CN114698383A - Installation calibration method of rotary observation device, aircraft and storage medium - Google Patents

Installation calibration method of rotary observation device, aircraft and storage medium Download PDF

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CN114698383A
CN114698383A CN202080075400.2A CN202080075400A CN114698383A CN 114698383 A CN114698383 A CN 114698383A CN 202080075400 A CN202080075400 A CN 202080075400A CN 114698383 A CN114698383 A CN 114698383A
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information
aircraft
observation
angle
blade
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陈文平
王俊喜
吴鑫
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder

Abstract

A method for installing and calibrating a rotary observation device, an aircraft and a storage medium, wherein the method comprises the following steps: acquiring Doppler information corresponding to blades of the aircraft based on the rotary observation device (S101); determining an observed position of the blade from the Doppler information (S102); and acquiring a theoretical position of the blade, and determining the installation error of the rotary observation device according to the observation position and the theoretical position (S103).

Description

Installation calibration method of rotary observation device, aircraft and storage medium Technical Field
The present application relates to the field of aircraft technologies, and in particular, to an installation calibration method for a rotary observation device, an aircraft, and a storage medium.
Background
At present, when a rotary observation device is installed on an aircraft, specifically, during the installation process of a rotary radar device and a rotary ultrasonic device, error calibration is generally required to be performed on the installation of the rotary observation device, and the error calibration is mainly performed on the installation position of the rotary observation device according to the result of a measuring instrument such as a level meter. However, the measuring instruments such as the level meter are easy to introduce manual errors, and meanwhile, installation deviation caused by factors such as external force after calibration cannot be avoided, and further installation precision is reduced.
Disclosure of Invention
The embodiment of the application provides an installation and calibration method of a rotary observation device, an aircraft and a storage medium, and aims to improve the installation precision of the rotary observation device.
In a first aspect, an embodiment of the present application provides an installation calibration method for a rotating observation device, where the rotating observation device is installed on an aircraft, and the installation calibration method includes:
acquiring Doppler information corresponding to blades of the aircraft based on the rotary observation device;
determining the observation position of the blade according to the Doppler information;
and acquiring the theoretical position of the blade, and determining the installation error of the rotary observation device according to the observation position and the theoretical position.
In a second aspect, embodiments of the present application further provide an aircraft, where the aircraft includes:
a frame;
a rotating observation device mounted on the frame and capable of rotating relative to the frame to measure a surrounding target of the rotating observation device;
a processor and a memory;
wherein the memory is for storing a computer program; the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:
acquiring Doppler information corresponding to blades of the aircraft based on the rotary observation device;
determining the observation position of the blade according to the Doppler information;
and acquiring the theoretical position of the blade, and determining the installation error of the rotary observation device according to the observation position and the theoretical position.
In a third aspect, this application embodiment further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program causes the processor to implement the steps of the installation calibration method according to any one of the embodiments provided in this application.
The installation and calibration method of the rotary observation device, the aircraft and the storage medium disclosed by the embodiment of the application can calibrate the installation error of the rotary observation device through the Doppler information corresponding to the blades, so that the installation precision of the rotary observation device can be improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an aircraft provided in an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a rotary observing device provided in an embodiment of the present application;
FIG. 3 is a flowchart illustrating steps of a method for calibrating installation of a rotating scope according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a radar coordinate system provided by an embodiment of the present application;
FIG. 5 is a schematic diagram of a coordinate system corresponding to an aircraft and a rotating observation device provided in an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating an effect of a target observed by the rotating observation device according to the embodiment of the present application;
FIG. 7 is a flowchart illustrating steps provided in an embodiment of the present application for determining an observed position of a blade;
FIG. 8 is a schematic diagram illustrating an effect of region division corresponding to an aircraft blade provided by an embodiment of the application;
FIG. 9 is a flowchart illustrating another exemplary process for determining an observed position of a blade provided by an embodiment of the present application;
FIG. 10 is a schematic block diagram of an aircraft provided in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
A rotating observation device, such as a rotating radar device or a rotating ultrasonic device, may be mounted on the aircraft for measuring surrounding objects of the aircraft, such as obstacles, during the flight of the aircraft, to ensure safety of the flight.
However, there may be installation errors in the installation process of the rotary observation device, for example, there may be installation errors in the installation process of the rotary radar device, and meanwhile, due to long-time work in the use process, there may occur phenomena such as installation position change, and further, the accuracy of measurement is affected. However, the existing installation calibration method mainly performs manual calibration through a mechanical mechanism or a surrounding static object, and the calibration accuracy is not enough, so that installation errors are eliminated.
Therefore, the embodiment of the application provides an installation and calibration method of a rotary observation device, an aircraft and a storage medium, wherein the rotary observation device is installed on the aircraft, and calibration of the rotary observation device is completed according to Doppler information corresponding to blades of the aircraft so as to improve the installation precision of the rotary observation device.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 illustrates a structure of an aircraft 100 according to an embodiment of the present disclosure, where as shown in fig. 1, the aircraft 100 may include a power system, a control system, a frame 10, and a rotating observation device 20.
The airframe may include, among other things, an airframe and a foot rest (also referred to as a landing gear). The fuselage may include a central frame and one or more arms connected to the central frame, the one or more arms extending radially from the central frame. The foot rests are connected to the fuselage for support during landing of the aircraft 100.
The power system may include one or more electronic governors (abbreviated as electric governors), one or more propellers, and one or more motors corresponding to the one or more propellers, where the motors are connected between the electronic governors and the propellers, the motors and the propellers being disposed on the horn of the aircraft 100; the electronic speed regulator is used for receiving a driving signal generated by the control system and providing a driving current for the motor according to the driving signal so as to control the rotating speed of the motor.
The motors are used to drive the propellers for rotation to provide power for flight of the aircraft 100, which power enables the aircraft 100 to achieve motion in one or more degrees of freedom. In certain embodiments, the aircraft 100 may rotate about one or more axes of rotation. For example, the above-mentioned rotation axes may include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motor may be a dc motor, or may be a permanent magnet synchronous motor. Alternatively, the motor may be a brushless motor or a brush motor.
The control system may include a controller and a sensing system. The controller is used to control the flight of the aircraft 100, for example, the flight of the aircraft 100 may be controlled based on attitude information measured by the sensing system. It should be understood that the controller may control the aircraft 100 according to preprogrammed instructions. The sensing system is used to measure attitude information of the aircraft 100, that is, position information and state information of the aircraft 100 in space, for example, three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, three-dimensional angular velocity, and the like. The sensing system may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the Global navigation satellite System may be a Global Positioning System (GPS).
As shown in fig. 1, a rotating observation device 20 is mounted on a foot stand of the aircraft 100, the rotating observation device 20 is connected to a control system in a communication manner, and the rotating observation device 20 transmits collected observation data to the control system and processes the observation data by the control system.
It should be noted that the aircraft 100 may include two or more foot rests, and the rotating observation device 20 is mounted on one of the foot rests. The rotating observation device 20 may be mounted in other positions of the aircraft 100, and is not particularly limited.
Referring to fig. 2, when the rotating observation device 20 is installed on the aircraft 100, there may be installation errors in both a horizontal direction and/or a vertical direction, where the vertical direction is a direction corresponding to a rotation axis of the rotating observation device 20, and it can be specifically understood that the rotation axis of the rotating observation device 20 is parallel to the vertical direction, and relatively, the horizontal direction is perpendicular to the rotation axis of the rotating observation device 20.
The following description will be given by taking a rotary observation device as a rotary radar device as an example, where the rotary radar device mainly includes a radio frequency front end module and a signal processing module, the radio frequency front end module may include a transmitting antenna and a receiving antenna, the transmitting antenna is used to transmit signals to surrounding targets, the receiving antenna is used to receive signals reflected by the surrounding targets, and the signal processing module is responsible for generating modulation signals and processing and analyzing acquired intermediate frequency signals.
Aircraft 100 includes unmanned aerial vehicle, and this unmanned aerial vehicle includes rotor type unmanned aerial vehicle, for example four rotor type unmanned aerial vehicle, six rotor type unmanned aerial vehicle, eight rotor type unmanned aerial vehicle, also can be fixed wing type unmanned aerial vehicle, can also be the combination of rotor type and fixed wing type unmanned aerial vehicle, does not do the restriction here.
It should be appreciated that the above-described nomenclature for the various components of the aircraft 100 is for identification purposes only, and should not be construed as limiting the embodiments of the present description.
Referring to fig. 3, fig. 3 is a schematic flowchart illustrating steps of an installation and calibration method for a rotating observation device according to an embodiment of the present application, where the installation and calibration method can be applied to an aircraft, and calibration of the rotating observation device installed in the aircraft is implemented by executing the installation and calibration method, so as to improve installation accuracy of the rotating observation device.
As shown in fig. 3, the mounting calibration method includes steps S101 to S103.
S101, acquiring Doppler information corresponding to the blades of the aircraft based on the rotary observation device;
s102, determining the observation position of the blade according to the Doppler information;
s103, obtaining the theoretical position of the paddle, and determining the installation error of the rotary observation device according to the observation position and the theoretical position. In one embodiment, the theoretical position is a preset position of the blade when the blade is installed. Alternatively, the theoretical position is a position at which a worker expects the blade to be installed when installing.
When the doppler information corresponding to the blades of the aircraft is obtained, the doppler information corresponding to one or more blades of the aircraft can be obtained. The Doppler information is that the blades of the aircraft still rotate in the rotation measurement process of the rotation measurement device, so that Doppler effect exists between the blades and Doppler information can be generated. In the embodiment of the present application, the doppler information at least includes position information and velocity information, but may also include other information, such as energy information, and specifically may be amplitude of the acquired signal, which is not limited herein. The position information may be distance information and angle information, such as distance information and angle information measured in a radar coordinate system.
Illustratively, as shown in fig. 4, in the radar coordinate system shown in fig. 4, the rotating radar device is the coordinate origin O, a represents the measured target, the distance information is the distance from the target a to the coordinate origin O, which may be specifically represented as r, and the angle information is the angle of the target a in the radar coordinate system, including the angle in the horizontal direction and the angle in the vertical direction, which are respectively represented as θ and θ
Figure PCTCN2020124955-APPB-000001
The position information in the radar coordinate system can be processed conveniently
Figure PCTCN2020124955-APPB-000002
Position information (x, y, z) converted into a cartesian coordinate system, the specific conversion formula is as follows:
Figure PCTCN2020124955-APPB-000003
it should be noted that when the rotating observation device measures the surrounding target, each blade of the aircraft can be measured, each blade corresponds to multiple groups of doppler information, and each group of doppler information includes position information and velocity information, so that one or more groups of doppler information can be conveniently used.
The Doppler information corresponding to the blades of the aircraft is obtained based on the rotating observation device, specifically, the Doppler information corresponding to the blades of the aircraft is determined from a plurality of surrounding targets measured by the rotating observation device, so that the Doppler information corresponding to the blades of the aircraft can be determined according to the observation information of the blades of the aircraft.
Illustratively, the doppler information corresponding to the blades of the aircraft is obtained based on the rotating observation device, and specifically, the doppler information corresponding to the blades of the aircraft can be extracted from observation data obtained when the rotating observation device measures surrounding targets.
Surrounding targets can include other targets besides the blades of the aircraft, such as trees, buildings, mountains, and the like, and therefore, it is necessary to determine the blades of the aircraft from the surrounding targets and extract doppler information corresponding to the blades of the aircraft.
Because the rotary observation device is rigidly connected with the aircraft, for example, the rotary radar device is arranged on a foot rest of the aircraft, the relative position of the blades of the aircraft relative to the rotary radar device is almost unchanged, and the position information of the blades detected by the rotary radar device is closely related to the installation position of the rotary radar device, so that other targets can be filtered according to the relative position, and the installation error of the rotary radar device can be determined according to the measured position information and speed information.
Illustratively, as shown in fig. 5, the mounting position of the rotating radar device is determined by the overall structure of the aircraft, for example, the rotating radar device is located at point O, and the four blades are ABCD respectively. Establishing a coordinate system XOY by taking the point O as the center of a circle, taking the nose direction of the aircraft as X, taking the right side of the nose direction as Y, and then obtaining the coordinate A (X) of the centers of the four bladesA,y A)，B(x B,y B)，C(x C,y C) And D (x)D,y D). The relative distance of the blade to the rotary radar device, i.e. the relative position of the blade of the aircraft to the rotary radar device, can thus be determined from the coordinates of the centers of the four blades, in order to filter out other surrounding objects outside the blade from this relative distance.
Illustratively, observation information of surrounding objects is extracted from the observation data, the observation information including at least distance information, angle information, and speed information about the surrounding objects (i.e., objects located around the rotating observation device as measured by the rotating observation device). Determining blades of the aircraft from the surrounding targets according to the distance information and the speed information. That is, from the distance information and the speed information, it is determined which targets are blades of the aircraft from the surrounding targets. And determining the Doppler information of the paddle according to the distance information and the angle information in the observation information corresponding to the paddle.
The observation information of the surrounding target is extracted from the observation data, and specifically, the observation data may be subjected to signal processing to obtain the observation information of the surrounding target, where the signal processing at least includes constant false alarm detection processing. Constant False-Alarm detection (CFAR) is a technique in which a radar system determines whether a target signal exists by distinguishing a signal output by a receiver from noise under the condition that a False-Alarm probability is kept Constant, so that observation information of a rotating radar device for detecting a surrounding target can be determined by using the CFAR, wherein the observation information at least includes distance information, angle information and speed information.
After the observation information of the surrounding targets is determined, other surrounding targets can be filtered by using the fixed relative distance from the blade to the rotary radar device, and further, the distance information and the angle information in the observation information corresponding to the blade of the aircraft are determined and serve as the Doppler information of the blade.
In some embodiments, to quickly determine the blades of an aircraft from surrounding targets. Determining blades of the aircraft from surrounding targets according to the distance information and the speed information, and specifically filtering out stationary targets in the surrounding targets according to the speed information; and filtering the moving target with the distance greater than the position of the blade according to the distance information, thereby obtaining the blade of the aircraft.
Since many measured targets are static relative to the rotating observation device, but the blades of the aircraft move relative to the rotating observation device, the static targets (the speed of the static targets is zero or almost zero) can be determined according to the speed information, the static targets are filtered, the blades of the aircraft are determined according to the distance information, and therefore the blades of the aircraft can be rapidly determined from the surrounding targets.
For example, as shown in fig. 6, fig. 6 shows that the rotating observation device measures observation information of objects around the aircraft, the objects around the aircraft include a stationary object and a moving object, the moving object is a blade and the stationary object is another part on the aircraft or an interfering object, because the rotating observation device is rigidly connected with the aircraft, and thus the accuracy of data processing can be improved by filtering out the stationary object through speed information.
In some embodiments, the observation information includes energy information, and the interference target may be filtered according to the energy information, because the energy of the interference target is less than the energy of the blade of the aircraft, thereby the accuracy of the observation information of the blade of the aircraft may be improved, so as to ensure the accuracy of the doppler information corresponding to the blade, and further improve the installation accuracy of the rotary observation device.
In some embodiments, the doppler information of the blade is determined according to the distance information and the angle information in the observation information corresponding to the blade, and specifically, the distance information and the angle information in the observation information can be converted into the position information of a cartesian coordinate system; and fusing the position information of the Cartesian coordinate system and the speed information corresponding to the distance information and the angle information to obtain the Doppler information of the blade.
For example, distance information and angle information of the rotating radar device measuring the observation information of the blade are expressed as
Figure PCTCN2020124955-APPB-000004
By using a radar coordinate system-Cartesian coordinate system conversion formula, the method can be used for converting the radar coordinate system into the Cartesian coordinate system
Figure PCTCN2020124955-APPB-000005
Position information P converted into Cartesian coordinate systemi(x i,y i,z i) Then the distance information r is processediAngle information
Figure PCTCN2020124955-APPB-000006
Corresponding velocity information viPosition information P in relation to a Cartesian coordinate systemi(x i,y i,z i) Fusing to obtain Doppler information P of the bladei(x i,y i,z i)。
It should be noted that doppler information of a plurality of blades of the aircraft and a plurality of sets of doppler information of each blade may be determined, as shown in fig. 6, the aircraft includes four blades, and each blade (moving object) includes a plurality of sets of doppler information Pn(x n,y n,z n,v n)。
After determining the doppler information of the blades of the aircraft, the observation position of the blades can be determined according to the doppler information, and the observation position can be understood as the position information of the blades obtained by measuring the aircraft by the rotating observation device. Specifically, the observed position of each blade may be determined based on multiple sets of doppler information corresponding to each blade.
In some embodiments, the observation position of the blade is determined quickly and accurately to improve the mounting accuracy of the rotating observation device. As shown in fig. 7, the observed position of the blade is determined according to the doppler information, which specifically includes step S1021 and step S1022.
S1021, determining a region corresponding to a blade of the aircraft;
s1022, determining the centroid position corresponding to the paddle according to the Doppler information corresponding to the paddle, and taking the centroid position as an observation position.
The region corresponding to the blade is divided according to the installation position of the blade of the aircraft, for example, as shown in fig. 8, the aircraft includes four blades, and the four regions can be divided according to the installation position of each blade, and are region 1 corresponding to blade a, region 2 corresponding to blade B, region 3 corresponding to blade C, and region 4 corresponding to blade D. It will be appreciated that if the aircraft includes six blades, six zones may be divided accordingly.
After the area corresponding to the blade of the aircraft is determined, multiple groups of Doppler information located in the area corresponding to the blade can be determined, and the centroid position corresponding to the blade located in the corresponding area is determined as the observation position according to the Doppler information corresponding to the blade.
When determining the centroid position, the target doppler information may be specifically determined from multiple sets of doppler information according to variances of the multiple sets of doppler information, and the position information in the target doppler information is used as the centroid position.
For example, taking blade a as an example, the corresponding multiple sets of doppler information are Pn(x n,y n,z n,v n) Where n is an integer greater than 1, for example, n is 10, there are 10 sets of doppler information, and accordingly, the average position of the blade a may be denoted as EA(x, y, z, v), and the variance D of each set of Doppler information for that blade AA(x,y,z,v)。
Wherein the content of the first and second substances,
Figure PCTCN2020124955-APPB-000007
variance D of each group of Doppler information if blade AA(x, y, z, v) is less than or equal to a preset threshold value, and the set of Doppler information position information is taken as a qualityThe heart position is used for evaluating the variance, and the preset threshold value can be set according to practical application, and the setting of the preset threshold value ensures that at least one group of variances of the multiple groups of Doppler information of the blade A meet the conditions. If the variance of the multiple sets of Doppler information is less than or equal to the preset threshold, any one set of Doppler information meeting the condition can be selected to determine the centroid position.
Similarly, the centroid positions of the paddle B, the paddle C and the paddle D can be determined according to the method, and the centroid positions are the observation positions of the paddles.
In other embodiments, the observed position of the blade is determined based on doppler information, and a clustering algorithm may be further used to cluster a plurality of sets of the doppler information to determine the observed position of the blade. The clustering algorithm comprises at least one of a K-means clustering algorithm, a DBscan clustering algorithm and a mean shift clustering algorithm.
Specifically, by taking the K-means clustering algorithm as an example, as shown in fig. 9, determining the observed position of the blade by using the clustering algorithm includes steps S102a and S102 b:
s102a, determining a K value of K-means according to the number of the aircraft blades, wherein the K value is equal to the number of the aircraft blades;
s102b, determining K clustering center points from multiple groups of Doppler information according to the K values, and clustering the multiple groups of Doppler information to determine the observation positions of the blades.
For example, if the number of the aircraft blades is 4, the K value of K-means is equal to 4, and the multiple sets of doppler information P of all the blades of the aircraft are determinedn(x n,y n,z n,v n) As a cluster sample and from groups of Doppler information Pn(x n,y n,z n,v n) Randomly decimating K as the cluster center point mu of K-meanskWherein the cluster center is represented as C ═ C1,C 2,...C kIn calculating each group Pn(x n,y n,z n,v n) And (3) distributing the Doppler information in the clustering samples to the nearest clustering center according to the minimum distance to obtain K clustering groups, recalculating the clustering center point of each clustering group, specifically, clustering the clustering samples again by taking the mean value of the clustering groups as the clustering center point until the clustering center points of the K clustering groups are not changed any more, and finishing the clustering.
And after the clustering is finished, obtaining K clustering groups, and enabling central points of the K clustering groups to correspond to position information to be used as observation positions of the blades.
In some embodiments, in order to obtain a more accurate observation position, after clustering is completed, the variance of each doppler information of the K clusters may be calculated, so as to determine target doppler information from multiple groups of doppler information in each cluster according to the variance, and the position information in the target doppler information is used as a centroid position, thereby obtaining the observation position of each blade.
After the observation position of the blade of the aircraft is determined, the theoretical position of the blade needs to be obtained, and then the installation error of the rotary observation device is determined according to the observation position and the theoretical position.
In the embodiment of the application, the theoretical position of the blade comprises a theoretical installation angle, so that the installation error of the rotary observation device is determined according to the observation position and the theoretical position, and the observation position in a Cartesian coordinate system can be converted into distance angle information of a polar coordinate system; and determining the angle installation error of the blade according to the theoretical installation angle and the angle in the distance angle information.
In some embodiments, the distance angle information in the polar coordinate system includes first angle information and second angle information, the first angle information is an angle of the target relative to the rotating observation device in a horizontal direction, and the second angle information is an angle of the target relative to the rotating observation device in a vertical direction. Accordingly, the angular installation error comprises a first angular installation error and/or a second angular installation error.
Thus, when determining the angular installation error of the blades, a first angular installation error and/or a second angular installation error corresponding to each blade of the aircraft can be determined. One of the mounting angle errors may be selected to calibrate the rotating scope, although it is preferred that the rotating scope be calibrated using a first angular mounting error and a second angular mounting error.
In some embodiments, in order to improve the installation accuracy of the rotating observation device, an average value of errors corresponding to the first angle installation error and/or an average value of errors corresponding to the second angle installation error is determined according to the first angle installation error and/or the second angle installation error corresponding to each blade of the aircraft; and calibrating the rotation observation device by taking the average value of the errors corresponding to the first angle installation errors and/or the average value of the errors corresponding to the second angle installation errors as the installation errors of the rotation observation device.
Exemplary, such as the observed position E (x) of blade AA,y B,z C) The observed position E (x) can be located in a Cartesian coordinate systemA,y B,z C) The conversion into polar coordinates may be carried out according to the inverse process of the conversion formula from radar coordinate system to cartesian coordinate system, which is not described in detail herein, to radar coordinate system
Figure PCTCN2020124955-APPB-000008
If the theoretical position of the blade is theta'AAnd
Figure PCTCN2020124955-APPB-000009
the mounting error of the rotary radar device with respect to the blade a is Δ θAAnd
Figure PCTCN2020124955-APPB-000010
where Δ θA＝θ' A-θ A，
Figure PCTCN2020124955-APPB-000011
Where Δ θAIn order to rotate the first angle installation error of the observation device relative to the blade A,
Figure PCTCN2020124955-APPB-000012
the second angle of the installation error of the rotating observation device relative to the blade A is adopted. In the same way, two angle installation errors of the rotary radar device relative to the blade B, the blade C and the blade D can be determined, and are respectively expressed as delta thetaB、
Figure PCTCN2020124955-APPB-000013
Δθ C、
Figure PCTCN2020124955-APPB-000014
Δθ D、
Figure PCTCN2020124955-APPB-000015
For example, the average of the errors corresponding to the first angle mounting error is the average of the first mounting angle errors of the four blades, which can be expressed as
Figure PCTCN2020124955-APPB-000016
The average value of the errors corresponding to the second angle mounting error is the average value of the second mounting angle errors of the four blades, and can be expressed as
Figure PCTCN2020124955-APPB-000017
Where M is equal to 4.
After determining the installation error of the rotating observation device, the installation error may be sent to a control terminal of the aircraft, such as a cell phone, where it is displayed to prompt a user to calibrate the rotating observation device according to the installation error.
It should be noted that the installation calibration method of the above-mentioned rotation observation device is completed under the condition that the blades of the aircraft rotate, but the operation state of the aircraft is not limited, for example, the operation state of the aircraft may be a flight state, a hovering state, or the like.
According to the installation and calibration method of the rotary observation device, the installation and calibration of the rotary observation device can be achieved by utilizing the Doppler information of the blades, and the static target is adopted as a reference or is calibrated by using a mechanical mechanism, so that the calibration precision can be improved, the installation precision of the rotary observation device is further improved, and the flight safety of an aircraft can be ensured.
Referring to fig. 10, fig. 10 is a schematic block diagram of an aircraft according to an embodiment of the present application. As shown in fig. 10, the aircraft 100 also includes at least one or more processors 201 and memory 202.
The processor 201 may be, for example, a Micro-controller Unit (MCU), a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or the like.
The Memory 202 may be a Flash chip, a Read-Only Memory (ROM) magnetic disk, an optical disk, a usb disk, or a removable hard disk.
Wherein the memory 202 is used for storing computer programs; the processor 201 is configured to execute the computer program and, when executing the computer program, to execute the installation calibration method of the rotating observation device according to any one of the above.
Illustratively, the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:
acquiring Doppler information corresponding to blades of the aircraft based on the rotary observation device; determining the observation position of the blade according to the Doppler information; and acquiring the theoretical position of the blade, and determining the installation error of the rotary observation device according to the observation position and the theoretical position.
In some embodiments, each blade of the aircraft corresponds to multiple sets of doppler information, each set of doppler information including position information and velocity information.
In some embodiments, the rotating scope device comprises at least one of a rotating radar device and a rotating ultrasound device.
In some embodiments, the obtaining doppler information corresponding to a blade of the aircraft based on the rotating observation device includes:
acquiring observation data obtained when the rotary observation device measures surrounding targets; and extracting Doppler information corresponding to the blades of the aircraft from the observation data.
In some embodiments, the extracting, from the observation data, doppler information corresponding to a blade of the aircraft includes:
extracting observation information of the surrounding targets from the observation data, wherein the observation information at least comprises distance information, angle information and speed information; determining blades of the aircraft from the surrounding targets according to the distance information and the speed information; and determining Doppler information of the paddle according to distance information and angle information in the observation information corresponding to the paddle.
In some embodiments, said extracting observation information of said surrounding target from said observation data comprises:
and performing signal processing on the observation data to obtain observation information of the surrounding targets, wherein the signal processing at least comprises constant false alarm rate detection processing.
In some embodiments, said determining blades of said aircraft from said surrounding targets based on said distance information and speed information comprises:
filtering out static targets in the surrounding targets according to the speed information; and according to the distance information, filtering the moving target with the distance greater than the position of the blade to obtain the blade of the determined aircraft.
In some embodiments, the observation information comprises energy information; the processor is further configured to implement:
filtering an interference target according to the energy information, wherein the energy of the interference target is less than the energy of the blades of the aircraft.
In some embodiments, the determining doppler information of the blade according to distance information and angle information in observation information corresponding to the blade includes:
converting the distance information and the angle information in the observation information into position information of a Cartesian coordinate system; and fusing the position information and the speed information corresponding to the distance information and the angle information to obtain the Doppler information of the paddle.
In some embodiments, the theoretical position of the blade comprises a theoretical mounting angle; the determining of the installation error of the rotary observation device according to the observed position and the theoretical position comprises:
converting an observation position located in a Cartesian coordinate system into distance angle information of a polar coordinate system; and determining the angle installation error of the blade according to the theoretical installation angle and the angle in the distance angle information.
In some embodiments, the distance and angle information includes first angle information and second angle information, the first angle information is an angle of the target object in a horizontal direction with respect to the rotating observation device, and the second angle information is an angle of the target object in a vertical direction with respect to the rotating observation device.
In some embodiments, the angular installation error comprises a first angular installation error and/or a second angular installation error.
In some embodiments, the processor is configured to:
and determining a first angle installation error and/or a second angle installation error corresponding to each blade of the aircraft.
In some embodiments, the processor is configured to:
determining an error average value corresponding to the first angle installation error and/or an error average value corresponding to the second angle installation error according to the first angle installation error and/or the second angle installation error corresponding to each blade of the aircraft; and taking the average value of the errors corresponding to the first angle installation error and/or the average value of the errors corresponding to the second angle installation error as the installation error of the rotary observation device.
In some embodiments, said determining an observed position of said blade from said doppler information comprises:
determining a region corresponding to a blade of the aircraft; and determining the centroid position corresponding to the paddle as an observation position according to the Doppler information corresponding to the paddle.
In some embodiments, the zones are divided according to the mounting position of the blades of the aircraft.
In some embodiments, the determining, as the observed position, the centroid position corresponding to the blade according to the doppler information corresponding to the blade includes:
according to the variance of the multiple groups of Doppler information, target Doppler information is determined from the multiple groups of Doppler information, and position information in the target Doppler information is used as a centroid position.
In some embodiments, said determining an observed position of said blade from said doppler information comprises:
and clustering the multiple groups of Doppler information according to a clustering algorithm to determine the observation position of the blade.
In some embodiments, the clustering algorithm comprises at least one of a K-means clustering algorithm, a DBscan clustering algorithm, and a mean shift clustering algorithm.
In some embodiments, the clustering the plurality of sets of doppler information according to a clustering algorithm to determine the observed position of the blade comprises:
determining a K value of K-means according to the number of the aircraft blades, wherein the K value is equal to the number of the aircraft blades; and determining K clustering central points from multiple groups of Doppler information according to the K values, and clustering the multiple groups of Doppler information to determine the observation position of the blade.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, where the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the installation and calibration method for a rotating observation device according to any one of the embodiments provided above.
The computer readable storage medium may be an internal storage unit of the aircraft, such as a memory or an internal storage of the aircraft, according to any of the foregoing embodiments. The computer readable storage medium may also be an external storage device of the aircraft, such as a plug-in hard disk provided on the aircraft, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like.
While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (41)

  1. A method of installation calibration of a rotating viewing device, the rotating viewing device being installed on an aircraft, the method of installation calibration comprising:
    acquiring Doppler information corresponding to blades of the aircraft based on the rotary observation device;
    determining the observation position of the blade according to the Doppler information;
    and acquiring the theoretical position of the blade, and determining the installation error of the rotary observation device according to the observation position and the theoretical position.
  2. The method of claim 1, wherein there are multiple sets of doppler information for each blade of the aircraft, each set of doppler information comprising position information and velocity information.
  3. The method of claim 1, wherein the rotating observation device comprises at least one of a rotating radar device and a rotating ultrasound device.
  4. The method of claim 1, wherein the obtaining doppler information corresponding to a blade of the aircraft based on the rotating observation device comprises:
    acquiring observation data obtained when the rotary observation device measures surrounding targets;
    and extracting Doppler information corresponding to the blades of the aircraft from the observation data.
  5. The method of claim 4, wherein said extracting Doppler information corresponding to blades of the aircraft from the observation data comprises:
    extracting observation information of the surrounding targets from the observation data, wherein the observation information at least comprises distance information, angle information and speed information;
    determining blades of the aircraft from the surrounding targets according to the distance information and the speed information; and
    and determining the Doppler information of the paddle according to the distance information and the angle information in the observation information corresponding to the paddle.
  6. The method of claim 5, wherein said extracting observation information of said surrounding target from said observation data comprises:
    and performing signal processing on the observation data to obtain observation information of the surrounding targets, wherein the signal processing at least comprises constant false alarm rate detection processing.
  7. The method of claim 5, wherein said determining blades of the aircraft from the surrounding targets based on the distance information and the velocity information comprises:
    filtering out static targets in the surrounding targets according to the speed information; and
    and according to the distance information, filtering the moving target with the distance greater than the position of the blade to obtain the blade of the determined aircraft.
  8. The method of claim 5, wherein the observation information comprises energy information; the method further comprises the following steps:
    filtering an interference target according to the energy information, wherein the energy of the interference target is less than the energy of the blades of the aircraft.
  9. The method according to claim 5, wherein the determining Doppler information of the blade according to the distance information and the angle information in the observation information corresponding to the blade comprises:
    converting the distance information and the angle information in the observation information into position information of a Cartesian coordinate system;
    and fusing the position information and the speed information corresponding to the distance information and the angle information to obtain the Doppler information of the paddle.
  10. The method of claim 9, wherein the theoretical position of the blade comprises a theoretical mounting angle; the determining of the installation error of the rotary observation device according to the observed position and the theoretical position comprises:
    converting an observation position located in a Cartesian coordinate system into distance angle information of a polar coordinate system;
    and determining the angle installation error of the blade according to the theoretical installation angle and the angle in the distance angle information.
  11. The method according to claim 9, wherein the distance angle information includes first angle information and second angle information, the first angle information being an angle of the object in a horizontal direction with respect to the rotating observation device, and the second angle information being an angle of the object in a vertical direction with respect to the rotating observation device.
  12. The method of claim 10, wherein the angular installation error comprises a first angular installation error and/or a second angular installation error.
  13. The method of claim 10, wherein the method comprises:
    and determining a first angle installation error and/or a second angle installation error corresponding to each blade of the aircraft.
  14. The method of claim 11, wherein the method comprises:
    determining an error average value corresponding to the first angle installation error and/or an error average value corresponding to the second angle installation error according to the first angle installation error and/or the second angle installation error corresponding to each blade of the aircraft;
    and taking the average value of the errors corresponding to the first angle installation error and/or the average value of the errors corresponding to the second angle installation error as the installation error of the rotary observation device.
  15. The method of any one of claims 1 to 14, wherein said determining an observed position of said blade from said doppler information comprises:
    determining a region corresponding to a blade of the aircraft;
    and determining the centroid position corresponding to the paddle as an observation position according to the Doppler information corresponding to the paddle.
  16. The method of claim 15, wherein the zones are divided according to an installation location of a blade of the aircraft.
  17. The method according to claim 15, wherein the determining the centroid position corresponding to the blade as the observed position according to the doppler information corresponding to the blade comprises:
    according to the variance of the multiple groups of Doppler information, target Doppler information is determined from the multiple groups of Doppler information, and position information in the target Doppler information is used as a centroid position.
  18. The method of any one of claims 1 to 14, wherein said determining an observed position of said blade from said doppler information comprises:
    and clustering the multiple groups of Doppler information according to a clustering algorithm to determine the observation position of the blade.
  19. The method of claim 18, wherein the clustering algorithm comprises at least one of a K-means clustering algorithm, a DBscan clustering algorithm, and a mean shift clustering algorithm.
  20. The method of claim 18, wherein clustering the plurality of sets of doppler information according to a clustering algorithm to determine the observed position of the blade comprises:
    determining a K value of K-means according to the number of the aircraft blades, wherein the K value is equal to the number of the aircraft blades;
    and determining K clustering central points from multiple groups of Doppler information according to the K values, and clustering the multiple groups of Doppler information to determine the observation position of the blade.
  21. An aircraft, characterized in that it comprises:
    a frame;
    a rotating observation device mounted on the frame and capable of rotating relative to the frame to measure a surrounding target of the rotating observation device;
    a processor and a memory;
    wherein the memory is for storing a computer program; the processor is configured to execute the computer program and, when executing the computer program, implement the following steps:
    acquiring Doppler information corresponding to blades of the aircraft based on the rotary observation device;
    determining the observation position of the blade according to the Doppler information;
    and acquiring the theoretical position of the blade, and determining the installation error of the rotary observation device according to the observation position and the theoretical position.
  22. The aircraft of claim 21 wherein each blade of the aircraft corresponds to multiple sets of doppler information, each set of doppler information comprising position information and velocity information.
  23. The aircraft of claim 21 wherein the rotating observation device comprises at least one of a rotating radar device and a rotating ultrasonic device.
  24. The aircraft of claim 21, wherein the obtaining doppler information corresponding to the blades of the aircraft based on the rotating observation device comprises:
    acquiring observation data obtained when the rotary observation device measures surrounding targets;
    and extracting Doppler information corresponding to the blades of the aircraft from the observation data.
  25. The aircraft of claim 24, wherein said extracting doppler information corresponding to blades of the aircraft from the observation data comprises:
    extracting observation information of the surrounding targets from the observation data, wherein the observation information at least comprises distance information, angle information and speed information;
    determining blades of the aircraft from the surrounding targets according to the distance information and the speed information; and
    and determining the Doppler information of the paddle according to the distance information and the angle information in the observation information corresponding to the paddle.
  26. The aircraft of claim 25, wherein said extracting observation information of said surrounding targets from said observation data comprises:
    and performing signal processing on the observation data to obtain observation information of the surrounding targets, wherein the signal processing at least comprises constant false alarm rate detection processing.
  27. The aircraft of claim 25, wherein said determining blades of the aircraft from the surrounding targets based on the distance information and the velocity information comprises:
    filtering out static targets in the surrounding targets according to the speed information; and
    and according to the distance information, filtering the moving target with the distance greater than the position of the blade to obtain the blade of the determined aircraft.
  28. The aircraft of claim 25 wherein the observation information comprises energy information; the processor is configured to implement:
    filtering an interference target according to the energy information, wherein the energy of the interference target is smaller than the energy of the blades of the aircraft.
  29. The aircraft of claim 25, wherein said determining doppler information for the blade based on distance information and angle information in the observation information corresponding to the blade comprises:
    converting the distance information and the angle information in the observation information into position information of a Cartesian coordinate system;
    and fusing the position information and the speed information corresponding to the distance information and the angle information to obtain the Doppler information of the paddle.
  30. The aircraft of claim 29 wherein the theoretical position of the blade comprises a theoretical mounting angle; the determining of the installation error of the rotary observation device according to the observed position and the theoretical position comprises:
    converting an observation position located in a Cartesian coordinate system into distance angle information of a polar coordinate system;
    and determining the angle installation error of the blade according to the theoretical installation angle and the angle in the distance angle information.
  31. The aircraft of claim 29, wherein the distance angle information comprises first angle information and second angle information, the first angle information being an angle of the target object in a horizontal direction with respect to the rotating observation device, and the second angle information being an angle of the target object in a vertical direction with respect to the rotating observation device.
  32. The aircraft of claim 30 wherein the angular installation error comprises a first angular installation error and/or a second angular installation error.
  33. The aircraft of claim 30, wherein the processor is configured to implement:
    and determining a first angle installation error and/or a second angle installation error corresponding to each blade of the aircraft.
  34. The aircraft of claim 31, wherein the processor is configured to implement:
    determining an error average value corresponding to the first angle installation error and/or an error average value corresponding to the second angle installation error according to the first angle installation error and/or the second angle installation error corresponding to each blade of the aircraft;
    and taking the average value of the errors corresponding to the first angle installation error and/or the average value of the errors corresponding to the second angle installation error as the installation error of the rotary observation device.
  35. The aircraft of any one of claims 21 to 34, wherein said determining an observed position of said blade from said doppler information comprises:
    determining a region corresponding to a blade of the aircraft;
    and determining the centroid position corresponding to the paddle as an observation position according to the Doppler information corresponding to the paddle.
  36. The aircraft of claim 35 wherein the zones are divided according to the mounting location of the blades of the aircraft.
  37. The aircraft of claim 35, wherein said determining a centroid position corresponding to said blade as an observed position based on doppler information corresponding to said blade comprises:
    according to the variance of the multiple groups of Doppler information, target Doppler information is determined from the multiple groups of Doppler information, and position information in the target Doppler information is used as a centroid position.
  38. The aircraft of any one of claims 21 to 34, wherein said determining an observed position of said blade from said doppler information comprises:
    and clustering the multiple groups of Doppler information according to a clustering algorithm to determine the observation position of the blade.
  39. The aircraft of claim 38 wherein the clustering algorithm comprises at least one of a K-means clustering algorithm, a DBscan clustering algorithm, and a mean shift clustering algorithm.
  40. The aircraft of claim 38 wherein said clustering sets of said doppler information according to a clustering algorithm to determine observed positions of said blades comprises:
    determining a K value of K-means according to the number of the aircraft blades, wherein the K value is equal to the number of the aircraft blades;
    and determining K clustering central points from multiple groups of Doppler information according to the K values, and clustering the multiple groups of Doppler information to determine the observation position of the blade.
  41. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, causes the processor to carry out the steps of the installation calibration method according to any one of claims 1 to 20.
CN202080075400.2A 2020-10-29 2020-10-29 Installation calibration method of rotary observation device, aircraft and storage medium Pending CN114698383A (en)

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US6727851B2 (en) * 2000-09-20 2004-04-27 The Corporation Of Mercer University System for signal emitter location using rotational doppler measurement
CN102608596B (en) * 2012-02-29 2013-06-05 北京航空航天大学 Information fusion method for airborne inertia/Doppler radar integrated navigation system
CN107607928B (en) * 2017-08-14 2020-06-12 北京理工大学 Rotor wing laser Doppler and micro Doppler composite signal simulator
CN108181623B (en) * 2017-11-29 2020-03-17 山东航天电子技术研究所 Rotor wing target micro Doppler detection method based on accumulation equivalent three-point method
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