CN112937889B - Fault cause determining method and device - Google Patents
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Abstract
The application discloses a fault cause determining method and device. Wherein the method comprises the following steps: acquiring a fusion speed, a GPS speed and a reference speed of the flying equipment, wherein the fusion speed is determined based on the GPS speed, the heading information and the IMU speed; the reference speed is calculated according to a first position of the flying device at a first moment, a second position of the flying device at a second moment and a time period spent by the flying device flying from the first position to the second position in the flying log; and when the absolute value of the first difference value of the GPS speed and the fusion speed is larger than a first preset threshold value and the absolute value of the second difference value of the GPS speed and the reference speed is larger than a second preset threshold value, determining that the fault is caused by the abnormal GPS speed. The unmanned aerial vehicle fault confirmation method and device solve the technical problem that the confirmation efficiency is low by confirming the cause of unmanned aerial vehicle faults through manual analysis.
Description
Technical Field
The application relates to the field of unmanned aerial vehicles, in particular to a fault cause determining method and device.
Background
In the prior art, after unmanned aerial vehicle fault, when analyzing unmanned aerial vehicle fault reason, often rely on the manual work to carry out the mode of analysis to the flight log through software and confirm, however, this kind of mode work load is great, and the time cost is higher, and the efficiency of analysis unmanned aerial vehicle fault reason is lower.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the application provides a fault cause determining method and device, which are used for at least solving the technical problem of low confirming efficiency when confirming the cause of unmanned aerial vehicle faults through manual analysis.
According to an aspect of the embodiments of the present application, there is provided a fault cause determining method, including: acquiring a fusion speed, a GPS speed and a reference speed of the flight equipment, wherein the fusion speed is determined based on the GPS speed, the heading information and the IMU speed; the reference speed is calculated according to a first position of the flying device at a first moment, a second position of the flying device at a second moment and a time period spent by the flying device flying from the first position to the second position in a flight log; and when the absolute value of the first difference value between the GPS speed and the fusion speed is larger than a first preset threshold value and the absolute value of the second difference value between the GPS speed and the reference speed is larger than a second preset threshold value, determining that the fault is caused by the abnormal GPS speed.
Optionally, before determining that the fault is caused by the GPS speed anomaly, it is further required to confirm that the absolute value of the second difference is greater than the absolute value of a third difference, the third difference being a difference between the fusion speed and the reference speed.
Optionally, the GPS speed is obtained by calculating a received satellite signal according to a doppler effect, the IMU speed is obtained by measuring an IMU in a flight device, and the direction of the IMU speed is determined by taking the flight device itself as a coordinate system.
Optionally, the GPS speed includes a first vertical speed and a first horizontal speed, the IMU speed includes a second vertical speed and a second horizontal speed, the fusion speed includes a fusion vertical speed and a fusion horizontal speed, the fusion vertical speed is determined based on the first vertical speed and the second vertical speed, and the fusion horizontal speed is determined based on the first horizontal speed, the heading information, and the second horizontal speed; the first difference comprises a first horizontal difference and a first vertical difference, the second difference comprises a second horizontal difference and a second vertical difference, the reference speed comprises a reference horizontal speed and a reference vertical speed, the third difference comprises a third horizontal difference and a third vertical difference, the first horizontal difference is the difference between the first horizontal speed and the fusion horizontal speed, the second horizontal difference is the difference between the first horizontal speed and the reference horizontal speed, the first vertical difference is the difference between the first vertical speed and the fusion vertical speed, the second vertical difference is the difference between the first vertical speed and the reference vertical speed, the third horizontal difference is the difference between the fusion horizontal speed and the reference horizontal speed, and the third vertical difference is the difference between the fusion vertical speed and the reference horizontal speed.
Optionally, after determining that the fault is caused by the GPS speed anomaly, the method further comprises: and determining the reason of the GPS speed abnormality according to satellite signals received by the flight equipment.
Optionally, determining the cause of the GPS speed anomaly from satellite signals received by the flying device includes: and when the satellite signal is smaller than the preset intensity, determining that the satellite signal causes the abnormal GPS speed.
Optionally, when the satellite signal is not less than a preset intensity, the method further includes: judging whether the flying equipment is in an RTK state, if not, determining that the flying equipment exits from the RTK state to cause the GPS speed to be abnormal, wherein the RTK state is a state that the flying equipment normally receives the satellite signals and RTK differential data.
Optionally, the first difference comprises: an average value of difference values of the GPS speed corresponding to each preset time point and the fusion speed corresponding to each preset time point in a preset time period; the second difference comprises: an average value of the difference values between the GPS speeds corresponding to the respective preset time points and the reference speeds corresponding to the respective preset time points; the third difference comprises: and the average value of the difference value between the fusion speed corresponding to each preset time point and the reference speed corresponding to each preset time point.
According to an aspect of the embodiments of the present application, there is provided a fault cause determining method, including: acquiring a fusion speed, a GPS speed and a reference speed of the flight equipment, wherein the fusion speed is determined based on the GPS speed, the heading information and the IMU speed; the reference speed is calculated according to a first position of the flying device at a first moment, a second position of the flying device at a second moment and a time period spent by the flying device flying from the first position to the second position in a flight log; and when the absolute value of the first difference value between the GPS speed and the fusion speed is larger than a first preset threshold value, determining whether the fault is caused by the abnormal GPS speed according to the GPS speed, the fusion speed and the reference speed.
Optionally, the GPS speed is obtained by calculating a received satellite signal according to a doppler effect, the IMU speed is obtained by measuring an IMU in the flying device, and the direction of the IMU speed is determined by using the flying device itself as a coordinate system.
According to an aspect of the embodiments of the present application, there is provided a fault alarm method, including: acquiring a fusion speed, a GPS speed and a reference speed of the flight equipment, wherein the fusion speed is determined based on the GPS speed, the heading information and the IMU speed; the reference speed is calculated according to a first position of the flying device at a first moment, a second position of the flying device at a second moment and a time period spent by the flying device flying from the first position to the second position in a flight log; and sending alarm information when the absolute value of the first difference value between the GPS speed and the fusion speed is larger than a first preset threshold value and the absolute value of the second difference value between the GPS speed and the reference speed is larger than a second preset threshold value.
According to an aspect of the embodiments of the present application, there is provided a failure cause determining apparatus, including: the acquisition module is used for acquiring the fusion speed, the GPS speed and the reference speed of the flight equipment, wherein the fusion speed is determined based on the GPS speed, the heading information and the IMU speed; the reference speed is calculated according to a first position of the flying device at a first moment, a second position of the flying device at a second moment and a time period spent by the flying device flying from the first position to the second position in a flight log; and the determining module is used for determining that the fault is caused by the abnormal GPS speed when the absolute value of the first difference value of the GPS speed and the fusion speed is larger than a first preset threshold value and the absolute value of the second difference value of the GPS speed and the reference speed is larger than a second preset threshold value.
According to an aspect of the embodiments of the present application, there is provided a storage medium, where the storage medium includes a stored program, and when the program runs, the device where the storage medium is controlled to execute the above-mentioned failure cause determining method.
According to an aspect of the embodiments of the present application, there is provided a processor, configured to execute a program, where the program executes the method for determining a cause of failure described above.
According to an aspect of the embodiments of the present application, there is provided a computer device, including a memory and a processor, where the memory stores a computer program, and the processor executes the computer program to implement the method for determining a cause of failure described above.
In the embodiment of the application, acquiring the fusion speed, the GPS speed and the reference speed of the flight equipment, wherein the fusion speed is determined based on the GPS speed, the heading information and the IMU speed; the reference speed is calculated according to a first position of the flying device at a first moment, a second position of the flying device at a second moment and a time period spent by the flying device flying from the first position to the second position in a flight log; when the absolute value of the first difference value of the GPS speed and the fusion speed is larger than a first preset threshold value, and the absolute value of the second difference value of the GPS speed and the reference speed is larger than a second preset threshold value, determining a mode that faults are caused by abnormal GPS speed, and confirming the reasons of the faults through speed comparison of different types, so that the technical effect of confirming the reasons of the faults of the flying equipment according to a plurality of speed sources is achieved, and the technical problems that the unmanned aerial vehicle faults are confirmed through manual analysis and the confirming efficiency is low are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a flow chart of an alternative fault cause determination method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an alternative fault cause determination device according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an alternative computer device according to an embodiment of the present application.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
First, partial terms or terminology appearing in describing embodiments of the present application are applicable to the following explanation:
the IMU is Inertial measurement unit, and an inertial measurement unit is a device for measuring the three-axis attitude angle (or angular rate) and acceleration of an object.
RTK is Real-time kinematic, carrier phase difference technology, which is a difference method for processing the observed quantity of carrier phases of two measuring stations in Real time, and the carrier phases collected by a reference station are sent to a user receiver for solving difference settlement coordinates.
According to the embodiments of the present application, there is provided an embodiment of a failure cause determining method, it should be noted that the steps illustrated in the flowcharts of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different from that herein.
Fig. 1 is a flow chart of a fault cause determining method according to an embodiment of the present application, as shown in fig. 1, the method at least includes the following steps:
step S102, acquiring a fusion speed, a GPS speed and a reference speed of the flight equipment, wherein the fusion speed is determined based on the GPS speed, the heading information and the IMU speed; the reference speed is calculated according to a first position of the flying device at a first moment, a second position of the flying device at a second moment and a time period spent by the flying device flying from the first position to the second position in a flight log;
In some alternative embodiments of the present application, calculating the reference speed from a first location of the flying device in the flight log at a first time, a second location at a second time, and a length of time taken for the flying device to fly from the first location to the second location may be accomplished by: taking the quotient of the distance from the first position to the second position and the duration of the first moment and the second moment as the reference speed. Wherein the first time, the second time, the first location and the second location may be recorded in a flight log. When the reference speed is a horizontal speed, the first position and the second position are longitude and latitude positions, and when the reference speed is a vertical speed, the first position and the second position are vertical positions.
Step S104, when the absolute value of the first difference between the GPS speed and the fusion speed is greater than a first preset threshold, and the absolute value of the second difference between the GPS speed and the reference speed is greater than a second preset threshold, determining that the fault is caused by the abnormal GPS speed.
In some optional embodiments of the present application, the user may set the first preset threshold and the second preset threshold, where the first preset threshold may be 0.3m/s to 0.8m/s, and the second preset threshold may also be 0.3m/s to 0.8m/s. Optionally, before determining that the fault is caused by the GPS speed anomaly, it is further required to confirm that the absolute value of the second difference is greater than the absolute value of a third difference, the third difference being a difference between the fusion speed and the reference speed.
Optionally, the GPS speed is obtained by calculating a received satellite signal according to a doppler effect, the IMU speed is obtained by measuring an IMU in a flight device, and the direction of the IMU speed is determined by taking the flight device itself as a coordinate system.
Optionally, the GPS speed includes a first vertical speed and a first horizontal speed, the IMU speed includes a second vertical speed and a second horizontal speed, the fusion speed includes a fusion vertical speed and a fusion horizontal speed, the fusion vertical speed is determined based on the first vertical speed and the second vertical speed, and the fusion horizontal speed is determined based on the first horizontal speed, the heading information, and the second horizontal speed; the first difference comprises a first horizontal difference and a first vertical difference, the second difference comprises a second horizontal difference and a second vertical difference, the reference speed comprises a reference horizontal speed and a reference vertical speed, the third difference comprises a third horizontal difference and a third vertical difference, the first horizontal difference is the difference between the first horizontal speed and the fusion horizontal speed, the second horizontal difference is the difference between the first horizontal speed and the reference horizontal speed, the first vertical difference is the difference between the first vertical speed and the fusion vertical speed, the second vertical difference is the difference between the first vertical speed and the reference vertical speed, the third horizontal difference is the difference between the fusion horizontal speed and the reference horizontal speed, and the third vertical difference is the difference between the fusion vertical speed and the reference horizontal speed.
In some alternative embodiments of the present application, determining a fusion vertical velocity based on the first vertical velocity and the second vertical velocity may be accomplished by: taking the average value of the first vertical velocity and the second vertical velocity as the fusion vertical velocity or taking the square root of the first vertical velocity and the second vertical velocity as the fusion vertical velocity.
Alternatively, taking the square root of the first vertical velocity and the second vertical velocity as the fused vertical velocity may be achieved by: the first vertical velocity is a1, the second vertical velocity is b1, and the fusion vertical velocity is c1
Or->
Alternatively, determining a fused horizontal speed based on the first horizontal speed, the heading information, and the second horizontal speed may be accomplished by: and converting a second horizontal speed based on the self coordinate system of the flying device into a target horizontal speed based on the ground coordinate system based on the heading information and the second horizontal speed, wherein the average value of the first horizontal speed and the target horizontal speed is taken as the fusion horizontal speed, or the square root of the first horizontal speed and the target horizontal speed is taken as the fusion horizontal speed.
Alternatively, taking the square root of the first horizontal velocity and the target horizontal velocity as the fused horizontal velocity may be achieved by: a first horizontal velocity is a, a target horizontal velocity is b, and a fusion horizontal velocity is c, then
Or->
Optionally, after determining that the fault is caused by the GPS speed anomaly, the method further performs the steps of: and determining the reason of the GPS speed abnormality according to satellite signals received by the flight equipment.
Optionally, determining the cause of the abnormal GPS speed according to the satellite signal received by the flying device further comprises the following steps: and when the satellite signal is smaller than the preset intensity, determining that the satellite signal causes the abnormal GPS speed.
In some alternative embodiments of the present application, the satellite signal having a strength less than the preset strength may be that the number of satellites connected to the flying device is less than the preset number, and the number of satellites may also be directly 0. And when the satellite signal is smaller than the preset intensity, determining that the GPS speed is abnormal due to the satellite signal failure. After the first vertical speed is abnormal due to satellite signal failure, the flying height fluctuation of the flying equipment is caused; after the first horizontal speed of the flying device is abnormal due to satellite signal failure, the flying device deviates from a set course during flying.
It should be noted that, the above-mentioned determination of whether the satellite signal is less than the preset intensity may also be performed by determining the data frame before the time point corresponding to the GPS speed, that is, if the satellite signal is displayed normally in the current frame, the determination may also be performed by determining the data frame at the time point before the time point corresponding to the current frame, and if the satellite signal is displayed less than the preset intensity in the data frame before the current frame, it is determined that the GPS speed is abnormal due to the satellite signal. Wherein the frame is data recorded at one point in time.
Optionally, the data in the flight log is stored in frames, and during analysis, flight data such as GPS speed, IMU speed, and reference speed are acquired in chronological order from frame to frame.
Optionally, when the satellite signal is not less than the preset intensity, the method further comprises the following steps: judging whether the flying equipment is in an RTK state, if not, determining that the flying equipment exits from the RTK state to cause the GPS speed to be abnormal, wherein the RTK state is a state that the flying equipment normally receives the satellite signals and RTK differential data. After the first vertical speed is abnormal due to the fact that the RTK state is exited, the flying height fluctuation of the flying equipment is caused; exiting the RTK state may cause the flying device to deviate from a given course while flying after the first horizontal velocity anomaly of the flying device. Alternatively, when the flying device is judged to be still in the RTK state, it can be determined that the flying device is abnormal in the GPS vertical speed under the condition of normal positioning. The GPS vertical velocity anomaly may cause the flying device fly height to fluctuate. The RTK technology is established on the basis of timely processing carrier phases of two measuring stations (a reference station and a mobile station), and the reference station timely transmits the carrier observed quantity and the accurate coordinate information of the reference station to the mobile station through a data link. The mobile station uses the data from the reference station and the GPS satellite data received by the mobile station to calculate RTK differential data, and obtains the centimeter-level positioning result.
If the flying device is still in the RTK state, determining that the flying device has abnormal GPS speed under the condition that a positioning system is normal, and suggesting to replace the RTK module.
It should be noted that, the above-mentioned determination of whether the flight device is in the RTK state may be performed by determining a current data frame corresponding to the GPS speed, and if the current frame indicates that the flight device is not in the RTK state, determining that the flight device exits from the RTK state to cause the abnormal GPS speed, where the frame is data recorded at a time point.
Alternatively, the first difference may be: the average value of the difference values of the GPS speed corresponding to each preset time point and the fusion speed corresponding to each preset time point in the preset time period can be obtained by the average value of the difference values of the curve corresponding to the GPS speed and the curve corresponding to the fusion speed at each time point; the second difference may be: the average value of the difference values of the GPS speed corresponding to each preset time point and the reference speed corresponding to each preset time point can be obtained through the average value of the difference values corresponding to the curve corresponding to the GPS speed and the curve corresponding to the reference speed at each time point; the third difference may be: and the average value of the difference values of the fusion speeds corresponding to the preset time points and the reference speeds corresponding to the preset time points can be obtained through the average value of the difference values of the curve corresponding to the fusion speed and the curve corresponding to the reference speed at the time points.
In some optional real-time examples of the present application, each preset time point corresponds to a GPS speed, an IMU speed, a fusion speed, and a reference speed. In some optional embodiments of the present application, a curve with time as an abscissa and a data value as an ordinate may be fitted according to acquired data, such as a GPS speed, an IMU speed, a fusion speed, and a reference speed, so that an administrator can intuitively check the speed, and also analyze the fitting degree of the curve.
In the embodiment of the application, acquiring the fusion speed, the GPS speed and the reference speed of the flight equipment, wherein the fusion speed is determined based on the GPS speed, the heading information and the IMU speed; the reference speed is calculated according to a first position of the flying device at a first moment, a second position of the flying device at a second moment and a time period spent by the flying device flying from the first position to the second position in a flight log; when the absolute value of the first difference value of the GPS speed and the fusion speed is larger than a first preset threshold value, and the absolute value of the second difference value of the GPS speed and the reference speed is larger than a second preset threshold value, determining a mode that faults are caused by abnormal GPS speed, and confirming the reasons of the faults through speed comparison of different types, so that the technical effect of confirming the reasons of the faults of the flying equipment according to a plurality of speed sources is achieved, and the technical problems that the unmanned aerial vehicle faults are confirmed through manual analysis and the confirming efficiency is low are solved.
According to an aspect of the embodiments of the present application, there is provided a fault cause determining method, including at least the following steps:
step S202, acquiring a fusion speed, a GPS speed and a reference speed of the flying equipment, wherein the fusion speed is determined based on the GPS speed, the heading information and the IMU speed; the reference speed is calculated according to a first position of the flying device at a first moment, a second position of the flying device at a second moment and a time period spent by the flying device flying from the first position to the second position in a flight log;
step S204, when the absolute value of the first difference between the GPS speed and the fusion speed is greater than a first preset threshold, determining whether the fault is caused by the GPS speed abnormality according to the GPS speed, the fusion speed and the reference speed.
Optionally, the GPS speed is obtained by calculating a received satellite signal according to a doppler effect, the IMU speed is obtained by measuring an IMU in the flying device, and the direction of the IMU speed is determined by using the flying device itself as a coordinate system.
Optionally, determining whether the fault is caused by the GPS speed anomaly according to the GPS speed, the fusion speed and the reference speed may be achieved by: and when the absolute value of the second difference value between the GPS speed and the reference speed is larger than a second preset threshold value and the absolute value of the second difference value is larger than the absolute value of the third difference value, determining that the fault is caused by the abnormal GPS speed. The third difference is the difference between the fusion speed and the reference speed.
In some alternative embodiments of the present application, calculating the reference speed from a first location of the flying device in the flight log at a first time, a second location at a second time, and a length of time taken for the flying device to fly from the first location to the second location may be accomplished by: taking the quotient of the distance from the first position to the second position and the duration of the first moment and the second moment as the reference speed. Wherein the first time, the second time, the first location and the second location may be recorded in a flight log. When the reference speed is a horizontal speed, the first position and the second position are longitude and latitude positions, and when the reference speed is a vertical speed, the first position and the second position are vertical positions.
In some optional embodiments of the present application, the user may set the first preset threshold and the second preset threshold, where the first preset threshold may be 0.3m/s to 0.8m/s, and the second preset threshold may also be 0.3m/s to 0.8m/s. Optionally, before determining that the fault is caused by the GPS speed anomaly, it is further required to confirm that the absolute value of the second difference is greater than the absolute value of a third difference, the third difference being a difference between the fusion speed and the reference speed.
Optionally, the GPS speed includes a first vertical speed and a first horizontal speed, the IMU speed includes a second vertical speed and a second horizontal speed, the fusion speed includes a fusion vertical speed and a fusion horizontal speed, the fusion vertical speed is determined based on the first vertical speed and the second vertical speed, and the fusion horizontal speed is determined based on the first horizontal speed, the heading information, and the second horizontal speed; the first difference comprises a first horizontal difference and a first vertical difference, the second difference comprises a second horizontal difference and a second vertical difference, the reference speed comprises a reference horizontal speed and a reference vertical speed, the third difference comprises a third horizontal difference and a third vertical difference, the first horizontal difference is the difference between the first horizontal speed and the fusion horizontal speed, the second horizontal difference is the difference between the first horizontal speed and the reference horizontal speed, the first vertical difference is the difference between the first vertical speed and the fusion vertical speed, the second vertical difference is the difference between the first vertical speed and the reference vertical speed, the third horizontal difference is the difference between the fusion horizontal speed and the reference horizontal speed, and the third vertical difference is the difference between the fusion vertical speed and the reference horizontal speed.
In some alternative embodiments of the present application, determining a fusion vertical velocity based on the first vertical velocity and the second vertical velocity may be accomplished by: taking the average value of the first vertical velocity and the second vertical velocity as the fusion vertical velocity or taking the square root of the first vertical velocity and the second vertical velocity as the fusion vertical velocity.
Alternatively, taking the square root of the first vertical velocity and the second vertical velocity as the fused vertical velocity may be achieved by: the first vertical velocity is a1, the second vertical velocity is b1, and the fusion vertical velocity is c1
Or->
Alternatively, determining a fused horizontal speed based on the first horizontal speed, the heading information, and the second horizontal speed may be accomplished by: and converting a second horizontal speed based on the self coordinate system of the flying device into a target horizontal speed based on the ground coordinate system based on the heading information and the second horizontal speed, wherein the average value of the first horizontal speed and the target horizontal speed is taken as the fusion horizontal speed, or the square root of the first horizontal speed and the target horizontal speed is taken as the fusion horizontal speed.
Alternatively, taking the square root of the first horizontal velocity and the target horizontal velocity as the fused horizontal velocity may be achieved by: a first horizontal velocity is a, a target horizontal velocity is b, and a fusion horizontal velocity is c, then
Or->
Optionally, after determining that the fault is caused by the GPS speed anomaly, the method further performs the steps of: and determining the reason of the GPS speed abnormality according to satellite signals received by the flight equipment.
Optionally, determining the cause of the abnormal GPS speed according to the satellite signal received by the flying device further comprises the following steps: and when the satellite signal is smaller than the preset intensity, determining that the satellite signal causes the abnormal GPS speed.
In some alternative embodiments of the present application, the satellite signal having a strength less than the preset strength may be that the number of satellites connected to the flying device is less than the preset number, and the number of satellites may also be directly 0. And when the satellite signal is smaller than the preset intensity, determining that the GPS speed is abnormal due to the satellite signal failure. After the first vertical speed is abnormal due to satellite signal failure, the flying height fluctuation of the flying equipment is caused; after the first horizontal speed of the flying device is abnormal due to satellite signal failure, the flying device deviates from a set course during flying.
It should be noted that, the above-mentioned determination of whether the satellite signal is less than the preset intensity may also be performed by determining the data frame before the time point corresponding to the GPS speed, that is, if the satellite signal is displayed normally in the current frame, the determination may also be performed by determining the data frame at the time point before the time point corresponding to the current frame, and if the satellite signal is displayed less than the preset intensity in the data frame before the current frame, it is determined that the GPS speed is abnormal due to the satellite signal. Wherein the frame is data recorded at one point in time.
Optionally, the data in the flight log is stored in frames, and during analysis, flight data such as GPS speed, IMU speed, and reference speed are acquired in chronological order from frame to frame.
Optionally, when the satellite signal is not less than the preset intensity, the method further comprises the following steps: judging whether the flying equipment is in an RTK state, if not, determining that the flying equipment exits from the RTK state to cause the GPS speed to be abnormal, wherein the RTK state is a state that the flying equipment normally receives the satellite signals and RTK differential data. After the first vertical speed is abnormal due to the fact that the RTK state is exited, the flying height fluctuation of the flying equipment is caused; exiting the RTK state may cause the flying device to deviate from a given course while flying after the first horizontal velocity anomaly of the flying device. Alternatively, when the flying device is judged to be still in the RTK state, it can be determined that the flying device is abnormal in the GPS vertical speed under the condition of normal positioning. The GPS vertical velocity anomaly may cause the flying device fly height to fluctuate. Wherein the RTK state is a state in which the flying device is being positioned normally using RTK technology.
It should be noted that, the above-mentioned determination of whether the flight device is in the RTK state may be performed by determining a current data frame corresponding to the GPS speed, and if the current frame indicates that the flight device is not in the RTK state, determining that the flight device exits from the RTK state to cause the abnormal GPS speed, where the frame is data recorded at a time point.
Alternatively, the first difference may be: the average value of the difference values of the GPS speed corresponding to each preset time point and the fusion speed corresponding to each preset time point in the preset time period can be obtained by the average value of the difference values of the curve corresponding to the GPS speed and the curve corresponding to the fusion speed at each time point; the second difference may be: the average value of the difference values of the GPS speed corresponding to each preset time point and the reference speed corresponding to each preset time point can be obtained through the average value of the difference values corresponding to the curve corresponding to the GPS speed and the curve corresponding to the reference speed at each time point; the third difference may be: and the average value of the difference values of the fusion speeds corresponding to the preset time points and the reference speeds corresponding to the preset time points can be obtained through the average value of the difference values of the curve corresponding to the fusion speed and the curve corresponding to the reference speed at the time points.
In some optional real-time examples of the present application, each preset time point corresponds to a GPS speed, an IMU speed, a fusion speed, and a reference speed. In some optional embodiments of the present application, a curve with time as an abscissa and a data value as an ordinate may be fitted according to acquired data, such as a GPS speed, an IMU speed, a fusion speed, and a reference speed, so that an administrator can intuitively check the speed, and also analyze the fitting degree of the curve.
According to an aspect of the embodiments of the present application, there is provided a fault alarm method, including at least the steps of:
step S1, acquiring a fusion speed, a GPS speed and a reference speed of flight equipment, wherein the fusion speed is determined based on the GPS speed, the heading information and the IMU speed; the reference speed is calculated according to a first position of the flying device at a first moment, a second position of the flying device at a second moment and a time period spent by the flying device flying from the first position to the second position in a flight log;
and step S2, when the absolute value of the first difference value of the GPS speed and the fusion speed is larger than a first preset threshold value, and the absolute value of the second difference value of the GPS speed and the reference speed is larger than a second preset threshold value, alarm information is sent.
Optionally, the alarm information is used for prompting a user that the fault is caused by the abnormal GPS speed.
In some optional embodiments of the present application, the user may set the first preset threshold and the second preset threshold, where the first preset threshold may be 0.3m/s to 0.8m/s, and the second preset threshold may also be 0.3m/s to 0.8m/s. Optionally, before determining that the fault is caused by the GPS speed anomaly, it is further required to confirm that the absolute value of the second difference is greater than the absolute value of a third difference, the third difference being a difference between the fusion speed and the reference speed.
Optionally, the GPS speed is obtained by calculating a received satellite signal according to a doppler effect, the IMU speed is obtained by measuring an IMU in a flight device, and the direction of the IMU speed is determined by taking the flight device itself as a coordinate system.
Optionally, the GPS speed includes a first vertical speed and a first horizontal speed, the IMU speed includes a second vertical speed and a second horizontal speed, the fusion speed includes a fusion vertical speed and a fusion horizontal speed, the fusion vertical speed is determined based on the first vertical speed and the second vertical speed, and the fusion horizontal speed is determined based on the first horizontal speed, the heading information, and the second horizontal speed; the first difference comprises a first horizontal difference and a first vertical difference, the second difference comprises a second horizontal difference and a second vertical difference, the reference speed comprises a reference horizontal speed and a reference vertical speed, the third difference comprises a third horizontal difference and a third vertical difference, the first horizontal difference is the difference between the first horizontal speed and the fusion horizontal speed, the second horizontal difference is the difference between the first horizontal speed and the reference horizontal speed, the first vertical difference is the difference between the first vertical speed and the fusion vertical speed, the second vertical difference is the difference between the first vertical speed and the reference vertical speed, the third horizontal difference is the difference between the fusion horizontal speed and the reference horizontal speed, and the third vertical difference is the difference between the fusion vertical speed and the reference horizontal speed.
In some alternative embodiments of the present application, determining a fusion vertical velocity based on the first vertical velocity and the second vertical velocity may be accomplished by: taking the average value of the first vertical velocity and the second vertical velocity as the fusion vertical velocity or taking the square root of the first vertical velocity and the second vertical velocity as the fusion vertical velocity.
Alternatively, taking the square root of the first vertical velocity and the second vertical velocity as the fused vertical velocity may be achieved by: the first vertical velocity is a1, the second vertical velocity is b1, and the fusion vertical velocity is c1
Or->
Alternatively, determining a fused horizontal speed based on the first horizontal speed, the heading information, and the second horizontal speed may be accomplished by: and converting a second horizontal speed based on the self coordinate system of the flying device into a target horizontal speed based on the ground coordinate system based on the heading information and the second horizontal speed, wherein the average value of the first horizontal speed and the target horizontal speed is taken as the fusion horizontal speed, or the square root of the first horizontal speed and the target horizontal speed is taken as the fusion horizontal speed.
Alternatively, taking the square root of the first horizontal velocity and the target horizontal velocity as the fused horizontal velocity may be achieved by: a first horizontal velocity is a, a target horizontal velocity is b, and a fusion horizontal velocity is c, then
Or->
Optionally, after determining that the fault is caused by the GPS speed anomaly, the method further performs the steps of: and determining the reason of the GPS speed abnormality according to satellite signals received by the flight equipment.
Optionally, determining the cause of the abnormal GPS speed according to the satellite signal received by the flying device further comprises the following steps: and when the satellite signal is smaller than the preset intensity, determining that the satellite signal causes the abnormal GPS speed.
In some alternative embodiments of the present application, the satellite signal having a strength less than the preset strength may be that the number of satellites connected to the flying device is less than the preset number, and the number of satellites may also be directly 0. And when the satellite signal is smaller than the preset intensity, determining that the GPS speed is abnormal due to the satellite signal failure. After the first vertical speed is abnormal due to satellite signal failure, the flying height fluctuation of the flying equipment is caused; after the first horizontal speed of the flying device is abnormal due to satellite signal failure, the flying device deviates from a set course during flying.
It should be noted that, the above-mentioned determination of whether the satellite signal is less than the preset intensity may also be performed by determining the data frame before the time point corresponding to the GPS speed, that is, if the satellite signal is displayed normally in the current frame, the determination may also be performed by determining the data frame at the time point before the time point corresponding to the current frame, and if the satellite signal is displayed less than the preset intensity in the data frame before the current frame, it is determined that the GPS speed is abnormal due to the satellite signal. Wherein the frame is data recorded at one point in time.
Optionally, the data in the flight log is stored in frames, and during analysis, flight data such as GPS speed, IMU speed, and reference speed are acquired in chronological order from frame to frame.
Optionally, when the satellite signal is not less than the preset intensity, the method further comprises the following steps: judging whether the flying equipment is in an RTK state, if not, determining that the flying equipment exits from the RTK state to cause the GPS speed to be abnormal, wherein the RTK state is a state that the flying equipment normally receives the satellite signals and RTK differential data. After the first vertical speed is abnormal due to the fact that the RTK state is exited, the flying height fluctuation of the flying equipment is caused; exiting the RTK state may cause the flying device to deviate from a given course while flying after the first horizontal velocity anomaly of the flying device. Alternatively, when the flying device is judged to be still in the RTK state, it can be determined that the flying device is abnormal in the GPS vertical speed under the condition of normal positioning. The GPS vertical velocity anomaly may cause the flying device fly height to fluctuate.
The RTK technology is established on the basis of timely processing carrier phases of two measuring stations (a reference station and a mobile station), and the reference station timely transmits the carrier observed quantity and the accurate coordinate information of the reference station to the mobile station through a data link. The mobile station uses the data from the reference station and the GPS satellite data received by the mobile station to calculate RTK differential data, and obtains the centimeter-level positioning result.
It should be noted that, the above-mentioned determination of whether the flight device is in the RTK state may be performed by determining a current data frame corresponding to the GPS speed, and if the current frame indicates that the flight device is not in the RTK state, determining that the flight device exits from the RTK state to cause the abnormal GPS speed, where the frame is data recorded at a time point.
Alternatively, the first difference may be: the average value of the difference values of the GPS speed corresponding to each preset time point and the fusion speed corresponding to each preset time point in the preset time period can be obtained by the average value of the difference values of the curve corresponding to the GPS speed and the curve corresponding to the fusion speed at each time point; the second difference may be: the average value of the difference values of the GPS speed corresponding to each preset time point and the reference speed corresponding to each preset time point can be obtained through the average value of the difference values corresponding to the curve corresponding to the GPS speed and the curve corresponding to the reference speed at each time point; the third difference may be: and the average value of the difference values of the fusion speeds corresponding to the preset time points and the reference speeds corresponding to the preset time points can be obtained through the average value of the difference values of the curve corresponding to the fusion speed and the curve corresponding to the reference speed at the time points.
In some optional real-time examples of the present application, each preset time point corresponds to a GPS speed, an IMU speed, a fusion speed, and a reference speed. In some optional embodiments of the present application, a curve with time as an abscissa and a data value as an ordinate may be fitted according to acquired data, such as a GPS speed, an IMU speed, a fusion speed, and a reference speed, so that an administrator can intuitively check the speed, and also analyze the fitting degree of the curve.
According to an embodiment of the present application, there is also provided a fault cause determining apparatus for implementing the above fault cause determining method, as shown in fig. 2, the apparatus includes: an acquisition module 22, a determination module 24, wherein:
an acquisition module 22, configured to acquire a fusion speed, a GPS speed, and a reference speed of the flight device, where the fusion speed is determined based on the GPS speed, the heading information, and the IMU speed; the reference speed is calculated according to a first position of the flying device at a first moment, a second position of the flying device at a second moment and a time period spent by the flying device flying from the first position to the second position in a flight log;
and the determining module 24 is configured to determine that the fault is caused by the abnormal GPS speed when the absolute value of the first difference between the GPS speed and the fusion speed is greater than a first preset threshold and the absolute value of the second difference between the GPS speed and the reference speed is greater than a second preset threshold.
Optionally, the apparatus further includes a confirmation module configured to confirm that an absolute value of the second difference is greater than an absolute value of a third difference, the third difference being a difference between the fusion speed and the reference speed, before determining that the fault is caused by the GPS speed anomaly.
Optionally, the GPS speed is obtained by calculating a received satellite signal according to a doppler effect, the IMU speed is obtained by measuring an IMU in a flight device, and the direction of the IMU speed is determined by taking the flight device itself as a coordinate system.
Optionally, the GPS speed includes a first vertical speed and a first horizontal speed, the IMU speed includes a second vertical speed and a second horizontal speed, the fusion speed includes a fusion vertical speed and a fusion horizontal speed, the fusion vertical speed is determined based on the first vertical speed and the second vertical speed, and the fusion horizontal speed is determined based on the first horizontal speed, the heading information, and the second horizontal speed; the first difference comprises a first horizontal difference and a first vertical difference, the second difference comprises a second horizontal difference and a second vertical difference, the reference speed comprises a reference horizontal speed and a reference vertical speed, the third difference comprises a third horizontal difference and a third vertical difference, the first horizontal difference is the difference between the first horizontal speed and the fusion horizontal speed, the second horizontal difference is the difference between the first horizontal speed and the reference horizontal speed, the first vertical difference is the difference between the first vertical speed and the fusion vertical speed, the second vertical difference is the difference between the first vertical speed and the reference vertical speed, the third horizontal difference is the difference between the fusion horizontal speed and the reference horizontal speed, and the third vertical difference is the difference between the fusion vertical speed and the reference horizontal speed.
Optionally, the determining module 24 includes a first determining sub-module for determining a cause of the GPS speed anomaly from satellite signals received by the flying device after a fault is determined to be caused by the GPS speed anomaly.
Optionally, the first determining submodule includes a second determining submodule, configured to determine that the satellite signal causes the GPS speed to be abnormal when the satellite signal is less than a preset intensity.
Optionally, the device includes a judging module, configured to judge whether the flying device is in an RTK state when the satellite signal is not less than a preset intensity, and if not, determine that the flying device exits from the RTK state to cause the GPS speed to be abnormal, where the RTK state is a state in which the flying device normally receives the satellite signal and the RTK differential data.
Optionally, the first difference comprises: an average value of difference values of the GPS speed corresponding to each preset time point and the fusion speed corresponding to each preset time point in a preset time period; the second difference comprises: an average value of the difference values between the GPS speeds corresponding to the respective preset time points and the reference speeds corresponding to the respective preset time points; the third difference comprises: and the average value of the difference value between the fusion speed corresponding to each preset time point and the reference speed corresponding to each preset time point.
It should be noted that, the preferred implementation manner of the embodiment shown in fig. 2 may refer to the related description of the embodiment shown in fig. 1, which is not repeated herein.
Fig. 3 is a block diagram of a computer device according to an embodiment of the present invention. As shown in fig. 3, the computer device 300 may include: one or more (only one is shown) processors 302, memory 304, and radio frequency modules, audio modules, and a display screen.
According to another aspect of the embodiments of the present application, there is also provided a storage medium comprising a stored program, optionally in this embodiment, the storage medium is arranged to store program code for performing the steps of: acquiring a fusion speed, a GPS speed and a reference speed of the flight equipment, wherein the fusion speed is determined based on the GPS speed, the heading information and the IMU speed; the reference speed is calculated according to a first position of the flying device at a first moment, a second position of the flying device at a second moment and a time period spent by the flying device flying from the first position to the second position in a flight log; and when the absolute value of the first difference value between the GPS speed and the fusion speed is larger than a first preset threshold value and the absolute value of the second difference value between the GPS speed and the reference speed is larger than a second preset threshold value, determining that the fault is caused by the abnormal GPS speed.
According to another aspect of the embodiments of the present application, there is further provided a processor, configured to execute a program, where the program may execute program code of the following steps in the failure cause determination method of an application program when the program is executed:
acquiring a fusion speed, a GPS speed and a reference speed of the flight equipment, wherein the fusion speed is determined based on the GPS speed, the heading information and the IMU speed; the reference speed is calculated according to a first position of the flying device at a first moment, a second position of the flying device at a second moment and a time period spent by the flying device flying from the first position to the second position in a flight log; and when the absolute value of the first difference value between the GPS speed and the fusion speed is larger than a first preset threshold value and the absolute value of the second difference value between the GPS speed and the reference speed is larger than a second preset threshold value, determining that the fault is caused by the abnormal GPS speed.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of units may be a logic function division, and there may be another division manner in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution, in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.
Claims (15)
1. A fault cause determination method, comprising:
acquiring a fusion speed, a GPS speed and a reference speed of the flight equipment, wherein the fusion speed is determined based on the GPS speed, the heading information and the IMU speed; the reference speed is calculated according to a first position of the flying device at a first moment, a second position of the flying device at a second moment and a time period spent by the flying device flying from the first position to the second position in a flight log;
when the absolute value of the first difference between the GPS velocity and the fusion velocity is greater than a first predetermined threshold,
and when the absolute value of the second difference value between the GPS speed and the reference speed is larger than a second preset threshold value, determining that the fault is caused by the abnormal GPS speed.
2. The method of claim 1, wherein before determining that the fault is caused by the GPS speed anomaly, further requiring confirmation that the absolute value of the second difference is greater than the absolute value of a third difference, the third difference being the difference of the fusion speed and the reference speed.
3. The method of claim 2, wherein the GPS velocity is calculated from received satellite signals according to doppler effect, the magnitude of the IMU velocity is obtained by IMU measurement in the flying device, and the direction of the IMU velocity is determined by using the flying device itself as a coordinate system.
4. The method of claim 3, wherein the GPS speed comprises a first vertical speed and a first horizontal speed, the IMU speed comprises a second vertical speed and a second horizontal speed, the fusion speed comprises a fusion vertical speed and a fusion horizontal speed, the fusion vertical speed is determined based on the first vertical speed and the second vertical speed, and the fusion horizontal speed is determined based on the first horizontal speed, the heading information, and the second horizontal speed; the first difference comprises a first horizontal difference and a first vertical difference, the second difference comprises a second horizontal difference and a second vertical difference, the reference speed comprises a reference horizontal speed and a reference vertical speed, the third difference comprises a third horizontal difference and a third vertical difference, the first horizontal difference is the difference between the first horizontal speed and the fusion horizontal speed, the second horizontal difference is the difference between the first horizontal speed and the reference horizontal speed, the first vertical difference is the difference between the first vertical speed and the fusion vertical speed, the second vertical difference is the difference between the first vertical speed and the reference vertical speed, the third horizontal difference is the difference between the fusion horizontal speed and the reference horizontal speed, and the third vertical difference is the difference between the fusion vertical speed and the reference horizontal speed.
5. The method of claim 2, wherein after determining that a fault is caused by the GPS speed anomaly, the method further comprises:
and determining the reason of the GPS speed abnormality according to satellite signals received by the flight equipment.
6. The method of claim 5, wherein determining the cause of the GPS velocity anomaly from satellite signals received by the flying device comprises:
and when the satellite signal is smaller than the preset intensity, determining that the satellite signal causes the abnormal GPS speed.
7. The method of claim 6, wherein when the satellite signal is not less than a preset intensity, the method further comprises:
judging whether the flying equipment is in an RTK state, if not, determining that the flying equipment exits from the RTK state to cause the GPS speed to be abnormal, wherein the RTK state is a state that the flying equipment normally receives the satellite signals and RTK differential data.
8. The method of claim 7, wherein the step of determining the position of the probe is performed,
the first difference comprises: an average value of difference values of the GPS speed corresponding to each preset time point and the fusion speed corresponding to each preset time point in a preset time period;
The second difference comprises: an average value of the difference values between the GPS speeds corresponding to the respective preset time points and the reference speeds corresponding to the respective preset time points;
the third difference comprises: and the average value of the difference value between the fusion speed corresponding to each preset time point and the reference speed corresponding to each preset time point.
9. A fault cause determination method, comprising:
acquiring a fusion speed, a GPS speed and a reference speed of the flight equipment, wherein the fusion speed is determined based on the GPS speed, the heading information and the IMU speed; the reference speed is calculated according to a first position of the flying device at a first moment, a second position of the flying device at a second moment and a time period spent by the flying device flying from the first position to the second position in a flight log;
and when the absolute value of the first difference value between the GPS speed and the fusion speed is larger than a first preset threshold value, determining whether the fault is caused by the abnormal GPS speed according to the GPS speed, the fusion speed and the reference speed.
10. The method of claim 9, wherein the GPS velocity is calculated from received satellite signals according to doppler effect, the IMU velocity is measured by an IMU in the flying device, and the direction of the IMU velocity is determined by using the flying device itself as a coordinate system.
11. A fault alerting method, comprising:
acquiring a fusion speed, a GPS speed and a reference speed of the flight equipment, wherein the fusion speed is determined based on the GPS speed, the heading information and the IMU speed; the reference speed is calculated according to a first position of the flying device at a first moment, a second position of the flying device at a second moment and a time period spent by the flying device flying from the first position to the second position in a flight log;
when the absolute value of the first difference between the GPS velocity and the fusion velocity is greater than a first predetermined threshold,
and when the absolute value of the second difference value between the GPS speed and the reference speed is larger than a second preset threshold value, sending alarm information.
12. A failure cause determination apparatus, comprising:
the acquisition module is used for acquiring the fusion speed, the GPS speed and the reference speed of the flight equipment, wherein the fusion speed is determined based on the GPS speed, the heading information and the IMU speed; the reference speed is calculated according to a first position of the flying device at a first moment, a second position of the flying device at a second moment and a time period spent by the flying device flying from the first position to the second position in a flight log;
And the determining module is used for determining that the fault is caused by the abnormal GPS speed when the absolute value of the first difference value of the GPS speed and the fusion speed is larger than a first preset threshold value and the absolute value of the second difference value of the GPS speed and the reference speed is larger than a second preset threshold value.
13. A storage medium comprising a stored program, wherein the program, when run, controls a device in which the storage medium is located to perform the fault cause determination method of any one of claims 1 to 8 or claims 9 to 10.
14. A processor for running a program, wherein the program when run performs the fault cause determination method of any one of claims 1 to 8 or 9 to 10.
15. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the method of determining the cause of a fault as claimed in any one of claims 1 to 8 or 9 to 10.
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