this narration is wrong

This day Guo Yuan was excitedly waiting for Huang Sheng to come over.

In the end, Huang Sheng didn't wait, but he did wait for two soldiers.

Things start from last night.

Director Liu's immediate boss is Mr. Chen. Mr. Chen has a friend who is the chief engineer of a certain base. There was something wrong with that base last night.

At that time, a tense meeting was held in the conference room of the base.

There were not many people in the conference room, only 4 people, but the atmosphere was extremely serious.

Among these four people, there is an old man with white beard and hair. His name is An Weimin and he is the chief engineer of this base.

Two of the other three were dressed in military uniforms, and one of them had a fair and clean appearance, which was a bit like Wu Zhe in the soldier assault. Coincidentally, his name was also Wu Zhe.

The other one looks over 40 years old and has the rank of a colonel. The other one is an old man with gray hair, who is about the same age as An Weimin and wears reading glasses.

"Old Yu, where is the problem now? Do we have the ability to solve it, and why didn't we discover this problem before." An Weimin asked first.

As the chief engineer of this base, An Weimin must take charge of the overall situation and be responsible for the results.

Lao Yu, who was wearing reading glasses, had an ugly face, and he couldn't hide the anxious look in his eyes.

"Old An, let's not talk about it, the most important thing now is to solve this problem, and it won't be too late to do the review after the project is over.

Now the project acceptance is not passed, and the BUG of the posture balance algorithm cannot be delivered, and our efforts for more than two years may be in vain.

After the technical team located the BUG, ​​the evaluation concluded that all the architectural design of the attitude perception module must be refactored, and it is basically impossible to solve this problem in the short term. "Old Yu said.

After listening to Lao Yu's words, the faces of Wu Zhe and the middle-aged senior colonel changed slightly. This project was originally scheduled to be accepted in early May, and then it will be delivered to the military for training and training to verify the performance of the equipment on the actual battlefield.

And this middle-aged man with the rank of colonel is the leader of a certain regiment of the military. He came here today to inspect the status of the project in advance and prepare for the next acceptance. The man-machine crashed because of the crosswind!

At that time, everyone in the demo field was confused, what was going on?A gust of cross wind actually overturned the latest military equipment drone?

How dare you come up with this level?

Colonel Zhu Yi's inner dissatisfaction was written all over his face.

This equipment is that his regiment will soon receive new equipment, so it's the quality?

Let alone this kind of thing on the battlefield, it feels like losing points if you take it out for exercises.

But let’s face it, new equipment is always needed, and now that the drone has crashed, we must quickly come up with a solution.

"Mr. An, you should also understand that this matter is very important. We can't just procrastinate like this. You should at least take action instead of sitting in this small conference room smoking and worrying." Zhu Yi said nothing. You're welcome, mainly because the demonstration in the afternoon was too childish.

Wu Zhe, who was next to Zhu Yi, looked a little ugly, and wanted to explain a few words, but An Weimin, who was sitting at the top, stopped him with his eyes.

"Colonel Zhu, I understand that the technical team will definitely solve this matter in the next few days, and it will definitely be delivered according to the previously agreed time."

Although it is not clear where An Weimin's confidence comes from, based on An Weimin's reputation in the past, Zhu Yi decided to trust him first.

"I hope so, Mr. An, I'll take my leave first." After speaking, Zhu Yi got up and left the meeting room.

The remaining three people in the conference room looked at each other, but remained silent. Finally, An Weimin made a final decision and said, "Old Yu, you still need to continue to communicate with the technical team. We must find a solution, even if it is a leak-remedial solution. OK."

Old Yu Ben wanted to say something, but seeing the resoluteness on An Weimin's face, he also understood that he was cornered and there was no room for maneuver.

"Okay, I'll talk to them again, they don't want to go home today."

After Lao Yu left, An Weimin took out the last cigarette from the cigarette case, lit it, and smoked silently.

Seeing Lao An's appearance, Wu Zhe was also thinking of a countermeasure.

After a while, Wu Zhe suddenly thought of something, and he said to An Weimin: "Mr. An, we can ask for help!"

"Seek help from the outside world?"

"Yes, Mr. An's problem with our current drone can actually be attributed to a problem with the attitude balance algorithm. Didn't Mr. Chen, who was on the rocket launch before, ask outsiders to help improve the attitude balance algorithm?

It can be seen that there are a lot of talents outside. If it is not enough, you can ask Mr. Chen to see who was the one who helped upgrade the posture balance algorithm last time. Let's ask him for help. "

Hearing Wu Zhe's suggestion, An Weimin was about to deliver the cigarettes he was going to smoke when he stopped in mid-air.

yes!This may be a good idea, but it is only a part of the algorithm, not the whole project, and it is normal to cooperate with external parties.

An Weimin put out the cigarette in his hand, took out his mobile phone and dialed Mr. Chen's number.

At this time, Mr. Chen was thinking about Huang Sheng.

Huang Sheng can also be ranked among the top three mechanical engineers in their base.

It's just that some time ago, due to a lung infection, the whole body's physical strength was not as good as before, and I couldn't continue to engage in high-intensity work.

The work at the base was too intense, so Guo Yuan just asked to come over. Director Liu thought about it and thought it would be good to let Huang Sheng go to Guo Yuan's side.

First of all, they have cooperated with Guo Yuan many times, and they know Guo Yuan well. They know what kind of person Guo Yuan is, and he will not treat Huang Sheng badly.

Another thing is that Future Technology is a company with family and country feelings. Letting Huang Sheng go to Future Technology can be regarded as continuing to contribute to the country.

"Jingle bell~"

The sudden ringtone of the mobile phone interrupted Chen Lao's thoughts.

When Mr. Chen picked up the phone, his old friend An Weimin's anxious voice came from the receiver: "Old Chen, something happened to me, please help!"

"What's the rush?" Old Chen asked in a daze.

"That's right, aren't we making a large twin-tailed drone here? It was going very smoothly and it turned out"

An Weimin told Mr. Chen all the problems he encountered.

After listening to it, Mr. Chen pondered for a moment and asked, "Is it a problem with the posture balance algorithm?"

"Yes, didn't you invite foreign aid to upgrade the posture balance algorithm? I want to borrow the talents who can help you upgrade the posture balance algorithm."

"That's it! It's a coincidence that this person is in Hangcheng, very close to you."

"What? He's in Hangtown! Great!"

"Don't rush to be happy, he is the boss of a big company, so he may not have time to help you."

"The boss of a big company? What company?"

"future technology."

"Future technology! Is it this young man? He also made the star engine we use?" An Weimin asked.

"Correct."

"But I don't have time to grind here. I'll ask someone to go to their company to ask! If he is free, he can go directly with our people. If he is not free, I will show him the algorithm of the corresponding part and let him know He helped me to change it."

"Well, you can figure it out! Treat him better. He is our important partner. If you make him feel wronged, I won't let you off easily."

"I know, I know it in my heart." After speaking, An Weimin hung up the phone.

His gaze returned to Guo Yuan.

Guo Yuan saw that the two soldiers who came suddenly looked confused.

Guo Yuan didn't understand why they came to him until he heard what the two said about their visit.

Guo Yuan thought about it and decided to help.

Don't look at the monk's face and look at the Buddha's face, old Chen still has to give face.

Besides, it is not a big problem to upgrade the attitude balance algorithm of the drone.

And the two soldiers have said that the base is not far from Hangzhou.

Guo Yuan thought about it for a while, and it would take about 2 or 3 days to get it done.

So Guo Yuan explained his work, took his laptop and left with the two of them.

This time I didn't even take the plane, just got in the car and walked for 2 hours.

For about half an hour on the road, Guo Yuan put on a blindfold.

After arriving at the base, Wu Zhe was in charge of receiving Guo Yuan.

Guo Yuan had a weird expression after learning about this person's name and job. Isn't this really Wu Zhe from Soldiers Assault?This is too similar, right?The key names are all the same.

Wu Zhe seemed to see through Guo Yuan's thoughts, and he said with an embarrassed smile: "Mr. Guo, many people say that I am like Wu Zhe in Soldier Assault."

"Then what does Captain Wu think?"

"I feel a bit like it myself." He laughed out loud after he finished speaking.

Guo Yuan also laughed.

The relationship between the two has also drawn a lot because of this.

"Mr. Guo, this is the project information. You also need to review the project as a whole. I'll introduce it to you when I'm done."

"Okay, let me take a look first."

Guo Yuan sat in his seat and looked through the information in his hand first.

After spending more than half an hour, Guo Yuan roughly looked through the information at hand.

These data are obviously not all, only the part of the flight control algorithm that I have the authority to view, and the content in it simply mentions some information about the drone.

The front part of the document introduces the overall shape of the UAV, as well as the power system, and introduces the overall structure and process of the algorithm to control the power system.

Guo Yuan first focused on the design of the flight control system, including various types of sensors on the aircraft.

Gyroscope, barometer, electronic compass, GPS, angular velocity sensor, attitude sensor, etc.

The data collected by these sensors is used as the raw data for the calculation of the posture balance algorithm.

Guo Yuan didn't understand this part before, but the sensor data on the drone is much simpler than that on the rocket. After reading this part, Guo Yuan quickly grasped the key.

He has roughly understood the overall design idea of ​​this large-scale two-tailed set, which is not complicated. Of course, the most complicated part of the algorithm is not the architecture, but the underlying implementation part. How to efficiently and quickly use the collected sensor data to calculate It is the key part to develop new power system control variables.

Guo Yuan found that he is quite good now, even without 01, he can analyze many things independently.

Of course, the most critical part still needs to come from 01.

Then Guo Yuan turned on his laptop.

When Guo Yuan was about to study the implementation of the algorithm in detail, Wu Zhe came back after finishing his work.

Wu Zhe came over and said to Guo Yuan: "Okay, Mr. Guo will introduce this part to you."

Guo Yuan stopped what he was doing and put down the mouse.

"I see that you are already looking at the algorithm part. I think you have a general understanding of the idea of ​​​​the algorithm, so I will not repeat the previous content. I will just introduce you to the performance requirements and application scenarios of the algorithm, and finally explain it to you. Yesterday's BUG reproduced the scene and logic design flaws."

Guo Yuan opened the notepad on his notebook and prepared to record in detail the key content that Wu Zhe would say next. Although the design and implementation of the algorithm is not difficult for him, the algorithm is to serve the project and needs to meet the needs of the project as the first test standard.

Following Wu Zhe's introduction, Guo Yuan gradually understood the current dilemma that An Weimin's group was facing, and also understood what the solution they were implementing now.

When the data collected by the attitude sensor is processed by the algorithm, identification errors occur, which leads to errors in the control data output by the algorithm, causing abnormal attitude control of the UAV, and then the aircraft has an abnormal flight attitude, rolls, and crashes.

An Weimin wanted to redesign the basic structure of the algorithm and then redevelop it. It cannot be said that this is not good, but who can guarantee that the refactored algorithm is bug-free.

Moreover, after the new algorithm is developed, it needs to be tested and verified. The project team cannot afford to wait for this time period.

After understanding the difficulties of the project, Guo Yuan came to the office that Wu Zhe had prepared for him, and began to study the attitude balance algorithm for this large twin-tailed drone.

At present, the attitude balance algorithm used by drones uses the Kalman filter algorithm to calculate the pitch angle, roll angle, and corresponding angular velocity offset, and then release the calculated attitude to the attitude controller to control the flight stability. , to ensure flight stability.

01 quickly analyzed the relevant algorithm, and after figuring out the specific details of the algorithm, all the contents of this algorithm were clearly displayed in front of him.

Wu Zhe also found a logical explanation in the algorithm for the BUG recurrence path mentioned by Wu Zhe.

Guo Yuan, who understood everything, turned the data back to the previous drone model diagram, and asked 01 to start simulating the process from sensors to algorithms, and then to attitude controller and power unit when the external airflow changes.

The entire link was simulated over and over again at 01.

Various variables and factors are applied on the 01 side, acting on the UAV model.

The algorithm is like a villain bearing all these external forces. After bearing it, the drone can work normally, otherwise it will appear abnormal.

With the simulation of one case after another, the algorithm logic in 01 began to change, and the logic nodes were constantly being updated.

When Wu Zhe came over, he saw Guo Yuan's fingers typing rapidly on the keyboard, and the code on the screen was related to the posture balance algorithm.

"Have you got an idea so soon?" Wu Zhe thought with a look of shock. (end of this chapter)