CN105093130A - Unmanned aerial vehicle cruising capacity monitoring system and method - Google Patents
Unmanned aerial vehicle cruising capacity monitoring system and method Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle cruising capacity monitoring system and method, and belongs to the field of unmanned aerial vehicles. The system comprises an unmanned aerial vehicle and a flight control station, a signal processing module and a data communication module. The unmanned aerial vehicle further comprises a signal input module, a flight control panel and a battery. The signal input module acquires energy consumption information of the unmanned aerial vehicle. The flight control panel acquires battery information and controls flight of the unmanned aerial vehicle. The signal processing module is suitable for calculating cruising capacity of the unmanned aerial vehicle according to the energy consumption information and the battery information. Energy consumption of the unmanned aerial vehicle is analyzed to accurately estimate cruising capacity of the unmanned aerial vehicle, and cruising capacity of the unmanned aerial vehicle is marked by cruising time and/or cruising distance. Meanwhile, influence of environment temperature on battery energy efficiency is also considered so that accuracy of prediction of cruising capacity of the unmanned aerial vehicle is further enhanced.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, be specifically related to a kind of unmanned vehicle flying power monitoring system and method.
Background technology
Start to popularize with little miniature unmanned vehicle along with taking photo by plane, and enter consumer level market, originally used by professional and highlight some demands that can not pay close attention to.Unmanned flight's applicator platform is equipped with a large amount of electronic equipment, and as automated driving system, steering wheel and The Cloud Terrace etc., for ensureing unmanned vehicle platform safety steady operation, these electronic equipments need to stablize effective electric power supply.The electric energy of unmanned flight's applicator platform is provided by various high-energy battery, comprising: sun power, accumulator and fuel cell.Be wherein the storage battery power supply mode of representative with lithium battery be current most widely used one.
Prior art mainly by AC-battery power source supplies such as fuel oil, sun power, lithium ion batteries, or is improved in flying power structure, improves the flying power of unmanned vehicle.
Such as: the Chinese invention patent application that application number is 201310543169.7, denomination of invention is " zero point power supply and the electric battery of lithium ion battery as the application of unmanned plane power supply " disclose a kind of zero point power supply and the electric battery of lithium ion battery as the application of unmanned plane power supply, this electric battery comprises power supply single and at least one lithium-ion battery monomer at least one at zero point, described zero point, power supply single can be connected with described lithium-ion battery monomer and/or in parallel, also can disconnect.Such as, in use, if the electricity of lithium ion battery can meet request for utilization, then can by zero point power supply single and lithium-ion battery monomer disconnect, lithium ion battery is connected with consumer provides stable voltage and current; After lithium ion battery uses a period of time, when electricity is not enough, zero point, power supply can constant status lithium ion cell charging, solved the problem of battery durable.
Again such as, the Chinese utility model patent that application number is 201220292712.1, denomination of invention is " a kind of electric power system of unmanned aerial vehicle remote sensing platform " discloses a kind of electric power system of unmanned aerial vehicle remote sensing platform, comprises main electricity, secondary power supply, main switch, auxiliary switch, channel switch, controller, not gate, main testing circuit, a n main switch power supply and n auxiliary switch power supply; Major-minor two pieces of powered battery that employing capacity is different, when main battery electricity is not enough, changeable secondary cell is for subsequent use, and monitor staff reports to the police earthward, makes monitor staff can take measures in time unmanned plane is force-landed, and improves the safe reliability of unmanned plane.
When professional uses, owing to understanding very much product and being familiar with, therefore, about unmanned plane some safeguard, use knowledge so not transparent.Such as, the flight time of unmanned vehicle, rule of thumb analyze by flying hand and judge often, the mode of this dependence experience improves the requirement to operating personnel, and experience is very accurate, reduces the service efficiency of battery.Even if some unmanned vehicles can provide battery allowance to report to the police, this alarm behavior is also not bery accurately.
When unmanned vehicle enters consumer level market, this problem just can not ignore.Ordinary consumer due to the manipulation of unmanned vehicle and use experience not enough, therefore rely on very much the battery allowance information that unmanned vehicle provides.But existing consumer level unmanned vehicle continuation of the journey T.T. itself is not just very long, short 5-10 minute, long is generally also no more than 30 minutes, in this case, if battery allowance prompting is inaccurate again, be so probably difficult to the effect playing prompting user.On the one hand, report to the police if user one discovers battery allowance, just lose no time to reclaim unmanned vehicle, the actual operating time of unmanned vehicle so can be caused much smaller than total cruising time; And on the other hand, if after user discovers battery allowance warning, still adhere to using so just may facing the risk that unmanned vehicle power down is fallen by unmanned vehicle.
Prior art is only reported to the police according to battery allowance situation, and does not consider the state of flight of unmanned vehicle.Such as, unmanned vehicle hovers and does high-speed motion, and its energy consumption condition is very different.If do not consider the energy ezpenditure of unmanned vehicle, doing flying power analysis, is very inaccurate.
Therefore, how at different ambient temperatures in addition, because environment temperature greatly can affect the electric power storage level of battery, accurately adding up the surplus of battery and calculate, is also a problem.
Summary of the invention
Goal of the invention of the present invention is to provide a kind of unmanned vehicle flying power monitoring system and method; it can protect unmanned vehicle in real time, effectively, intelligently; avoid unmanned vehicle to occur the accident caused because electricity is not enough, and the utilization factor of battery can be improved.
Another goal of the invention of the present invention is to provide a kind of unmanned vehicle flying power monitoring system and method, considers the impact of temperature on the electric power storage level of battery, further increases the accuracy of battery allowance monitoring.
Not only do flying power analysis based on battery allowance, but consider the flight energy consumption condition and ambient temperature situations etc. of unmanned vehicle, accurate analysis is done to the flying power of unmanned vehicle, flying power information warning is converted to time or flying distance intuitively.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is as follows:
A kind of unmanned vehicle flying power monitoring system, comprise unmanned vehicle and fly to control platform, signal processing module, data communication module, described unmanned vehicle and described fly control platform can two-way communication by described data communication module, described unmanned vehicle comprises signal input module, flight control panel and battery further, described flight control panel is connected with described signal input module, described data communication module and described battery respectively, described signal processing module is connected with described flight control panel, wherein
Described signal input module is applicable to gather the consumption information of described unmanned vehicle and is sent to described flight control panel;
Described flight control panel is applicable to gather described battery information, controls the flight of described unmanned vehicle;
Described signal processing module is applicable to, according to described consumption information and described battery information, calculate the flying power of described unmanned vehicle.
Further, also comprise memory module, described memory module is connected with described signal processing module, and described memory module is applicable to store the predefined energy consumption rank of described unmanned vehicle and desirable cruising time corresponding to corresponding energy consumption rank and/or average flight speed.
Further, also comprise electric power detection unit, described electric power detection unit is connected with described battery and described flight control panel respectively, and it is applicable to detect total electricity of described battery and the current residual electricity of battery.
Further, described signal input module comprises inertial sensor, and described inertial sensor is applicable to detect the sporting flying parameter of described unmanned vehicle and sends to described signal processing module.
Further, described signal processing module comprises attitude algorithm unit, contrast judgement unit, computing unit further, and described attitude algorithm unit connects described contrast judgement unit, and described contrast judgement unit connects described computing unit, wherein,
Described attitude algorithm unit is applicable to determine according to described sporting flying parameter the state of flight that described unmanned vehicle is current;
Described contrast judgement unit is applicable to the predefined energy consumption rank according to storing in described state of flight and described memory module, judges the energy consumption rank that described unmanned vehicle is current;
Described computing unit is applicable to determine corresponding desirable cruising time and/or average flight speed, total electricity of described battery and the current residual electricity of described battery according to described energy consumption rank, calculates the flying power that described unmanned vehicle is current.
Further, described signal input module also comprises temperature sensor, and it is applicable to the environment temperature gathering described battery, and inputs to signal processing module, compensates described battery information.
According to another aspect of the present invention, provide a kind of unmanned vehicle flying power monitoring method, described unmanned vehicle utilizes powered battery, comprises the following steps:
Gather battery information;
Gather the consumption information of unmanned vehicle;
According to described battery information and described consumption information, obtain the flying power of described unmanned vehicle.
Further, also comprise predefine energy consumption rank step before described acquisition step, specifically comprise the following steps:
The energy consumption rank of the corresponding predetermined number of state of flight difference of described unmanned vehicle;
Measure each energy consumption rank respectively, the desirable cruising time in the full electric situation of described unmanned vehicle;
Measure the average flight speed of described unmanned vehicle under different energy consumption rank respectively;
Store the predefined energy consumption rank of described unmanned vehicle and desirable cruising time corresponding to corresponding energy consumption rank and/or average flight speed.
Further, described battery information comprises total electricity of described battery and the current residual electricity of battery.
Further, also comprise temperature compensation step, specifically comprise the following steps:
Gather the environment temperature of described battery;
Utilize described environment temperature to compensate calculating to described battery information, obtain revised battery information.
The invention discloses a kind of unmanned vehicle flying power monitoring system and method, the current state of flight of unmanned vehicle and predefined energy consumption rank is obtained by inertial sensor, determine current energy consumption rank, according to the current residual electricity of described current energy consumption rank and battery, the flying power of prediction unmanned vehicle, this prediction is different from the existing prediction mode only considering the current residual electricity of battery, but considered the sporting flying parameter of unmanned vehicle, thus make prediction more accurate.Meanwhile, described flying power is also converted to cruising time and mileage and is shown to user intuitively and checks by the present invention, is more convenient to understanding and the operation of layman.The present invention can reduce unmanned vehicle power down falling accident incidence, and improves the utilization ratio of battery.
On the other hand, the present invention also take into account the impact of environment temperature for battery efficiency for the assessment of unmanned vehicle flying power, further increases the accuracy of unmanned vehicle flying power prediction.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, clearly understand in order to technological means of the present invention can be made, reach the degree that those skilled in the art can be implemented according to the content of instructions, and in order to above and other objects of the present invention, feature and advantage can be allowed to become apparent, be illustrated with the specific embodiment of the present invention below.
Accompanying drawing explanation
By reading the detailed description in hereafter preferred embodiment, the present invention various other advantage and benefit will become cheer and bright for those of ordinary skill in the art.Figure of description only for illustrating the object of preferred implementation, and does not think limitation of the present invention.Apparently, accompanying drawing described below is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.And in whole accompanying drawing, represent identical parts with identical Reference numeral.In the accompanying drawings:
Fig. 1 shows the unmanned vehicle flying power monitoring system structural representation according to the embodiment of the present invention one;
Fig. 2 shows the unmanned vehicle flying power monitoring system structural representation according to the embodiment of the present invention two;
Fig. 3 shows the unmanned vehicle flying power monitoring method process flow diagram according to the embodiment of the present invention three;
Fig. 4 shows the unmanned vehicle flying power monitoring method process flow diagram according to the embodiment of the present invention four.
Embodiment
In more detail specific embodiments of the invention are described below with reference to accompanying drawings.Although show specific embodiments of the invention in accompanying drawing, however should be appreciated that can realize the present invention in a variety of manners and not should limit by the embodiment set forth here.On the contrary, provide these embodiments to be in order to more thoroughly the present invention can be understood, and complete for scope of the present invention can be conveyed to those skilled in the art.
It should be noted that, in the middle of instructions and claim, employ some vocabulary to censure specific components.Those skilled in the art should be appreciated that hardware manufacturer may call same assembly with different noun.This specification and claims are not used as with the difference of noun the mode distinguishing assembly, but are used as the criterion of differentiation with assembly difference functionally." comprising " or " comprising " as mentioned in the middle of instructions and claim is in the whole text an open language, therefore should be construed to " comprise but be not limited to ".Instructions subsequent descriptions is for implementing better embodiment of the present invention, and right described description is for the purpose of the rule of instructions, and is not used to limit scope of the present invention.Protection scope of the present invention is when being as the criterion depending on the claims person of defining.
For ease of the understanding to the embodiment of the present invention, be further explained explanation below in conjunction with accompanying drawing for several specific embodiment, and each accompanying drawing does not form the restriction to the embodiment of the present invention.
Unmanned vehicle is called for short " unmanned plane ", and english abbreviation is " UAV (unmannedaerialvehicle) ", is the not manned aircraft utilizing radio robot to handle with the presetting apparatus provided for oneself.Can be divided into from technical standpoint definition: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc.In recent years, along with the increase of the raising of sensor process, the progress of microprocessor technology, the improvement of propulsion system and battery durable ability, make it constantly expand at a high speed in the purposes in military, civilian, unmanned plane market has bright prospects.
In the embodiment of the present invention, preferred first aid unmanned plane is many rotor unmanned aircrafts (or being called multi-rotor aerocraft), can be four rotors, six rotors and the rotor quantity unmanned vehicle that is greater than six.Preferably, fuselage is made up of carbon fibre material, under the prerequisite meeting higher working strength and rigidity, significantly can alleviate the weight of fuselage, thus reduces the power demand of many rotor unmanned aircrafts and improve the maneuverability of many rotor unmanned aircrafts.Certainly, in other embodiments of the invention, fuselage can also be made up of plastics or other arbitrarily used materials.Fuselage is provided with multiple slurry arm be symmetric relative to the symmetrical plane in described fuselage, each slurry arm is provided with paddle components away from one end of described fuselage, described paddle components comprises the motor be arranged on described slurry arm and the blade be connected on the output shaft of described motor, and the rotation of every a slice blade is all positioned on the same face of cylinder.
The first aid unmanned plane that technical solution of the present invention adopts mainly refers to little, miniature many rotor unmanned aircrafts, and this unmanned vehicle volume is little, cost is low, flight stability is better, and flight cost is low.The present invention use aircraft, typically with four axle multi-rotor aerocrafts for representative.
Embodiment one, a kind of unmanned vehicle flying power monitoring system.
As described in above-mentioned background technology, unmanned vehicle is aloft in flight course, once situation about being short of power, will be abnormally dangerous, and directly may cause air crash.Therefore, flying power judges extremely important accurately, but existing flying power judgment mode is too simple, is only to provide information warning based on the analysis of battery allowance.But in practical flight process, the energy consumption of unmanned vehicle is not unalterable, only rely on battery to make a decision, be not objective not intuitively yet.
Fig. 1 is the aircraft flying power monitoring unmanned vehicle flying power monitoring system structural representation of the embodiment of the present invention one, and composition graphs 1 is specifically described by the embodiment of the present invention.
As shown in Figure 1, embodiments provide a kind of aircraft flying power monitoring unmanned vehicle flying power monitoring system 100, comprise unmanned vehicle 101 and fly to control platform 102, signal processing module 103, data communication module 104, described unmanned vehicle 101 and described fly control platform 102 can two-way communication by described data communication module 104, described unmanned vehicle 101 comprises signal input module 105 further, flight control panel 106 and battery 107, described flight control panel 106 respectively with described signal input module 105, described data communication module 104 is connected with described battery 107, described signal processing module 103 is connected with described data communication module 104, wherein,
Described signal input module 105 is applicable to gather the consumption information of described unmanned vehicle 101 and is sent to described flight control panel 106;
Described flight control panel 106 is applicable to gather described battery information, controls the flight of described unmanned vehicle 101;
Described signal processing module 103 is applicable to, according to described consumption information and described battery information, calculate the flying power of described unmanned vehicle.
Preferred in the embodiment of the present invention, described signal processing module 103 can be built in described unmanned vehicle 101, also fly on control platform 102 described in can being arranged on, can also be an independent physical module, the described flight control panel 106 of described unmanned vehicle 101 also can be utilized to realize signal processing function.In another embodiment, consider the heavy burden problem of unmanned vehicle, fly in control platform 102 described in described signal processing module 103 is arranged on, fly described in the information that described unmanned vehicle 101 gathers is transferred to by described data communication module 104 to process in control platform 102.
Preferred in the embodiment of the present invention, also comprise signal pre-processing module, described signal pre-processing module be used for the information of described collection smoothing with pre-service after, then be sent in described signal processing module 103 and carry out computing.
Preferred in the embodiment of the present invention, described data communication module 104 comprises the first duplex communication interface of being positioned at described unmanned vehicle 101 and flies to control the second duplex communication interface of platform 102 described in being positioned at, described first duplex communication interface is connected with described second duplex communication interface wireless, can realize bidirectional wireless communication function by 3G, 4G wireless network or satellite communication network and random network type.
Preferred in the embodiment of the present invention, also comprise memory module, described memory module is connected with described signal processing module 103, and described memory module is applicable to store the predefined energy consumption rank of described unmanned vehicle and desirable cruising time corresponding to corresponding energy consumption rank and/or average flight speed.
Preferred in the embodiment of the present invention, also comprise electric power detection unit, described electric power detection unit is connected with described battery 107 and described flight control panel 106 respectively, and it is applicable to detect total electricity of described battery and the current residual electricity of battery.
Preferred in the embodiment of the present invention, the current residual electricity of described battery gathers the method for voltage and/or the method acquisition of amperometric measurement electric current by AD Acquisition Circuit.
Wherein in an embodiment, described electric power detection unit adopts voltage measurement method.The electricity of battery refers to the total electrical charge sum that battery can export, usually represent with AH unit, the voltage at Sampling device two ends can be gathered by AD Acquisition Circuit, Sampling device point is connected to the negative pole circuit of battery, and calculates the size of current flow according to the relations I=U/R of voltage and electric current.The pass of electricity and electric current is Q=IT.Described flight control panel can be regular this signal of collection, such as, gather once every the t time, then in electric discharge or charging process, the variable quantity of electricity is Q1=, and suppose that the original electricity of battery is Q0, then current electric quantity is Q=Q1+Q0.If the total volume of battery is Qall, then, the number percent of current electric quantity is P=Qall/Q.
In other embodiments, amperometric can be adopted.Amperometric directly can gather the electric current on Sampling device by galvanometer, then calculate the current electric quantity of battery according to the relation of electricity and electric current.
In other embodiments, electric current, voltage integrated mensuration can be adopted.Gather the voltage on battery output by AD Acquisition Circuit, and gather the electric current on Sampling device by galvanometer, then calculate the current residual electricity of battery according to the relation of Q=Pt=UIt.
Preferred in the embodiment of the present invention, because cell voltage can be undergone mutation along with the power emission of RFPA (radiofrequencypoweramplifier, radio-frequency power amplifier), can diminish 0.2V-0.3V usually.If use voltage analog electricity method simply, will error larger.In order to solve the measurement problem that cell voltage diminishes suddenly, the average battery voltage of this time period software algorithm can be utilized to carry out mean filter, equalization is carried out to the cell voltage in a period of time, if having dropped really, then estimate electricity really to have tailed off, otherwise namely think that electricity does not change.
Preferred in the embodiment of the present invention, described battery is the intelligent battery automatically detecting self residual electricity, and described flight control panel is connected with described intelligent battery communication and obtains the current residual electricity of described intelligent battery.
Preferred in the embodiment of the present invention, described signal input module 105 comprises inertial sensor, and described inertial sensor is applicable to detect the sporting flying parameter of described unmanned vehicle 101 and sends to described signal processing module.
Preferred in the embodiment of the present invention, described inertial sensor comprises at least one in 3 axle acceleration sensors, 3 axle gyroscopes, 3 axle geomagnetic sensors or combination in any.Wherein, described 3 axle acceleration sensor induction unmanned vehicles are at the acceleration signal of solid space three dimensions; Described 3 axle gyroscope induction unmanned vehicles are at the angular velocity signal of solid space three dimensions; Described 3 axle geomagnetic sensor induction unmanned vehicles are at the Geomagnetic signal of solid space three dimensions.
Preferred in the embodiment of the present invention, described 3 axle acceleration sensors are quartz flexible accelerometer, its export X, Y, Z axis to No. 3 accelerometer pulse signals; Described 3 axle gyroscopes are high-precision optical fiber gyro instrument (namely offset drift can reach 0.01 °/h), its export X, Y, Z axis to No. 3 gyro pulse signals.No. 3 accelerometer pulse signals and No. 3 gyro pulse signals send to described signal processing module by optical coupling isolation circuit isolation.
Because, although flexure gyroscope volume weight is minimum, environment for use temperature dynamic scope is less, between-30 ° ~+60 °, but its random drift is comparatively serious, and the most responsive to the vibration interference of flight environment of vehicle, easily produces error, measuring accuracy is lower, is difficult to the high-precision requirement reaching unmanned vehicle.Although and to apply more be at present that the every measuring accuracy of lasergyro is high, its bulking value is large.And although fibre optic gyroscope is influenced by environmental temperature, when thermograde change and temperature rate change all very little, little on fibre optic gyroscope impact.Meanwhile, its bulking value is less relative to lasergyro, and measuring accuracy is higher relative to flexure gyroscope, the requirement such as the bulking value meeting unmanned vehicle is little, precision is high, antijamming capability is strong.Thus, selective light fiber gyroscope is as its Inertial Measurement Unit.
Preferred in the embodiment of the present invention, described signal input module 105 also comprises navigation positioning unit.Further, described navigation positioning unit is gps satellite locating device, and it for responding to the latitude and longitude information of unmanned vehicle at solid space, and sends to described flight control panel.
Preferred in the embodiment of the present invention, described signal input module 105 can also comprise speed probe, for gathering the rotary speed information of unmanned vehicle engine and inputing to described signal processing module 103.
Preferred in the embodiment of the present invention, described signal input module 105 can also comprise height sensor, for gathering the elevation information of unmanned vehicle.Described height sensor comprises at least one in barometric altimeter, laser altimeter, radio altimeter, ultrasonic height meter, image distance measuring sensor.
Preferred in the embodiment of the present invention, described signal input module 105 can also comprise distance measuring sensor, such as ultrasonic distance-measuring sensor, can adopt HC-SR04 to measure distance between described unmanned vehicle and ground or and barrier between distance.
Preferred in the embodiment of the present invention, described signal processing module 103 comprises attitude algorithm unit, contrast judgement unit, computing unit further, and described attitude algorithm unit connects described contrast judgement unit, and described contrast judgement unit connects described computing unit, wherein
Described attitude algorithm unit is applicable to determine according to described sporting flying parameter the state of flight that described unmanned vehicle 101 is current;
Described contrast judgement unit is applicable to the predefined energy consumption rank according to storing in described state of flight and described memory module, judges the energy consumption rank that described unmanned vehicle 101 is current;
Described computing unit is applicable to determine corresponding desirable cruising time and/or average flight speed, total electricity of described battery and the current residual electricity of described battery according to described energy consumption rank, calculates the flying power that described unmanned vehicle 101 is current.
Preferred in the embodiment of the present invention, described signal processing module 103 obtains the sensed data that the sensing equipments such as 3 axle acceleration sensors, 3 axle gyroscopes, 3 axle geomagnetic sensors and GPS are sent, adopt inertial navigation algorithm can calculate unmanned vehicle at three-dimensional attitude information, the attitude of absolute geography information to inertial reference calculation simultaneously accepted with 3 axle geomagnetic sensors and GPS etc. is revised, and obtains the attitude information that has high confidence level.
Preferred in the embodiment of the present invention, described signal processing module 103 can select 32 single-chip microcomputers as microcontroller, to complete based on sensor the unmanned vehicle attitude algorithm of information is provided, and load position information, record attitude information continuously and carried out the state of flight judgement of unmanned vehicle by described attitude information and positional information.
Preferred in the embodiment of the present invention, described signal input module 105 also comprises temperature sensor, and it is applicable to the environment temperature gathering described battery, and inputs to signal processing module, compensates described battery information.
Preferred in the embodiment of the present invention, described temperature sensor adopts digital temperature sensor, it directly reads the ambient temperature information of battery, and send to described signal pre-processing module, described signal pre-processing module to these information smoothing with pre-service after, send it to data communication module, data communication module then utilizes wireless network or satellite communication network the digital temperature data collected packing to be exported to and flies to control platform.
Preferred in the embodiment of the present invention, if described temperature sensor adopts analog temperature sensor (such as, AD590), need configuration discharge circuit and A/D change-over circuit, be converted into digital pulse signal and send to described flight control panel again.
Preferred in the embodiment of the present invention, described signal processing module 103 can comprise fpga chip and configuring chip, the Acquire and process result being sent to that wherein said fpga chip completes No. 3 gyro pulse signals, No. 3 accelerometer pulse signals and digital temperature signal flies control platform and shows, and described configuring chip is described fpga chip storing software program.
Preferred in the embodiment of the present invention, described signal processing module 103 comprises safety electric component analysis unit further, and described safety electric component analysis unit makes a return voyage safely to predeterminated position or the battery electric quantity that directly lands from described current location from current location for calculating described unmanned vehicle.
Preferred in the embodiment of the present invention, according to the current residual electricity of described electric power detection unit Real-time Obtaining battery, utilize the coordinate information of the locating device Real-time Obtaining unmanned vehicle current location on unmanned vehicle or utilize the terrain clearance of the height sensor Real-time Obtaining unmanned vehicle current location on unmanned vehicle, and unmanned vehicle makes a return voyage safely or battery electric quantity required for safe falling from described current location according to the energy consumption level calculation under described coordinate information or terrain clearance and described unmanned vehicle current flight state.Judge whether described current residual electricity is greater than described safe electricity; If the current residual electricity of described battery is not more than described safe electricity, then immediately perform make a return voyage or order of land, or described in fly control platform send alarm signal to user.
Preferred in the embodiment of the present invention, described safety electric component analysis unit comprises and calculates the computation subunit of the safe electricity that described unmanned vehicle makes a return voyage safely and the comparer for the current residual electricity that judges described battery and described safe electricity size for the coordinate information of the described current location according to described unmanned vehicle and the coordinate information of described predeterminated position;
Or described safety electric component analysis unit comprises and calculates for the coordinate information of the described current location according to described unmanned vehicle and the coordinate information of described predeterminated position safe electricity that described unmanned vehicle makes a return voyage safely and judge the current residual electricity of described battery and the microprocessor of described safe electricity size.
Preferred in the embodiment of the present invention, described unmanned vehicle from the path that described current location is maked a return voyage safely to described predeterminated position for following a kind of: former flight path, first along described current location and described predeterminated position straight line path in the horizontal direction and then the vertically straight line path path of flying, the straight line path between described current location and described predeterminated position.
Preferred in the embodiment of the present invention, calculate described unmanned vehicle when making a return voyage safely to electricity required for described predeterminated position from described current location, described unmanned vehicle chooses path of making a return voyage automatically according to preset standard, and makes a return voyage safely to the battery electric quantity required for described predeterminated position from described current location according to the selected unmanned vehicle described in path computing that makes a return voyage.
Preferred in the embodiment of the present invention, described preset standard comprises following at least one: consumes power is minimum, and the stroke that makes a return voyage is the shortest, speed change least number of times.
Preferred in the embodiment of the present invention, described unmanned vehicle from described current location make a return voyage safely to described predeterminated position path automatically setting or be set by the user.
Preferred in the embodiment of the present invention, described unmanned vehicle directly lands from described current location or the required battery electric quantity that makes a return voyage safely comprises reserved electricity.
Preferred in the embodiment of the present invention, described predeterminated position is the impact point that the takeoff point of described unmanned vehicle or user specify.Certainly, in the present invention, the predeterminated position that unmanned vehicle makes a return voyage is not limited to above-mentioned place, also can be other place, such as, when unmanned vehicle is mounted with the sensor of the geographical appearance on detection ground, the predeterminated position that unmanned vehicle makes a return voyage can for the best level point automatically chosen.The coordinate information of predeterminated position can be stored in unmanned vehicle in advance, or is directly inputted by user.
Preferred in the embodiment of the present invention, when calculating the current flying power of described unmanned vehicle, the current residual electricity of described battery is the electricity that the real surplus electricity of described battery deducts after safe electricity, the cruising time calculated thus and course continuation mileage.Like this, further facilitate the demand of layman to the safe flight of unmanned vehicle, it can control aircraft continue to fly according to flying to control cruising time that platform shows and course continuation mileage intuitively, and does not worry that described unmanned vehicle cannot make a return voyage safely or the problem of safe falling.
Preferred in the embodiment of the present invention, when calculating the current flying power of described unmanned vehicle, the current residual electricity of described battery is the electricity that the real surplus electricity of described battery deducts after safe electricity and default electricity, and described default electricity is as the compensation of the error of calculation of described safe electricity.
Preferred in the embodiment of the present invention, described flight control panel can pass through central processing unit (CPU) and/or coprocessor, field programmable gate array (FPGA), digital signal processor (DSP), special-purpose tandem circuit (ASIC) and embedded microprocessor (ARM) realize.
The embodiment of the invention discloses a kind of unmanned vehicle flying power monitoring system, based on unmanned vehicle energy consumption, traditional battery allowance prompt facility is upgraded to the prompting of cruising time and course continuation mileage, and this prompting is based on a kind of so special mode of operation of unmanned vehicle, by irregular for unmanned vehicle flight course, utilize the Monitoring Data of inertial sensor, be converted into quantifiable index, according to the energy consumption analysis to unmanned vehicle, accurately estimate the flying power of unmanned vehicle, and its flying power cruising time and/or endurance distance are identified out.
On the other hand, the embodiment of the present invention is based on the demand accurately estimating flying power, and the assessment for unmanned vehicle flying power also take into account the impact of environment temperature for battery efficiency, further increases the accuracy of unmanned vehicle flying power prediction.
Unmanned vehicle flying power monitoring system described in the embodiment of the present invention; also by the coordinate information of the current location of Real-time Obtaining unmanned vehicle; calculate unmanned vehicle and perform the safe electricity maked a return voyage safely or required for safe falling in described current location; when the current residual electricity of battery is not more than safe electricity; perform corresponding order immediately; thus real-time guard unmanned vehicle, avoid the accident that unmanned vehicle causes because of electricity deficiency.
Unmanned vehicle flying power monitoring system described in the embodiment of the present invention; can also according to the current residual electricity of the safe electricity of current location and battery; and automatic decision makes a return voyage the need of execution or order of landing; do not need user to judge according to experience, thus make above-mentioned monitoring system and method more effectively, intelligently can protect unmanned vehicle.
Unmanned vehicle flying power monitoring system described in the embodiment of the present invention, the safe electricity adopted is real-time change according to the change of the coordinate information of current location, returns in advance or land in advance without the need to unmanned vehicle, thus improves the utilization factor of battery.
Embodiment two, a kind of unmanned vehicle flying power monitoring system.
Fig. 2 is the unmanned vehicle flying power monitoring system structural representation of the embodiment of the present invention 2, and composition graphs 2 is specifically described by the embodiment of the present invention.
As shown in Figure 2, embodiments provide a kind of unmanned vehicle flying power monitoring system, comprising: unmanned vehicle 201 controls platform 202 with flying, described unmanned vehicle comprises flight control panel 203 further, inertial sensor 204, first communication interface 205, temperature sensor 206, battery 207, steering wheel 208, motor 209 and rotor 210, described in fly control platform 202 comprise second communication interface 211 further, central processing unit 212, flying power analytic unit 213 and display device 214, wherein, described flight control panel 203 is connected described central processing unit 212 by described first communication interface 205 with second communication interface 211, described flight control panel respectively with described inertial sensor 204, described temperature sensor 206, described battery 207 is connected with described steering wheel 208, and described steering wheel 208 connects described motor 209, and described motor 209 connects described rotor 210, and described central processing unit 212 is connected with described flying power analytic unit 213 and described display device 214 respectively.
If flying power is from the angle analysis of energy consumption, it fundamentally depends on energy reserve and energy consumption speed, specific to unmanned vehicle field, is exactly that battery electric quantity analysis and battery power consumption are predicted.Wherein, battery electric quantity is analyzed existing a lot of method in prior art and is realized, such as voltage measurement method.But electric quantity consumption prediction will exist different solutions, if still performed an analysis according to the electricity service condition of battery, so possibility cost is higher.
Preferred in the embodiment of the present invention, according to the different flare maneuvers of unmanned vehicle, the Energy Expenditure Levels of unmanned vehicle battery can be added up.Utilize the prediction that the described inertial sensor on unmanned vehicle can realize unmanned vehicle ability Expenditure Levels.Such as, unmanned vehicle is when hovering or cruising flight, and relative energy consumption is lower, but in the situations such as the flight under all-out sprint, high speed break-in, turning and wind resistance environment, obvious energy consumption is higher.These actions all can obtain via described inertial sensor monitoring.
Consider monitoring cost and monitoring effect, illustrate unmanned vehicle flying power monitoring system described in the embodiment of the present invention below.
By the state of flight of unmanned vehicle described in described inertial sensor Real-Time Monitoring, and the state of flight of described unmanned vehicle is divided into four kinds of ranks successively: the first low power consuming, such as, energy consumption in similar calm hovering situation; Consume energy in the second, such as calm cruising flight, anti-3 grades with the energy consumption in leeward hovering situation; The third highly energy-consuming, such as, energy consumption under high-speed flight, frequent rise and fall situation; 4th kind of superelevation energy consumption, such as, make a spurt rapidly, the such frequent high-speed flight of similar aerobatics add energy consumption in zig zag situation.
Under being determined at above-mentioned four kinds of energy consumption rank situations respectively, described unmanned vehicle when full electricity, the average duration that can fly respectively, this time span T1 to T4 is cruising time ideally; Then adjust flight output power and the flying speed of unmanned vehicle, make, when this four kinds of time spans of T1 to T4, just in time the electric power of unmanned vehicle to be discharged complete average flight speed V1 to V4 respectively.The desirable endurance speed that difference that this flying speed is different energy consumption rank is corresponding.
Preferred in the embodiment of the present invention, the method calculating the current flying power of described unmanned vehicle is specially:
Suppose that total electricity of battery is P, to be Pc, P1-4 be the current residual electricity of battery that the current residing energy consumption rank of unmanned vehicle is the flying power of to four;
So, the flying power (namely described unmanned vehicle current flight state is in cruising time when energy consumption rank is the first low energy consumption and mileage) of P1 is:
Like this, not specific unmanned vehicle flare maneuver is approximately the flight parameter of comparatively rule, and flying power can be calculated according to described flight parameter.
Preferred in the embodiment of the present invention, described inertial sensor can add up the energy consumption in this cycle with one-period, such as with 5 seconds for one-period, judge the energy consumption rank in this cycle.Certainly, described inertial sensor also can detect the state of flight of described unmanned vehicle in real time, obtains the energy consumption rank residing for current time unmanned vehicle in real time.
Preferred in the embodiment of the present invention, the state of flight information transmission that detects is given described central processing unit by described inertial sensor, by described central processing unit, attitude algorithm carried out to it, judge the current corresponding energy consumption rank of described unmanned vehicle, described flying power analytic unit is predicted under the Expenditure Levels of this energy consumption rank according to present battery surplus situation and current energy consumption rank, and calculating described unmanned vehicle can also time of duration flight and mileage.
When after this end cycle, in next cycle, described unmanned vehicle recalculates and predicts new cruising time and mileage.
Preferred in the embodiment of the present invention, described flying power analytic unit this is predicted the outcome real-time Transmission to described in fly to control the described display device of platform, show described duration flight time and mileage to user.Certainly, the embodiment of the present invention is not limited to described display device, can also by other means to the duration flight time that user points out unmanned vehicle current and mileage, such as by speech ciphering equipment in real time or report within the predetermined space cycle.
In order to improve the accuracy of above-mentioned prediction further, also need the current residual electricity quantitative analysis order of accuarcy promoting battery.
The quantity measuring method that present most of electronic equipment adopts is also fairly simple, lacks degree of accuracy.The detection method of current main flow simply measures cell voltage, estimates corresponding battery dump energy.Total electricity is divided by 4 or 5, and 4 lattice namely usually can seen on mobile phone screen or the electricity Bar of 5 lattice, in this case, namely the degree of accuracy of every lattice is 25% or 20%, and such precision obviously cannot meet the application of high-precision requirement.
The method of this voltage estimation electricity is usually as follows: one piece of battery is when electric discharge, and the voltage of battery little by little can decline along with the loss of battery electric quantity.So just can obtain a fairly simple and effective corresponding relation, be exactly the corresponding electricity of voltage.The discharge curve of (such as 100mA electric discharge) is normally used by battery, 4 deciles are carried out to the time, for the lithium battery that the deboost that charges is 4.2V, such corresponding relation can be listed, 4.20V-100%, 3.85V-75%, 3.75V-50%, 3.60V-25%, 3.40V-5% is (because substantially can not use photronic electricity completely, suppose the operating voltage range of this equipment minimum be 3.4V, so general lower than just may automatic shutdown during 3.40V).
Obviously, this precision is the highest only has 25%.In addition, cell voltage can be undergone mutation along with the power emission of RFPA (radiofrequencypoweramplifier, radio-frequency power amplifier), and can diminish 0.2V-0.3V usually.If use voltage analog electricity method simply, will error larger.
Preferred in the embodiment of the present invention, in order to solve the measurement problem that cell voltage diminishes suddenly, software algorithm can be utilized to carry out mean filter, equalization is carried out to the cell voltage in a period of time, if the average battery voltage of this time period have dropped really, then estimate electricity really to have tailed off, otherwise namely think that electricity does not change.
Consider that temperature may produce larger impact to the ability of battery more simultaneously.The embodiment of the present invention at different ambient temperatures, can carry out effective compensation to the current residual electricity statistics of battery accurately, thus obtains remaining electroanalysis data more accurately, and further for the flight of unmanned vehicle provides Data support.
Usually, at low ambient temperatures, the activity of material is tended to more inactive, and for battery, its corresponding charging and discharging capabilities, charge/discharge rates all can be affected.Owing to unmanned vehicle using battery as power, unmanned vehicle at different ambient temperatures, the power situation difference needed is little, namely mean that the output power difference of battery is little, so under low temperature environment, because the power reservoir capacity of battery reduces, the flying power of unmanned vehicle must be caused to reduce, but this reduction in the conventional technology, do not consider that it affects.Therefore, cause at different ambient temperatures, estimate not accurate enough to the flying power of unmanned vehicle.
Preferred in the embodiment of the present invention, the current residual electricity statistics of loop up table (LookUpTable) to battery can be passed through and carry out effective compensation.
Concrete, utilize the thinking of temperature compensation, give to test at different ambient temperatures the look-up table of relation between battery allowance and voltage obtained, to a certain extent, unmanned vehicle battery allowance can be solved and estimate inaccurate problem.
Look-up table example is as shown in table 1 below:
Look-up table between the current residual electricity of table 1 temperature and battery
As an example of the application, high temperature is here generally more than 30 degrees Celsius, and normal temperature is exactly between 15-25 degree Celsius, and low temperature refers generally to 0 degrees centigrade.Certainly, concrete temperature arranges and can change along with embody rule environmental change, is not construed as limiting the invention at this.
Preferred in the embodiment of the present invention, effective compensation can also be carried out by the current residual electricity statistics of parametric method to battery.
Concrete, the environment temperature recorded by temperature sensor, as a variable, when considering that this variable affects, being gone to compensate for battery allowance data, also can be solved unmanned vehicle battery allowance to a certain extent and estimate inaccurate problem.Its principle is: because the change of temperature and cell potential are positively related within the specific limits, namely the higher cell potential of temperature is higher, so this variable is also positively related on the impact of battery allowance analysis result.Concrete, the material that described positive correlation and battery use and concrete form relevant.Such as, be all positive correlation under the prerequisite that battery does not damage, in general the limit of working temperature of battery is-40 degrees Celsius to 75 degrees Celsius, but normal working temperature 0 to 40 degrees Celsius compares compared with normal.
Preferred in the embodiment of the present invention; described temperature sensor is the working temperature measuring battery; so generally against battery arrangement; the temperature recorded is higher than the usual meeting of environment temperature; but the particular location of temperature sensor is not construed as limiting the present invention, also can be other modes of emplacements.
Preferred in the embodiment of the present invention, described memory module 209 can be but be not limited to random access memory (RAM) and/or flash memory.The size of described memory module 209 can customizing functions according to demand.
The embodiment of the invention discloses a kind of unmanned vehicle flying power monitoring system, based on unmanned vehicle energy consumption, traditional battery allowance prompt facility is upgraded to the prompting of cruising time and course continuation mileage, and this prompting is based on a kind of so special mode of operation of unmanned vehicle, by irregular for unmanned vehicle flight course, utilize the Monitoring Data of inertial sensor, be converted into quantifiable index, according to the energy consumption analysis to unmanned vehicle, accurately estimate the flying power of unmanned vehicle, and its flying power cruising time and/or endurance distance are identified out.Assessment for unmanned vehicle flying power also take into account the impact of environment temperature for battery efficiency, further increases the accuracy of unmanned vehicle flying power prediction.
In the embodiment of the present invention, other content is see the content in foregoing invention embodiment, does not repeat them here.
Embodiment three, a kind of unmanned vehicle flying power monitoring method.
Fig. 3 is the unmanned vehicle flying power monitoring method process flow diagram of the embodiment of the present invention three, and composition graphs 3 is specifically described by the embodiment of the present invention.
As shown in Figure 3, embodiments provide a kind of unmanned vehicle flying power monitoring method, described unmanned vehicle utilizes powered battery, comprises the following steps:
Step S301: gather battery information;
Step S302: the consumption information gathering unmanned vehicle;
Step S303: according to described battery information and described consumption information, obtain the flying power of described unmanned vehicle.
Preferred in the embodiment of the present invention, also comprise predefine energy consumption rank step before described acquisition step, specifically comprise the following steps:
The energy consumption rank of the corresponding predetermined number of state of flight difference of described unmanned vehicle;
Measure each energy consumption rank respectively, the desirable cruising time in the full electric situation of described unmanned vehicle;
Measure the average flight speed of described unmanned vehicle under different energy consumption rank respectively;
Store the predefined energy consumption rank of described unmanned vehicle and desirable cruising time corresponding to corresponding energy consumption rank and/or average flight speed.
Preferred in the embodiment of the present invention, described battery information comprises total electricity of described battery and the current residual electricity of battery.
Preferred in the embodiment of the present invention, also comprise temperature compensation step, specifically comprise the following steps:
Gather the environment temperature of described battery;
Utilize described environment temperature to compensate calculating to described battery information, obtain revised battery information.
The embodiment of the invention discloses a kind of unmanned vehicle flying power monitoring method, based on unmanned vehicle energy consumption, traditional battery allowance prompt facility is upgraded to the prompting of cruising time and course continuation mileage, and this prompting is based on a kind of so special mode of operation of unmanned vehicle, by irregular for unmanned vehicle flight course, utilize the Monitoring Data of inertial sensor, be converted into quantifiable index, according to the energy consumption analysis to unmanned vehicle, accurately estimate the flying power of unmanned vehicle, and its flying power cruising time and/or endurance distance are identified out.Assessment for unmanned vehicle flying power also take into account the impact of environment temperature for battery efficiency, further increases the accuracy of unmanned vehicle flying power prediction.
In the embodiment of the present invention, other content is see the content in foregoing invention embodiment, does not repeat them here.
Embodiment four, a kind of unmanned vehicle flying power monitoring method.
Fig. 4 is the unmanned vehicle flying power monitoring method process flow diagram of the embodiment of the present invention four, and composition graphs 4 is specifically described by the embodiment of the present invention.
As shown in Figure 4, embodiments provide a kind of unmanned vehicle flying power monitoring method, the method comprises the following steps:
Step S401: start;
Step S402: gather battery information;
Step S403: gather consumption information;
Step S404: according to described battery information and described consumption information, calculate the flying power of described unmanned vehicle;
Step S405: export cruising time and course continuation mileage;
Step S406: show described cruising time and course continuation mileage;
Step S407: timing judges whether time-out? if overtime, then jump back to step S401; Otherwise, jump back to step S406.
Preferred in the embodiment of the present invention, the method calculating the current flying power of described unmanned vehicle in described step S404 is specially:
Suppose that total electricity of battery is P, to be Pc, P1-4 be the current residual electricity of battery that the current residing energy consumption rank of unmanned vehicle is the flying power of to four;
So, the flying power (namely described unmanned vehicle current flight state is in cruising time when energy consumption rank is the first low energy consumption and mileage) of P1 is:
The embodiment of the invention discloses a kind of unmanned vehicle flying power monitoring method, based on unmanned vehicle energy consumption, traditional battery allowance prompt facility is upgraded to the prompting of cruising time and course continuation mileage, and this prompting is based on a kind of so special mode of operation of unmanned vehicle, by irregular for unmanned vehicle flight course, utilize the Monitoring Data of inertial sensor, be converted into quantifiable index, according to the energy consumption analysis to unmanned vehicle, accurately estimate the flying power of unmanned vehicle, and its flying power cruising time and/or endurance distance are identified out.Assessment for unmanned vehicle flying power also take into account the impact of environment temperature for battery efficiency, further increases the accuracy of unmanned vehicle flying power prediction.
In the embodiment of the present invention, other content is see the content in foregoing invention embodiment, does not repeat them here.
The present invention can bring these useful technique effects: unmanned vehicle flying power monitoring system and method disclosed in the embodiment of the present invention, based on unmanned vehicle energy consumption, traditional battery allowance prompt facility is upgraded to the prompting of cruising time and course continuation mileage, and this prompting is based on a kind of so special mode of operation of unmanned vehicle, by irregular for unmanned vehicle flight course, utilize the Monitoring Data of inertial sensor, be converted into quantifiable index, according to the energy consumption analysis to unmanned vehicle, accurately estimate the flying power of unmanned vehicle, and its flying power cruising time and/or endurance distance are identified out.Assessment for unmanned vehicle flying power also take into account the impact of environment temperature for battery efficiency, further increases the accuracy of unmanned vehicle flying power prediction.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. a unmanned vehicle flying power monitoring system, it is characterized in that: comprise unmanned vehicle and fly to control platform, signal processing module, data communication module, described unmanned vehicle and described fly control platform can two-way communication by described data communication module, described unmanned vehicle comprises signal input module, flight control panel and battery further, described flight control panel is connected with described signal input module, described data communication module and described battery respectively, described signal processing module is connected with described flight control panel, wherein
Described signal input module is applicable to gather the consumption information of described unmanned vehicle and is sent to described flight control panel;
Described flight control panel is applicable to gather described battery information, controls the flight of described unmanned vehicle;
Described signal processing module is applicable to, according to described consumption information and described battery information, calculate the flying power of described unmanned vehicle.
2. unmanned vehicle flying power monitoring system according to claim 1, it is characterized in that: also comprise memory module, described memory module is connected with described signal processing module, and described memory module is applicable to store the predefined energy consumption rank of described unmanned vehicle and desirable cruising time corresponding to corresponding energy consumption rank and/or average flight speed.
3. unmanned vehicle flying power monitoring system according to claim 2, it is characterized in that: also comprise electric power detection unit, described electric power detection unit is connected with described battery and described flight control panel respectively, and it is applicable to detect total electricity of described battery and the current residual electricity of battery.
4. unmanned vehicle flying power monitoring system according to claim 3, it is characterized in that: described signal input module comprises inertial sensor, described inertial sensor is applicable to detect the sporting flying parameter of described unmanned vehicle and sends to described signal processing module.
5. unmanned vehicle flying power monitoring system according to claim 4, it is characterized in that: described signal processing module comprises attitude algorithm unit, contrast judgement unit, computing unit further, described attitude algorithm unit connects described contrast judgement unit, described contrast judgement unit connects described computing unit, wherein
Described attitude algorithm unit is applicable to determine according to described sporting flying parameter the state of flight that described unmanned vehicle is current;
Described contrast judgement unit is applicable to the predefined energy consumption rank according to storing in described state of flight and described memory module, judges the energy consumption rank that described unmanned vehicle is current;
Described computing unit is applicable to determine corresponding desirable cruising time and/or average flight speed, total electricity of described battery and the current residual electricity of described battery according to described energy consumption rank, calculates the flying power that described unmanned vehicle is current.
6. according to the arbitrary described unmanned vehicle flying power monitoring system of claim 1 to 5, it is characterized in that: described signal input module also comprises temperature sensor, it is applicable to the environment temperature gathering described battery, and inputs to signal processing module, compensates described battery information.
7. a unmanned vehicle flying power monitoring method, described unmanned vehicle utilizes powered battery, comprises the following steps:
Gather battery information;
Gather the consumption information of unmanned vehicle;
According to described battery information and described consumption information, obtain the flying power of described unmanned vehicle.
8. unmanned vehicle flying power monitoring method according to claim 7, is characterized in that: also comprise predefine energy consumption rank step before described acquisition step, specifically comprise the following steps:
The energy consumption rank of the corresponding predetermined number of state of flight difference of described unmanned vehicle;
Measure each energy consumption rank respectively, the desirable cruising time in the full electric situation of described unmanned vehicle;
Measure the average flight speed of described unmanned vehicle under different energy consumption rank respectively;
Store the predefined energy consumption rank of described unmanned vehicle and desirable cruising time corresponding to corresponding energy consumption rank and/or average flight speed.
9. unmanned vehicle flying power monitoring method according to claim 8, is characterized in that: described battery information comprises total electricity of described battery and the current residual electricity of battery.
10., according to the arbitrary described unmanned vehicle flying power monitoring method of claim 7 to 9, it is characterized in that: also comprise temperature compensation step, specifically comprise the following steps:
Gather the environment temperature of described battery;
Utilize described environment temperature to compensate calculating to described battery information, obtain revised battery information.
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