents

Procédé de chauffage pour capteur inertiel de robot sans personnel Download PDF

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Publication number
WO2021081781A1
WO2021081781A1 PCT/CN2019/114135 CN2019114135W WO2021081781A1 WO 2021081781 A1 WO2021081781 A1 WO 2021081781A1 CN 2019114135 W CN2019114135 W CN 2019114135W WO 2021081781 A1 WO2021081781 A1 WO 2021081781A1
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WIPO (PCT)
Prior art keywords
inertial sensor
temperature
unmanned
heating device
heating
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Ceased
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PCT/CN2019/114135
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English (en)
Chinese (zh)
Inventor
李佳乘
高京哲
朱誉品
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Filing date
Publication date
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Priority to CN201980007911.8A priority Critical patent/CN111656141A/zh
Priority to PCT/CN2019/114135 priority patent/WO2021081781A1/fr
Publication of WO2021081781A1 publication Critical patent/WO2021081781A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices

Definitions

  • This application relates to the field of electronic technology, and in particular to an inertial sensor heating method for an unmanned robot.
  • Inertial sensors are a key component of the navigation system of unmanned control robots, and their performance has a relatively important impact on the accuracy of the navigation system.
  • Unmanned control robots can include unmanned aerial vehicles, unmanned vehicles, and unmanned ships.
  • the measurement of inertial sensors has zero offset.
  • the current heating efficiency of the inertial sensor is not high, which causes the inertial sensor to reach the working temperature after a long time.
  • the local storage device of the unmanned robot stores multiple zero-bias parameters at different temperatures, which means that when the factory produces inertial sensors, the inertial sensors need to be calibrated at multiple different temperatures.
  • the zero offset parameters below lead to higher calibration and production costs of the inertial sensor.
  • the embodiment of the present invention provides an inertial sensor heating method of an unmanned robot, which can reduce the calibration and production costs of the inertial sensor.
  • an embodiment of the present invention provides an inertial sensor heating method for an unmanned robot, wherein the unmanned robot includes an inertial sensor and a heating device for heating the inertial sensor, and the method includes: controlling the heating device Heat the inertial sensor to the working temperature; obtain the sensor data output by the inertial sensor at the working temperature; obtain the zero offset parameter of the inertial sensor at the working temperature from the local storage device of the unmanned robot, where the local storage device does not store The zero offset parameters of other temperatures except the working temperature; the sensor data is compensated according to the zero offset parameters to obtain the compensated sensor data; the unmanned robot is positioned according to the compensated sensor data.
  • an unmanned robot including:
  • Memory processor, inertial sensor and heating device
  • the memory stores program codes
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • the present invention provides an unmanned control robot system, which is characterized in that it includes:
  • the control terminal is used to respond to the user's control operation and control the drone control robot.
  • the inertial sensor is heated to the working temperature; the sensing data output by the inertial sensor at the working temperature is obtained; the zero offset parameter of the inertial sensor at the working temperature is obtained from the local storage device of the unmanned robot, Among them, the local storage device does not store the zero bias parameters of temperatures other than the operating temperature; the sensor data is compensated according to the zero bias parameters to obtain the compensated sensor data; according to the compensated sensor data, the The unmanned robot performs positioning operations. In addition, in the traditional method, when the unmanned robot performs positioning operation, the temperature of the inertial sensor is not heated to the working temperature.
  • the embodiment of the present invention only needs to calibrate the zero-bias parameters of the inertial sensor at one working temperature, which can reduce the calibration and production of the inertial sensor. cost.
  • Figure 1 is a graph of the heating rate of a current inertial sensor
  • Figure 2 is a graph showing the zero offset change curve of the accelerometer of a current inertial sensor on the coordinate axis;
  • FIG. 3 is a schematic diagram of the architecture of an unmanned control system provided by an embodiment of the present invention.
  • FIG. 4 is a diagram of an application scenario when a drone performs a task according to an embodiment of the present invention
  • FIG. 5 is an inertial sensor heating method of an unmanned robot according to an embodiment of the present invention.
  • Figure 6 is the temperature rise curve of the inertial sensor when the operating temperature of the inertial sensor is 65 degrees;
  • Figure 7 is a graph showing the zero offset change curve of the accelerometer of the inertial sensor on the coordinate axis when the operating temperature of the inertial sensor is 65 degrees;
  • Fig. 8 is a schematic structural diagram of an unmanned robot provided by an embodiment of the present invention.
  • the temperature of the inertial sensor has not stabilized during the positioning operation of the inertial sensor, that is, the temperature of the inertial sensor is still rising slowly.
  • the heating speed curve of a current inertial sensor is shown in Fig. 1, and the corresponding temperature T working temperature at t 1 is the working temperature of an unmanned robot.
  • the temperature of the inertial sensor has not reached the working temperature at the time t 0 of the unmanned robot during the positioning operation, that is, the temperature of the inertial sensor is still rising slowly, resulting in
  • the zero offset of the temperature change affects the measurement accuracy of the inertial sensor.
  • the zero bias is affected by temperature. During the temperature rise of the inertial sensor, the zero bias parameters will change with the temperature.
  • Fig. 2 shows the bias change curves of the three coordinate axes (that is, the x-axis, the y-axis, and the z-axis) of the current inertial sensor (Inertial Measurement Unit, IMU) during the heating process.
  • IMU Inertial Measurement Unit
  • the unmanned robot needs to store multiple zero-bias parameters at different temperatures in the local storage device, which means that when the factory produces inertial sensors, it needs to measure and calibrate the inertial sensors at multiple different temperatures.
  • the zero-bias parameters make the production of inertial sensors require a large investment in calibration and production costs.
  • the embodiment of the present invention proposes an inertial sensor heating method for an unmanned robot.
  • the unmanned control robot when the unmanned control robot is turned on, the unmanned control robot responds to the power-on signal of the unmanned control robot to control the heating device to heat the inertial sensor to the working temperature within a preset time; and obtain the The sensing data output by the inertial sensor at the working temperature; from the local storage device of the unmanned robot, the zero bias parameter of the inertial sensor at the working temperature is obtained, and the local storage device does not store the temperature other than the working temperature.
  • Zero-bias parameters compensate the sensor data according to the zero-bias parameters to obtain the compensated sensor data; according to the compensated sensor data, perform positioning operations on the unmanned robot.
  • the unmanned robot can control the heating device to heat the inertial sensor to the working temperature within a preset time, so that the unmanned robot only needs to compensate the sensor data output by the inertial sensor according to the zero offset parameter at a working temperature.
  • the unmanned robot is positioned according to the compensated sensor data at the working temperature, so that the local storage device of the unmanned robot only stores the zero-bias parameters of the inertial sensor at the working temperature. Before the inertial sensor is heated to the working temperature, the zero offset parameter is not used to compensate the sensor data output by the inertial sensor. This method can improve the measurement accuracy of the inertial sensor and reduce the calibration and production cost of the inertial sensor.
  • FIG. 3 is a schematic structural diagram of an unmanned control system according to an embodiment of the present invention.
  • the unmanned control system 30 is composed of an unmanned control robot 301 and a control terminal 302.
  • the unmanned robot 301 includes an inertial sensor 3011 and a heating device 3012.
  • the control terminal 302 is used to control the unmanned robot to move.
  • the inertial sensor 3011 is a sensor that measures acceleration, tilt, impact, vibration, rotation, and multi-degree-of-freedom motion, and is used to output sensor data.
  • the heating device 3012 is used to heat the inertial sensor 3011, and the heating device 3012 can be a heating resistor, a ceramic heating sheet, or an electric heating paint.
  • the heating device 3012 is a heating resistor
  • the heating resistors are arranged adjacent to the inertial sensor, and their number is the preset number threshold to ensure that when the heating resistor heats the inertial sensor with the maximum power, the heating rate of the inertial sensor is greater than the preset heating rate .
  • the inertial measurement unit 3011 may include an accelerometer and a gyroscope.
  • FIG 4 is an application scenario diagram when the drone is performing a task.
  • Point A is the position of the drone when it is started, and point B is the task that the drone needs to perform.
  • the drone needs to perform preset tasks at the task location B, such as taking photos and photography of the characters in the picture.
  • the drone When the drone is activated at point A, the drone responds to the power-on signal and controls the heating device to heat the inertial sensor to the working temperature.
  • the drone heats the inertial sensor to the working temperature within the preset time, so the drone obtains the sensing data of the inertial sensor and the zero offset parameter at the working temperature at point A, and transmits it according to the zero offset parameter at the working temperature.
  • Sensing data is compensated, and the compensated sensing data is obtained. Finally, the UAV is positioned according to the compensated sensor data. If at point A, the inertial sensor is heated to the working temperature, it will move to point B in response to the motion control instruction of the control terminal of the drone. In this method, the temperature of the inertial sensor reaches the working temperature, and it only needs to compensate the sensor data output by the inertial sensor according to the zero offset parameter corresponding to the working temperature at the working temperature. In the subsequent movement and task execution process, There is no need to compensate the sensor data output by the inertial sensor according to the zero offset parameters corresponding to other temperatures of the inertial sensor, which can reduce the calibration and production costs of the inertial sensor.
  • an embodiment of the present invention proposes an inertial sensor heating method for an unmanned robot as shown in FIG. 5, and the inertial sensor heating method for an unmanned robot may include S501-S506:
  • the unmanned robot controls the heating device to heat the inertial sensor to a reference temperature lower than the operating temperature according to the maximum heating power of the heating device.
  • the unmanned robot when the unmanned robot is turned on, the unmanned robot responds to the power-on signal of the unmanned robot and controls the heating device to heat the inertial sensor to a reference value lower than the operating temperature according to the maximum heating power of the heating device. temperature.
  • the heating device can be a heating resistor, a ceramic heating sheet, or an electric heating paint. If the heating device is a heating resistor, the heating resistor is pre-arranged in the adjacent position of the inertial sensor, and its number is greater than the preset number threshold to ensure that the heating resistance is When the inertial sensor is heated with the maximum power, the heating rate of the inertial sensor is not lower than the preset heating rate. For example, the preset heating rate may be greater than or equal to 5 degrees per second.
  • the working temperature of the inertial sensor is higher than the ambient temperature where the unmanned robot is located, and the working temperature can be between 60-90 degrees. In one implementation, the working temperature is set by the user according to the highest ambient temperature at which the unmanned robot can work normally. For example, the maximum ambient temperature at which the unmanned robot can work normally is 60 degrees, and the user sets the operating temperature of the unmanned robot to 75 degrees according to this temperature.
  • the reference temperature may be set according to the working temperature, and the reference temperature is close to and lower than the working temperature.
  • the ratio between the reference temperature and the working temperature is x, n ⁇ x ⁇ 1, for example, n can be 0.8, 0.9, or 0.95, etc.
  • x can make the reference temperature as close to the working temperature as possible.
  • the difference between the operating temperature and the reference temperature is less than a preset threshold, the preset threshold may be 10 degrees or 5 degrees, etc. The preset threshold can make the reference temperature as close to the operating temperature as possible.
  • the unmanned robot when the unmanned robot is turned on by the user, the unmanned robot responds to the power-on signal of the unmanned robot and inputs a pulse modulation voltage with a full duty cycle, so that the unmanned robot will follow
  • the maximum heating power of the heating device controls the heating device to heat the inertial sensor to the reference temperature.
  • the inertial sensor when the unmanned robot controls the inertial sensor to heat according to the maximum power of the heating device, the inertial sensor increases the temperature at least at a preset heating rate, and the preset heating rate is greater than or equal to 5 degrees/ Seconds, the preset heating rate is much higher than the current heating rate of inertial sensors. This preset heating rate can ensure that the temperature of the inertial sensor is quickly heated to the working temperature.
  • the unmanned robot controls the heating device to heat the inertial sensor to the working temperature within a preset time according to the maximum heating power of the heating device, and the preset time is not more than 30 seconds, so that the inertial sensor After the operating temperature is reached quickly, there is no need to compensate the sensor data output by the inertial sensor according to the zero offset parameters corresponding to other temperatures of the inertial sensor, which can reduce the calibration cost of the inertial sensor.
  • the unmanned robot When it is determined that the inertial sensor is heated to the reference temperature, the unmanned robot adopts a closed-loop heating control strategy to control the heating device to heat the inertial sensor to the working temperature.
  • the closed-loop heating control strategy is adopted to control the heating device to heat the inertial sensor to the operating temperature.
  • the closed-loop heating control strategy includes a PI control strategy.
  • the PI control strategy includes linear control parameters and integral control parameters.
  • the linear control parameters are used to adjust the stability of the control system, and the integral control parameters are used to adjust the indifference of the control system.
  • the unmanned control robot adjusts the linear control parameters and integral control parameters of the PI control strategy, so that the inertial sensor rises between the reference temperature and the operating temperature without exceeding the operating temperature. Until the operating temperature is reached.
  • the unmanned robot when the unmanned robot determines that the temperature of the inertial sensor reaches the working temperature, it adjusts the integral control parameters of the PI control strategy to stabilize the temperature of the inertial sensor at the working temperature, ensuring that the inertial sensor is in the subsequent working process. Its temperature remains unchanged at the working temperature.
  • the heating curve of the inertial sensor under this method and the heating curve of the inertial sensor under the traditional method are shown in Fig. 6.
  • This method is an improved method relative to the traditional method, that is, this application.
  • the technical solutions disclosed in the embodiments It can be seen that, compared with the traditional method, under the improved heating method, the temperature of the inertial sensor rises to the working temperature about 20 seconds after power-on and keeps the working temperature stable, while the temperature of the inertial sensor under the traditional method is on the power-up. The working temperature has not been reached after 20 seconds.
  • the heating rate of the inertial sensor under this method is obviously greater than that under the traditional method, so that the temperature of the inertial sensor can quickly rise to the reference temperature, and under the closed-loop control strategy, it rises to the working temperature, and after reaching the working temperature, it is constant at Operating temperature.
  • S503 The unmanned robot obtains the sensing data output by the inertial sensor at the working temperature.
  • the unmanned control robot When it is determined that the temperature of the inertial sensor rises to the working temperature, the unmanned control robot obtains the sensing data output by the inertial sensor at the working temperature.
  • the sensing data can include the attitude of the unmanned control robot, which includes angular velocity and acceleration.
  • the sensing data output by the inertial sensor at the working temperature has zero bias, which cannot be directly used as the sensing data measured by the inertial sensor.
  • the sensing data needs to be compensated according to the zero bias parameters at the working temperature.
  • S504 The unmanned robot obtains the zero offset parameter of the inertial sensor at the working temperature in the local storage device.
  • the measurement of inertial sensors will have a zero offset, and the zero offset is related to temperature. Therefore, it is necessary to compensate the sensor data according to the zero offset parameters at the operating temperature of the inertial sensor. Therefore, it is necessary to obtain the zero offset parameters of the inertial sensor at the working temperature in the local storage device of the unmanned robot in advance.
  • the local storage device does not store the zero offset parameters of other temperatures other than the operating temperature, that is, the unmanned robot does not need to store the zero offset parameters corresponding to other temperature points in advance, which can reduce the calibration cost of the inertial sensor .
  • the zero offset parameter of the inertial sensor at the working temperature is obtained by measuring the inertial sensor when the factory produces the inertial sensor.
  • the working temperature is sent to the factory after the user sets the inertial sensor.
  • the zero-bias parameter of the inertial sensor is obtained by the unmanned robot according to the preset compensation parameter acquisition algorithm and operating temperature, and the inertial sensor is measured.
  • the preset compensation parameter algorithm includes wavelet transform and least square method. , Gray forecasting method, etc., there are no restrictions here.
  • S505 The unmanned robot compensates the sensor data according to the zero offset parameter to obtain the compensated sensor data.
  • the inertial sensor obtained by the unmanned robot has zero bias in the sensing data at the working temperature.
  • the sensor data is compensated according to the zero bias parameters at the working temperature, and the compensated sensing data can be obtained.
  • the compensated sensing data The data is more accurate sensor data.
  • S506 The unmanned robot performs positioning operations on the unmanned robot according to the compensated sensor data.
  • the unmanned control robot After the unmanned control robot obtains the compensated sensor data, it performs positioning operations on the unmanned control robot according to the compensated sensor data.
  • the zero-bias change curve of the inertial sensor under this method and the traditional method is shown in Figure 7.
  • This method is an improved method under the traditional method. It can be seen from the figure that, 20 seconds after power-on, the accelerometer zero bias under the improved method has been basically stable, while the zero bias under the traditional method is still changing.
  • the inertial sensor when the inertial sensor is not heated to the operating temperature, it refuses to respond to the motion control instruction sent by the control terminal. Specifically, when the inertial sensor is not heated to the operating temperature, since the local storage device does not store the zero offset parameters of other temperatures except the operating temperature, that is, the local storage device only stores the zero offset parameters at all temperatures. For the zero offset parameters of the working temperature, the sensing data output by the inertial sensor has not been compensated, resulting in inaccurate positioning of the unmanned control robot. Therefore, it refuses to respond to the motion control instructions sent by the control terminal to ensure safe operation.
  • the unmanned control robot can control the heating device to heat the inertial sensor to the working temperature within a preset time, so that the unmanned control robot only needs to compensate for the sensing data output by one working temperature of the inertial sensor. Improve the measurement accuracy of inertial sensors.
  • the local storage of the unmanned control robot only stores the zero offset parameters of the inertial sensor at the working temperature, which can reduce the calibration and production costs of the inertial sensor.
  • FIG. 8 is a schematic structural diagram of an unmanned control robot provided in an embodiment of the present invention.
  • the unmanned robot 80 includes a memory 801, a processor 802, an inertial sensor 803, and a heating device 804.
  • the memory 801 includes a local storage device, and the local storage device is used to store the inertial sensor 803 at a working temperature.
  • the memory 801 stores program codes, and the processor 802 calls the program codes in the memory 801.
  • the processor 802 performs the following operations:
  • the processor 802 controls the heating device 804 to heat the inertial sensor 803 to a working temperature
  • the working temperature is higher than the ambient temperature of the unmanned robot.
  • the working temperature is between 60-90 degrees.
  • the processor 802 controls the heating device 804 to heat the inertial sensor 803 to the working temperature of the working temperature, specifically for:
  • the processor 802 controls the heating device 804 to heat the inertial sensor 803 to the working temperature.
  • the heating device 804 is a heating resistor.
  • the processor 802 controls the heating device 804 to heat the inertial sensor 803 to the working temperature of the working temperature, specifically for:
  • the processor 802 controls the heating device 804 to heat the inertial sensor 803 to the working temperature within a preset time.
  • the processor 802 controls the heating device 804 to heat the inertial sensor 803 to the working temperature within a preset time
  • the preset time is not more than 30 seconds.
  • the processor 802 controls the heating device 804 to heat the inertial sensor 803 to the working temperature of the working temperature, specifically for:
  • the processor 802 controls the heating device 804 to heat the inertial sensor 803 to a reference temperature lower than the operating temperature according to the maximum heating power of the heating device 804;
  • a closed-loop heating control strategy is adopted to control the heating device 804 to heat the inertial sensor 803 to the working temperature.
  • the closed-loop heating control strategy includes a PI control strategy.
  • the inertial sensor 803 when the processor 802 controls the heating device 804 to heat the inertial sensor 803 with the maximum power, the inertial sensor 803 at least increases the temperature at a heating rate not lower than a preset heating rate.
  • the preset heating rate is greater than or equal to 5 degrees when the inertial sensor 804 increases the temperature at least at a preset heating rate. /second.
  • the processor 802 refuses to respond to the motion control instruction sent by the control terminal.
  • the processor 802 can control the heating device 804 to heat the inertial sensor 803 to the operating temperature within a preset time, so that the processor 802 only needs to perform sensing data output from one operating temperature of the inertial sensor 803. Compensation can improve the measurement accuracy of the inertial sensor 803.
  • the memory 801 only stores the zero offset parameters corresponding to the inertial sensor 803 at the working temperature, which can reduce the production cost of the inertial sensor 803.
  • the embodiment of the present invention also provides an unmanned control robot system, the unmanned control robot system includes:
  • the unmanned control robot provided in the foregoing embodiment
  • control terminal is used to respond to the user's control operation and control the drone control robot.
  • the unmanned control robot includes at least one of the following: unmanned aerial vehicles, unmanned vehicles, and unmanned ships.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé de chauffage destiné à un capteur inertiel d'un robot sans personnel. Le procédé de chauffage destiné à un capteur inertiel d'un robot sans personnel consiste : à amener un dispositif de chauffage à chauffer un capteur inertiel à une température de travail ; à obtenir des données de détection délivrées par le capteur inertiel à la température de travail ; à obtenir un paramètre de polarisation du capteur inertiel à la température de travail à partir d'un dispositif de stockage local du robot sans personnel ; à compenser les données de détection en fonction du paramètre de polarisation afin d'obtenir des données de détection compensées ; et à effectuer un fonctionnement de positionnement sur le robot sans personnel en fonction des données de détection compensées. L'utilisation du procédé peut réduire efficacement les coûts d'étalonnage et de production des capteurs inertiels.
PCT/CN2019/114135 2019-10-29 2019-10-29 Procédé de chauffage pour capteur inertiel de robot sans personnel Ceased WO2021081781A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201980007911.8A CN111656141A (zh) 2019-10-29 2019-10-29 一种无人控制机器人的惯性传感器加热方法
PCT/CN2019/114135 WO2021081781A1 (fr) 2019-10-29 2019-10-29 Procédé de chauffage pour capteur inertiel de robot sans personnel

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Application Number Priority Date Filing Date Title
PCT/CN2019/114135 WO2021081781A1 (fr) 2019-10-29 2019-10-29 Procédé de chauffage pour capteur inertiel de robot sans personnel

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112629562A (zh) * 2020-12-24 2021-04-09 广州导远电子科技有限公司 一种基于imu传感器的组装补偿方法及装置

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JPS563568B2 (fr) * 1977-12-09 1981-01-26
US4901918A (en) * 1989-02-27 1990-02-20 Gas Research Institute Adaptive anticipator mechanism for limiting room temperature swings
CN205175415U (zh) * 2015-10-30 2016-04-20 深圳市大疆创新科技有限公司 惯性测量单元及应用该惯性测量单元的可移动装置
CN107003133A (zh) * 2015-10-30 2017-08-01 深圳市大疆创新科技有限公司 惯性测量单元及应用该惯性测量单元的可移动装置
CN107533339A (zh) * 2015-04-20 2018-01-02 深圳市大疆创新科技有限公司 用于对传感器操作进行热调节的系统和方法
CN108286987A (zh) * 2017-11-30 2018-07-17 深圳市科卫泰实业发展有限公司 一种无人机飞控模块mems运动传感器的校准方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS563568B2 (fr) * 1977-12-09 1981-01-26
US4901918A (en) * 1989-02-27 1990-02-20 Gas Research Institute Adaptive anticipator mechanism for limiting room temperature swings
CN107533339A (zh) * 2015-04-20 2018-01-02 深圳市大疆创新科技有限公司 用于对传感器操作进行热调节的系统和方法
CN205175415U (zh) * 2015-10-30 2016-04-20 深圳市大疆创新科技有限公司 惯性测量单元及应用该惯性测量单元的可移动装置
CN107003133A (zh) * 2015-10-30 2017-08-01 深圳市大疆创新科技有限公司 惯性测量单元及应用该惯性测量单元的可移动装置
CN108286987A (zh) * 2017-11-30 2018-07-17 深圳市科卫泰实业发展有限公司 一种无人机飞控模块mems运动传感器的校准方法

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