WO2021259252A1 - Flight simulation method and apparatus, electronic device, and unmanned aerial vehicle - Google Patents

Abstract

The embodiments of the present invention relate to a flight simulation method and apparatus, an electronic device, and an unmanned aerial vehicle. The method comprises: monitoring in real time whether a mode switching instruction occurs; when the mode switching instruction is detected, locking a power device of an unmanned aerial vehicle; transmitting a flight control instruction received by the unmanned aerial vehicle to a preset flight simulation model; generating simulation data corresponding to the flight control instruction by means of the flight simulation model; and displaying, on the basis of the simulation data, a simulated flight state of the unmanned aerial vehicle under the flight control instruction. By setting multiple working mode switching ways, a flight simulation function is integrated on the unmanned aerial vehicle without affecting the normal use of the unmanned aerial vehicle. A user can directly use said function on the unmanned aerial vehicle without depending on other hardware devices, so that said function is convenient to use and low in implementation cost.

Description

Flight simulation method, device, electronic equipment and drone

This application claims the priority of the Chinese patent application filed to the Chinese Patent Office on June 24, 2020 with the application number 2020105923051 and the application titled "Flight Simulation Method, Device, Electronic Equipment, and UAV", all of its application content Incorporated in this application by reference.

【Technical Field】

The present invention relates to the technical field of drones, in particular to a flight simulation method, device, electronic equipment and drones.

【Background technique】

"Flight Simulator" is a very popular and widely used function. It can conveniently provide operators or flying enthusiasts with a quick and convenient way to learn to fly and become familiar with aircraft performance.

At present, the flight simulator that provides flight simulation function is realized based on the simulation system of the host computer. A typical implementation method is to provide simulation software containing various aircraft operating data, and then the user downloads the simulation software to a personal terminal such as a computer to install and run, and use an additional remote control handle or similar interactive device to interact with the computer. Connect to realize the flight simulation function.

However, such a simulation flight implementation method needs to run on a specific personal terminal such as a computer, and also requires the user to purchase additional interactive equipment, which causes inconvenience to the user and high implementation cost.

[Summary of the invention]

The embodiments of the present invention aim to provide a flight simulation method, device, electronic equipment, and unmanned aerial vehicle, which can solve the shortcomings of the existing flight simulation method.

In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions: A flight simulation method includes:

Real-time monitoring whether there is a mode switching command; when the mode switching command is monitored, lock the power device of the drone; transmit the flight control command received by the drone to a preset flight simulation model; The flight simulation model generates simulation data corresponding to the flight control instruction; based on the simulation data, the simulated flight state of the drone under the flight control instruction is displayed.

Optionally, the flight simulation model includes: a flight dynamics model for simulating the flight state of the drone and a sensor model for simulating sensor detection data of the drone;

The generating simulation data corresponding to the flight control instruction by the flight simulation model specifically includes:

Generating a simulated flight state corresponding to the flight control instruction through the flight dynamics model, and the simulated flight state is represented by several types of simulated state data;

Inputting several kinds of said simulation states into said sensor model;

According to the input analog state data, several corresponding analog detection data are generated through the sensor model.

Optionally, the simulated state data includes simulated attitude angle, simulated flight trajectory, and simulated output of the power plant; the simulated detection data includes positioning simulation data, visual simulation data, ultrasonic simulation data, air pressure simulation data, and inertial measurement unit simulation Data and magnetometer simulation data.

Optionally, the transmitting the flight control instructions received by the drone to a preset flight simulation model specifically includes:

Convert flight control commands from remote control equipment into control signals for controlling the power plant;

The control signal is input to the flight simulation model.

Optionally, the generation of several types of simulation state data corresponding to the flight control instruction and used to simulate the flight state of the drone through the flight dynamics model specifically includes:

Calculating the analog output of the power plant according to the control signal;

Calculating the simulated attitude angle according to the simulated output of the power plant;

Calculate the simulated flight trajectory according to the simulated attitude angle and the simulated output.

Optionally, the simulated attitude angle includes a simulated roll angle, a simulated pitch angle, and a simulated yaw angle;

The calculating the simulated attitude angle according to the simulated output of the power plant specifically includes:

According to the simulation output, calculate the control moment of the roll axis, the control moment of the pitch axis, and the control moment of the yaw axis of the UAV;

Calculating the rotational angular velocity of the roll axis, the rotational angular velocity of the pitch axis and the rotational angular velocity of the yaw axis according to the control torque of the roll axis, the control torque of the pitch axis, and the control torque of the yaw axis;

According to the rotational angular velocity of the roll axis, the rotational angular velocity of the pitch axis, the rotational angular velocity of the yaw axis, and the conversion matrix, the simulated roll angle, the simulated pitch angle, and the simulated yaw angle are calculated.

Optionally, the calculating the simulated flight trajectory according to the simulated attitude angle and the simulated output specifically includes:

Calculating the simulated acceleration of the drone in the body coordinate system according to the simulated attitude angle and the simulated output;

Integrate the simulated acceleration to obtain the first simulated speed in the body coordinate system;

Converting the first simulation speed into a second simulation speed in the ground coordinate system through a rotation matrix;

Integrate the second simulated speed to obtain the position information of the UAV in the ground coordinate system.

In order to solve the above technical problems, the embodiments of the present invention also provide the following technical solutions: A flight simulation device, including:

The monitoring module is used to monitor in real time whether there is a mode switching command; the mode switching module is used to lock the power unit of the drone when the mode switching command is monitored; the flight simulation module is used to receive the drone The received flight control command is transmitted to a preset flight simulation model; and the simulation data corresponding to the flight control command is generated by the flight simulation model; the display module is used to display the UAV based on the simulation data The simulated flight state under the flight control instruction.

In order to solve the above technical problems, the embodiments of the present invention also provide the following technical solutions: an electronic device including: a processor and a memory communicatively connected with the processor; the memory stores computer program instructions, and the computer program When the instruction is called by the processor, the processor executes the flight simulation method as described above.

In order to solve the above technical problems, the embodiments of the present invention also provide the following technical solutions: an unmanned aerial vehicle, including:

A controller for receiving a mode switching instruction and a flight control instruction from a remote control device, and switching the operation mode of the drone according to the mode switching instruction, the operation mode including a flight mode and a simulation mode;

A power device, the power device is connected to the controller, and is used to output power that is compatible with the flight control command when the drone is in a flying mode;

A flight simulator, where the flight simulator is connected to the controller, and is configured to execute the flight simulation method as described above when the drone is in a simulation mode, and show that the drone is in the flight control instruction Flight simulation status under.

Optionally, when the drone is activated, it is in the flight mode; when the mode switching instruction is monitored, the operation mode of the drone is switched from the flight mode to the simulation mode.

Compared with the prior art, the flight simulation method of the embodiment of the present invention integrates the flight simulation function on the drone without affecting the normal use of the drone by setting a variety of working mode switching methods. Users can use it directly on the drone without relying on other hardware devices, it is convenient to use and low in cost, and it has a good application prospect.

【Explanation of the drawings】

One or more embodiments are exemplified by the pictures in the corresponding drawings. These exemplified descriptions do not constitute a limitation on the embodiments. The elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the attached drawings do not constitute a scale limitation.

FIG. 1 is a schematic diagram of an application scenario of a flight simulation method according to an embodiment of the present invention;

Figure 2a is a structural block diagram of an unmanned aerial vehicle provided by an embodiment of the present invention;

Figure 2b is a schematic diagram of a flight simulation model provided by an embodiment of the present invention;

Figure 2c is a schematic diagram of a flow chart of operating mode switching of a drone provided by an embodiment of the present invention;

Figure 3 is a schematic diagram of a flight simulation device provided by an embodiment of the present invention;

4 is a method flowchart of a flight simulation method provided by an embodiment of the present invention;

FIG. 5 is a flowchart of a method for calculating simulation state data provided by an embodiment of the present invention;

Fig. 6 is a schematic diagram of a position coordinate calculation process provided by an embodiment of the present invention;

FIG. 7 is a schematic diagram of the result of an electronic device provided by an embodiment of the present invention.

【detailed description】

In order to facilitate the understanding of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is expressed as being "fixed to" another element, it can be directly on the other element, or there can be one or more elements in between. When an element is said to be "connected" to another element, it can be directly connected to the other element, or there may be one or more intervening elements in between. The terms "upper", "lower", "inner", "outer", "bottom", etc. used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present invention. The invention and simplified description do not indicate or imply that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the specification of the present invention in this specification are only for the purpose of describing specific embodiments, and are not used to limit the present invention. The term "and/or" used in this specification includes any and all combinations of one or more related listed items.

In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

Flight simulation refers to the use of software programs and/or hardware equipment to reproduce real flight scenes and realistically restore various flight operations to achieve learning to fly or experience flight, etc.

Fig. 1 is an application scenario of a flight simulation method provided by an embodiment of the present invention. As shown in FIG. 1, in this application scenario, a drone 10, a remote control device 20, a smart terminal 30, and a wireless network 40 are included.

The drone 10 may be an unmanned aerial vehicle driven by any type of power, including but not limited to a four-axis drone, a fixed-wing aircraft, and a helicopter model. It can be equipped with the corresponding volume or power according to the needs of the actual situation, so as to provide the load capacity, flight speed and flight mileage that can meet the needs of use.

Of course, one or more functional modules may be added to the UAV 10 to enable the UAV to implement corresponding functions and meet the use requirements in different scenarios, including but not limited to various sensor devices, such as aerial cameras. As one of the functional modules carried on the drone, it can be installed and fixed on the drone through a fixed bracket such as a pan/tilt, and controlled by the drone 10 to perform image collection tasks.

The remote control device 20 is used in conjunction with the drone 10 and is on the user side, and is an interactive device for the user or operator to issue flight control instructions and feed back relevant flight information of the drone 10. The remote control device 20 may be provided with one or more interactive devices, including but not limited to joysticks, keys, and touch screens.

The smart terminal 30 may be any type of smart device used to establish a communication connection with the drone, such as a mobile phone, a tablet computer, or a smart remote control. The smart terminal 30 may be equipped with one or more different user interaction devices to collect user instructions or display and feedback information to the user.

These interactive devices include but are not limited to: buttons, display screens, touch screens, and speakers. For example, the smart terminal 30 may be equipped with a touch display screen, through which the user's remote control instructions for the drone are received and the image information obtained by the aerial camera is displayed to the user through the touch display screen.

In some embodiments, the unmanned aerial vehicle 10 and the remote control device 20 or the smart terminal 30 may also be integrated with existing image visual processing technologies to further provide more intelligent services. For example, the drone 10 can collect images through an aerial camera, and then the smart terminal 30 analyzes the operation gestures in the image, and finally realizes the user's gesture control of the drone 10. Of course, according to actual needs, the smart terminal 30 can be used in conjunction with the remote control device 20 at the same time, or can be used alone.

The wireless network 40 may be a wireless communication network based on any type of data transmission principle for establishing a data transmission channel between two nodes, such as a Bluetooth network located in a specific signal frequency band, a WiFi network, a wireless cellular network, or a combination thereof.

It should be noted that the application scenario shown in FIG. 1 is only for exemplary description. Those skilled in the art can add or subtract one or more of the devices according to actual needs, and are not limited to those shown in FIG. 1.

FIG. 2a is a structural block diagram of the unmanned aerial vehicle 10 provided by an embodiment of the present invention. As shown in FIG. 2a, the drone 10 may include a controller 110, a power device 120, and a flight simulator 130.

Among them, the controller 110 is the core of the flight control of the drone 10. It has the ability of logical operation, can execute a series of operation steps based on the internally stored computer program and output corresponding instruction information, which is used to control the drone 10 so that it can respond to the instructions of the operator.

The power unit 120 is a driving component used to provide flight power for the drone. It is controlled by the controller 110, and outputs appropriate power according to the command information of the controller 110. The power plant can be constructed based on any type of power source.

Typically, the power device 120 may be constructed based on electricity, and consist of a battery that provides power, an electric motor that converts electrical energy into power output, and a propeller that changes the output power into aircraft lift.

The flight simulator 130 is built-in and integrated in the UAV 10 to provide functional modules for simulating flight functions. A number of simulation models adapted to the operating parameters of the UAV 10 are preset in the flight simulator 130, so as to generate and show the user a simulated flight state under a specific flight control instruction.

In some embodiments, to meet the needs of stable operation, as shown in FIG. 2a, the drone 10 may further include several sensor devices 140 to meet different usage requirements. The sensor equipment includes, but is not limited to, barometers, GPS positioning systems, visual acquisition equipment, ultrasound equipment, inertial measurement units, magnetometers, etc.

Correspondingly, the flight simulator 130 also has a built-in sensor model corresponding to the sensor device of the drone 10 to simulate and generate the same type of sensor data as in the real flight process.

Figure 2b is a schematic structural diagram of a preset simulation model provided by an embodiment of the present invention. As shown in FIG. 2b, the simulation model used in the flight simulator 130 may include: a flight dynamics model and a sensor model.

Among them, the flight dynamics model includes a motor dynamics model 131, a flight rotation dynamics model 132, and a flight translation dynamics model 133. The sensor model may include a GPS model 134, a vision model 135, an ultrasound model 136, a barometer model 137, an inertial measurement unit (IMU) model 138, and a magnetometer model 139.

The specific implementation of each simulation model and the input/output data information will be described in detail below in conjunction with FIG. 2b.

1) Regarding the motor dynamics model 131:

As shown in Fig. 2b, the input of the motor dynamics model 131 is the control signal (PWM signal), and the output is the motor output. The motor dynamics model 131 specifically uses the transfer function shown in the following formula (1) to simulate the output of the motor under a specific PWM signal:

Among them, L(s) is the force output by the motor, pwm(s) is the input PWM control signal, K is the gain, s is the Laplace operator, and τ is the time constant of the motor.

2) Regarding the flight rotation dynamics model 132:

As shown in Fig. 2b, the input of the flight rotation dynamics model 132 is the output of the motor, and the output is the attitude angle of the UAV.

The flight rotation dynamics model 132 can specifically obtain the attitude angle through real-time iterative calculations through the mathematical models shown in the following equations (2-1) and (2-2):

Among them, φ, θ, ψ are roll angle, pitch angle and yaw angle, ω _x , ω _y , ω _z are the three-axis rotation angular velocity of the drone, M _x , M _y , M _z are the drone The three-axis control torque of, matrix A is expressed by the following formula (2-3):

The three-axis control torque of the unmanned aerial vehicle can be calculated from the speed difference of multiple different motors in the power plant. Specifically, the three-axis control torque can be calculated by the following formula (2-4):

Among them, M is the distribution matrix, L is the force arm vector, and F is the pulling force vector of the motor.

3) Regarding flight translational dynamics model 133:

As shown in Figure 2b, the input of the flight translational dynamics model 133 is the pull force and attitude angle of the motor. The three-axis acceleration of the UAV in the body coordinate system is calculated by equation (3-2). After the three-axis acceleration is integrated The three-axis speed in the body coordinate system can be obtained. The three-axis speed in the airframe coordinate system can be converted to the three-axis speed in the ground coordinate system through equation (3-1), and after integrating it, the position coordinates of the drone in the ground coordinate system can be output.

The flight translational dynamics model 133 specifically calculates the position coordinates of the UAV through the following formulas (3-1) to (3-2):

Among them, x, y, z are the position coordinates of the drone in the ground coordinate system (referred to as the O system in this embodiment); Vx, Vy, Vz are the speed of the drone in the O system; V _xG , V _yG , V _{zG are the speeds} in the body coordinate system (referred to as the G system in this embodiment, that is, x points forward along the nose, y points to the right perpendicular to the nose in the horizontal plane, and z vertically downwards); T is the sum of the pulling force of the UAV motor, and m is the mass of the aircraft.

Is the rotation matrix converted from the G system to the O system, which is specifically expressed by the following formula (3-3):

4) Regarding GPS model 134:

As shown in Fig. 2b, the inputs of the GPS model 134 are the speed and position of the drone calculated by the flight dynamics model simulation, the initial altitude input by the user, and the GPS noise. The output of the GPS model 134 includes data such as position, altitude, latitude and longitude, and signal quality.

The GPS model can be specifically composed of the following equations (4-1) to (4-5):

h _GPS ＝-z+h _sea +w _hGPS (4-3)

hAcc=std(w _hGPS ) (4-4)

w _{v(.) GPS} is the GPS speed simulation noise, sAcc is the GPS speed accuracy factor, w _hGPS is the GPS height simulation noise, h _sea is the initial altitude of the aircraft, hAcc is the GPS altitude accuracy factor,

Is the current longitude and latitude of the aircraft;

Is the initial latitude and longitude of the aircraft; f(x,y) is the function that converts the UAV's position to latitude and longitude, which can be called directly from the standard function library.

5) Regarding the visual model 135:

As shown in Fig. 2b, the input of the visual model 135 is the speed of the UAV, the measured value of ultrasonic height and the visual noise calculated by the simulation and calculation of the travel dynamics model. The output of the visual model 135 includes the speed and its signal quality.

The visual model 135 is specifically composed of the following formulas (5-1) to (5-2):

Among them, w _v(.)VIO is the visual analog noise, and q _VIO is the visual signal quality.

6) Regarding the ultrasound model 136:

As shown in FIG. 2b, the input of the ultrasonic model 136 includes the speed of the drone and the ultrasonic noise calculated by the flight dynamics model simulation, and the output is the ultrasonic height measurement value.

The ultrasound model 136 is specifically composed of the following formula (6-1):

Among them, w _sonar is ultrasonic noise, and h _sonar is ultrasonic measurement height.

7) Regarding the barometer model 137:

As shown in FIG. 2b, the input of the barometer model 137 includes the position of the drone calculated by the travel dynamics model, the initial altitude input by the user, and the ultrasonic height calculated by the ultrasonic model. During the simulation, the simulated barometer noise can be further considered, and the simulated altitude is output.

The barometer model 137 can be composed of the following formula (7-1):

Among them, w _baro1 and w _{baro2 are the noises} of the barometer at different heights, and h _baro is the barometer to measure the altitude.

8) Regarding the inertial measurement unit (IMU) model 138:

As shown in Figure 2b, the inertial measurement unit (IMU) model 138 needs to extract speed and angular velocity information from the flight dynamics model, and take into account the gyroscope, accelerometer noise, and gyroscope and accelerometer offsets, and output inertial measurements accordingly. The analog measurement value of the unit (IMU).

The inertial measurement unit (IMU) model can be composed of the following equations (8-1) and (8-2):

in,

For analog gyroscope angular velocity measurement output,

To simulate the acceleration measurement output of an accelerometer,

Is the gyro noise,

Is the bias offset of the gyroscope,

Is the accelerometer noise,

Is the accelerometer bias offset,

Is the first derivative of the velocity in the machine system.

9) Regarding the magnetometer model 139:

As shown in FIG. 2b, based on the latitude and longitude data information output by the GPS model 134, the corresponding standard magnetic field can be obtained from the global magnetic field distribution standard model. The attitude angle provided by the standard magnetic field, soft magnetic interference, and flight rotation dynamics is used as the input of the magnetometer model 139 to make it calculate the simulated magnetometer measurement value.

The magnetometer model 139 is specifically composed of the following formula (9-1):

in,

It is the three-axis component of the current standard magnetic field, which can be determined by the internationally published standard model of global magnetic field distribution. It only needs to input the current longitude and latitude of the UAV

Can

Is the measured output value of the analog magnetometer,

Is soft magnetic interference,

It is hard magnetic interference.

It is the conversion matrix from the O coordinate system to the B coordinate (ie, the body coordinate system), expressed by the following formula (9-2):

In actual use, the drone 10 with a preset flight simulator has two different operating modes: a flight mode and a simulation mode.

Among them, the flight mode is the normal working mode of the UAV 10, which is no different from the general UAV. The controller receives the flight control instructions, and then outputs the corresponding data information to control the power device to output appropriate power, so that the unmanned The aircraft can correctly respond to flight control commands.

The simulation mode can provide an operator or user with a flight simulation function, so that they can obtain a simulation operation experience of the UAV 10 for users to learn or try, and avoid a series of problems caused by real machine operation.

The switching between the flight mode and the simulation mode is controlled by the mode switching command. The mode switching instruction may be in any form, and one or more operation actions issued by the user.

In some embodiments, the default operation mode of the drone 10 may be the flight mode. That is, after the drone is activated, it will be in flight mode. Only when the mode switching command is detected, the operation mode is switched to the simulation mode.

FIG. 2c is a working process of the UAV 10 provided by an embodiment of the present invention in different working modes. As shown in FIG. 2c, the UAV 10 also includes a monitoring process 150, a mode switching process 160, and a state switching process 170 for monitoring mode switching instructions.

Wherein, the monitoring process 150 is used to send a corresponding pulse signal when the mode switching instruction is monitored. The mode switching process 160 is used to switch the flight mode to the simulation mode when the pulse signal is received. The state switching process 170 is a channel for feeding back sensor information to the controller 110. In the flight mode, it chooses to feed back the data collected by the real sensor, and in the simulation mode, it feeds back the data provided by the sensor model.

After the drone 10 is powered on, when the monitoring process 150 does not monitor the mode switching instruction, the working mode of the drone 10 will be in the default flight mode.

At this time, the flight simulator 130 is in a closed state, and the control signal generated by the controller 110 according to the remote control instruction is transmitted to the power device 120 to drive the drone to fly. The state switching process 170 feeds back the data collected by the real sensors deployed on the drone to the controller 110.

When the monitoring process 150 detects the mode switching instruction, it can send a corresponding pulse signal to the mode switching process 160. The mode switching process 160 switches the flight mode to the simulation mode accordingly.

At this time, the power unit 120 is in the locked state, and the control signal generated by the flight controller 110 according to the remote control command is transmitted to the flight dynamics model of the flight simulator 130, and the flight dynamics model generates relevant simulation data (such as speed, position). And related state information such as attitude angle).

The generated simulation data is further provided to each sensor model, and the simulated sensor detection information in the simulated flight state is calculated and fed back to the flight controller 110 through the state switching process 170.

It should be noted that, provided that there is no contradiction, the functions performed by one or more functional modules (such as flight controllers and flight simulators) of the UAV 10 shown in FIGS. 2a to 2c can also be moved Or it can be integrated into another functional module. FIG. 2 only exemplarily describes the functional modules of the drone 10 and is not used to limit the functional modules of the drone 10.

Fig. 3 is a structural block diagram of a flight simulation device provided by an embodiment of the present invention. The flight simulation device can be executed by the above-mentioned flight simulator. Those skilled in the art can understand that the modules shown in FIG. 3 can be selectively implemented through software, hardware, or a combination of software and hardware according to actual needs.

As shown in FIG. 3, the flight simulation device 300 includes a monitoring module 310, a mode switching module 320, a flight simulation module 330, and a display module 340.

Among them, the monitoring module 310 is used to monitor in real time whether a mode switching instruction occurs. The mode switching instruction is instruction information used to indicate user needs for switching the operating mode of the drone. The monitoring time period is the time period between after the drone is started and before takeoff. The monitoring module 310 can be implemented in any suitable manner, for example, through an automatic wake-up process.

The mode switching module 320 is used to lock the power device of the drone when the mode switching instruction is monitored. "Locking" refers to suspending the operation of the power plant so that it is in a closed state without responding to any data commands.

By locking the power unit, the unmanned aerial vehicle 10 can be prevented from taking off in a simulated state and causing adverse consequences. Locking can be achieved in many ways, such as cutting off the power supply, data transmission channels, etc., just by turning off the power unit.

The flight simulation module 330 is configured to transmit the flight control instructions received by the drone to a preset flight simulation model, and generate simulation data corresponding to the flight control instructions from the flight simulation model.

The "flight simulation model" is established through mathematical operations, etc., to predict the data information related to the flight state generated by the UAV 10 under specific flight control instructions. Based on these simulated data information, the operator or user can restore or simulate the real drone flight scene and flight experience.

The specific flight simulation model used can be set in the UAV 10 in advance according to the relevant parameters of the UAV and actual use needs.

In some embodiments, the flight simulation model may include two categories: flight dynamics model and sensor model. Among them, the flight dynamics model is used to simulate the flight state of the drone, and the sensor model is used to simulate the sensor detection data of the drone.

Correspondingly, when the flight simulation module 330 provides simulation data, it first generates a simulated flight state corresponding to the flight control instruction through the flight dynamics model. Then, multiple types of simulated state data representing the simulated flight state are input into one or more of the sensor models. Finally, the sensor model generates several corresponding analog detection data according to the input simulation state data.

For example, as shown in Fig. 2b, the sensor model may include a GPS model, a vision model, an ultrasound model, a barometer model, an inertial measurement unit (IMU) model, and a magnetometer model.

In other embodiments, the data information input to the flight simulation model may be the same control signal provided to the power plant. That is, the flight control command from the remote control device can first be converted into a control signal for controlling the power plant. When the drone is in flight mode, the control signal is provided to the power unit, and when the drone is in the simulation mode, it is provided to the flight simulation model.

The display module 340 is a post-processing module. It can display the simulated flight status of the drone under the flight control instruction on the smart terminal 30 or the remote control device 20 based on the simulation data. The specific simulation flight status display form can be designed in advance by the technicians with reference to the real flight scene.

The flight simulation device provided by the embodiment of the present invention is integrated in the drone, and provides two different drone operation modes. Therefore, after obtaining the drone, the user only needs to enter the mode switching command to use the flight simulation function, without additional software downloads or purchasing matching simulation interactive equipment, which is simple and convenient to use and low in cost.

In addition, for drone programming enthusiasts and users who are used for teaching, you can directly burn the edited related control programs into the drone, and perform the simulated flight of the drone through the simulation mode and collect the test flight data. Thereby effectively reducing the possible dangers of direct use of drones for flight test.

Although, the application scenario shown in Figure 1 is used in drones as an example. However, those skilled in the art can understand that the flight simulation device can also be used in other types of scenes and equipment to improve the convenience of use of the flight simulation device and is not limited to the application in the scene shown in FIG. 1.

Based on the flight simulation device shown in FIG. 3, an embodiment of the present invention also provides a flight simulation method. Fig. 4 is a method flowchart of a flight simulation method provided by an embodiment of the present invention. As shown in Figure 4, the flight simulation method includes the following steps:

410. Monitor in real time whether there is a mode switching instruction.

Among them, the time period for real-time monitoring is the time period from when the drone is powered on to before takeoff. It can be executed by related functional modules (such as flight control) in the UAV 10. The mode switching instruction may be triggered by the user in any suitable manner, for example, when the user short presses the power button of the drone twice, the mode switching instruction is triggered.

420. Lock the power device of the drone when the mode switching instruction is detected.

Among them, by locking the power unit, it can be ensured that the drone will not take off or the motor will rotate during simulated flight to ensure safety. The drone can simply include only two modes, flight mode and simulation mode, or more modes can be set as needed.

In a preferred embodiment, when the mode switching instruction appears, the smart terminal and/or remote control device shown in FIG. 1 can also send relevant prompt information to the operator or user, indicating that the drone is currently in simulation State, reduce the risk of misoperation and facilitate the use of operators or users.

The specific prompt message form can be set according to actual needs, including but not limited to voice broadcast, pop-up prompt message box, etc., and only need to be able to serve the purpose of prompting the operator or the user.

430. Transmit the flight control instruction received by the drone to a preset flight simulation model.

Among them, the flight control instruction refers to the data information used by the user to express the user's operation requirements directly through the remote control device such as the remote controller. Of course, the flight control command can also come from other sources (such as a pre-written program), and it only needs to be used to control the UAV.

In some embodiments, the transmitted flight control command may be first converted into a control signal for controlling the power plant, and then input to the flight simulation model. In this way, when the UAV is in different operating modes, only the object of the control signal transmission needs to be changed.

440. Generate simulation data corresponding to the flight control instruction through the flight simulation model.

Among them, the simulation data is output by the flight simulation model to reflect various data of the flight status of the UAV in the current situation. The specific output type of simulation data is determined by the actual flight simulation model used.

In some embodiments, the simulated data may include two types of simulated state data used to reflect the flight state and simulated detection data used to provide sensor detection conditions.

Specifically, the simulated state data includes simulated attitude angle, simulated flight trajectory, and simulated output of the power plant. The simulated detection data may include positioning simulation data, visual simulation data, ultrasonic simulation data, air pressure simulation data, inertial measurement unit simulation data, and magnetometer simulation data.

450. Based on the simulation data, display the simulated flight state of the drone under the flight control instruction.

Among them, the simulated flight status can be specifically displayed in any suitable mode or form, and it only needs to be able to provide as realistic flight scenes as possible. For example, the simulated flight screen of the drone, simulated power data, simulated flight speed, position, and flight direction can be displayed on the smart terminal 20 shown in FIG. 1.

Based on the simulated flight status that needs to be displayed, the specific processing method for the simulated data can be determined. For example, based on the position information of the drone, the flight picture that can be seen at the corresponding position can be retrieved, or the simulated flight height, speed, etc. can be displayed in the same way as in real flight.

The flight simulation method provided by the embodiment of the present invention is integrated on the drone, and the flight simulation function is integrated on the drone without affecting the normal use of the drone. Therefore, the user can directly use the drone without relying on other hardware devices, is convenient to use and low in cost, and has a good application prospect.

Taking the simulated state data including simulated attitude angle, simulated flight trajectory, and simulated output of the power plant as an example, the specific calculation process of the simulated state data is described in detail. As shown in Figure 5, the calculation process includes:

510. Calculate the analog output of the power plant according to the control signal.

Based on different power devices, corresponding control signals need to be used. For example, when the power plant is an electric motor, the PWM signal can be used as the control signal. Choosing an appropriate dynamic model can calculate the corresponding analog output according to the input control signal, and simulate the output power of the motor in the control signal.

520. Calculate the simulated attitude angle according to the simulated output of the power plant.

"Simulated attitude angle" includes three angles: simulated roll angle, simulated pitch angle, and simulated yaw angle.

In some embodiments, the simulated motor output calculated based on the control signal can be calculated in the following manner to obtain the simulated attitude angle:

First, according to the simulation output, calculate the roll axis control moment, pitch axis control moment, and yaw axis control moment of the UAV.

Secondly, calculate the rotational angular velocity of the roll axis, the rotational angular velocity of the pitch axis and the rotational angular velocity of the yaw axis according to the control torque of the roll axis, the control torque of the pitch axis, and the control moment of the yaw axis.

Finally, the simulated roll angle, simulated pitch angle, and simulated yaw angle are calculated according to the rotational angular velocity of the roll axis, the rotational angular velocity of the pitch axis, and the rotational angular velocity of the yaw axis and the conversion matrix.

530. Calculate the simulated flight trajectory according to the simulated attitude angle and the simulated output.

Obtained by real-time iterative calculations, the UAV's position at different times can be combined to get the UAV's flight trajectory in a certain period of time.

In some embodiments, as shown in FIG. 6, the specific calculation process of the drone position coordinates may include the following steps:

First, according to the simulated attitude angle and the simulated motor tension, the simulated acceleration of the drone in the body coordinate system is calculated by the formula (3-2). Secondly, integrate the simulated acceleration to obtain the first simulated speed in the body coordinate system. Again, using a rotation matrix (as shown in equation (3-3)), the first simulated speed is converted into a second simulated speed in the ground coordinate system through equation (3-1). Finally, integrate the second simulated speed to obtain the position coordinates of the UAV in the ground coordinate system.

FIG. 7 shows a schematic structural diagram of an electronic device according to an embodiment of the present invention, and the specific embodiment of the present invention does not limit the specific implementation of the electronic device.

As shown in FIG. 7, the electronic device may include: a processor (processor) 702, a communication interface (Communications Interface) 704, a memory (memory) 706, and a communication bus 708.

Wherein: the processor 702, the communication interface 704, and the memory 706 communicate with each other through the communication bus 708. The communication interface 704 is used to communicate with other devices such as network elements such as clients or other servers. The processor 702 is configured to execute a program 710, and specifically can execute relevant steps in the above-mentioned flight simulation method embodiment.

Specifically, the program 710 may include program code, and the program code includes a computer operation instruction.

The processor 702 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention. The one or more processors included in the network slicing device may be the same type of processor, such as one or more CPUs, or different types of processors, such as one or more CPUs and one or more ASICs.

The memory 706 is used to store the program 710. The memory 706 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), for example, at least one disk memory.

The program 710 may be specifically used to enable the processor 702 to execute the flight simulation method in any of the foregoing method embodiments.

Those skilled in the art should be further aware that the steps of the exemplary Fetion simulation method described in the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two, in order to clearly illustrate For the interchangeability of hardware and software, the composition and steps of each example have been generally described in accordance with the function in the above description. Whether these functions are executed by hardware or software depends on the specific application and design constraint conditions of the technical solution.

Those skilled in the art can use different methods for each specific application to implement the described functions, but such implementation should not be considered as going beyond the scope of the present invention. The computer software may be stored in a computer readable storage medium, and when the program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, the storage medium can be a magnetic disk, an optical disc, a read-only storage memory or a random storage memory, etc.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; under the idea of the present invention, the technical features of the above embodiments or different embodiments can also be combined. The steps can be implemented in any order, and there are many other variations in the different aspects of the present invention as described above. For the sake of brevity, they are not provided in details; although the present invention has been described in detail with reference to the foregoing embodiments, the ordinary person in the art The technical personnel should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or equivalently replace some of the technical features; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the implementations of the present invention Examples of the scope of technical solutions.

Claims (11)

1. A flight simulation method, characterized in that it comprises:

   Real-time monitoring whether there is a mode switching command;

   When the mode switching instruction is detected, lock the power unit of the drone;

   Transmitting the flight control instructions received by the drone to a preset flight simulation model;

   Generating simulation data corresponding to the flight control instruction through the flight simulation model;

   Based on the simulation data, the simulated flight status of the drone under the flight control instruction is displayed.
2. The method according to claim 1, wherein the flight simulation model comprises: a flight dynamics model used to simulate the flight state of the drone, and a flight dynamics model used to simulate sensor detection data of the drone Sensor model

   The generating simulation data corresponding to the flight control instruction by the flight simulation model specifically includes:

   Generating a simulated flight state corresponding to the flight control instruction through the flight dynamics model, and the simulated flight state is represented by several types of simulated state data;

   Inputting several kinds of said simulation states into said sensor model;

   According to the input analog state data, several corresponding analog detection data are generated through the sensor model.
3. The method according to claim 2, wherein the simulated state data includes simulated attitude angle, simulated flight trajectory, and simulated output of a power plant;

   The simulated detection data includes positioning simulation data, visual simulation data, ultrasonic simulation data, atmospheric pressure simulation data, inertial measurement unit simulation data, and magnetometer simulation data.
4. The method according to claim 3, wherein the transmitting the flight control instructions received by the drone to a preset flight simulation model specifically comprises:

   Convert flight control commands from remote control equipment into control signals for controlling the power plant;

   The control signal is input to the flight simulation model.
5. The method according to claim 4, wherein the flight dynamics model is used to generate several kinds of simulation state data corresponding to the flight control instructions for simulating the flight state of the drone , Specifically including:

   Calculating the analog output of the power plant according to the control signal;

   Calculating the simulated attitude angle according to the simulated output of the power plant;

   Calculate the simulated flight trajectory according to the simulated attitude angle and the simulated output.
6. The method according to claim 5, wherein the simulated attitude angle includes a simulated roll angle, a simulated pitch angle, and a simulated yaw angle;

   The calculating the simulated attitude angle according to the simulated output of the power plant specifically includes:

   According to the simulation output, calculate the control moment of the roll axis, the control moment of the pitch axis, and the control moment of the yaw axis of the UAV;

   Calculating the rotational angular velocity of the roll axis, the rotational angular velocity of the pitch axis, and the rotational angular velocity of the yaw axis according to the control torque of the roll axis, the control torque of the pitch axis, and the control moment of the yaw axis;

   The simulated roll angle, simulated pitch angle, and simulated yaw angle are calculated according to the rotational angular velocity of the roll axis, the rotational angular velocity of the pitch axis, the rotational angular velocity of the yaw axis, and the conversion matrix.
7. The method according to claim 5, wherein the calculating the simulated flight trajectory according to the simulated attitude angle and the simulated output specifically comprises:

   Calculating the simulated acceleration of the drone in the body coordinate system according to the simulated attitude angle and the simulated output;

   Integrate the simulated acceleration to obtain the first simulated speed in the body coordinate system;

   Converting the first simulation speed into a second simulation speed in the ground coordinate system through a rotation matrix;

   Integrate the second simulated speed to obtain the position information of the UAV in the ground coordinate system.
8. A flight simulation device, characterized in that it comprises:

   Monitoring module, used for real-time monitoring whether there is a mode switching instruction;

   The mode switching module is used to lock the power device of the drone when the mode switching instruction is monitored;

   The flight simulation module is used to transmit the flight control instructions received by the drone to a preset flight simulation model; and the flight simulation model generates simulation data corresponding to the flight control instructions;

   The display module is configured to display the simulated flight status of the drone under the flight control instruction based on the simulation data.
9. An electronic device, characterized by comprising: a processor and a memory communicatively connected with the processor;

   Computer program instructions are stored in the memory, and when the computer program instructions are called by the processor, the processor executes the flight simulation method according to any one of claims 1-7.
10. An unmanned aerial vehicle, characterized in that it includes:

    A controller for receiving a mode switching instruction and a flight control instruction from a remote control device, and switching the operation mode of the drone according to the mode switching instruction, the operation mode including a flight mode and a simulation mode;

    A power device, which is connected to the controller, and is used to output power that is compatible with the flight control command when the UAV is in a flight mode;

    A flight simulator, the flight simulator is connected to the controller, and is configured to execute the flight simulation method according to any one of claims 1-7 when the drone is in a simulation mode, and display the flight simulation method. The simulated flight state of the man-machine under the flight control instruction.
11. The UAV according to claim 10, wherein when the UAV is activated, it is in flight mode; when the mode switching instruction is detected, the operation mode of the UAV changes from the flight mode Switch to simulation mode.

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