CN107340764A - The abnormality eliminating method and device of unmanned plane - Google Patents
The abnormality eliminating method and device of unmanned plane Download PDFInfo
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- CN107340764A CN107340764A CN201710428286.7A CN201710428286A CN107340764A CN 107340764 A CN107340764 A CN 107340764A CN 201710428286 A CN201710428286 A CN 201710428286A CN 107340764 A CN107340764 A CN 107340764A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The embodiment of the invention discloses a kind of abnormality eliminating method of unmanned plane, including：The sensor parameters of unmanned plane are detected, the sensor parameters include first sensor parameter and inertia measurement parameter；The first running state parameter corresponding with the unmanned plane is determined according to the first sensor parameter, the second running state parameter corresponding with the unmanned plane is determined according to the inertia measurement parameter, calculates the error value of first running state parameter and second running state parameter；The default threshold interval belonging to the error value is determined, sensor of interest failure rank is determined according to the threshold interval；The unmanned plane during flying is controlled according to the sensor of interest failure rank.In addition, the embodiment of the invention also discloses a kind of exception handling device of unmanned plane.Using the present invention, the positioning to unmanned plane it can be detected and be controlled extremely automatically, improve the operation ease of unmanned plane.
Description
Technical field
The present invention relates to the abnormality eliminating method and device in unmanned air vehicle technique field, more particularly to a kind of unmanned plane.
Background technology
With the rapid development of unmanned air vehicle technique, various types of unmanned planes continue to bring out, and unmanned plane is also widely used
In various environment, specialty is carried out for example, performing various special shooting tasks by unmanned plane or carrying ultra high-definition camera
Take photo by plane, the precious the resources of movie ＆ TV of various visual angles can be provided the user；By equipping the police type unmanned plane of Infrared pod, then may be used
Assist to perform investigation tasks, reduction scene of a crime etc., the video data being now stored on unmanned plane is also tended to as important card
According to data.
Unmanned plane will typically use the device auxiliary positionings such as GPS, GPS is observed into data when outdoor scene performs task
With the IMU sensing datas that unmanned plane carries merge and can obtain relatively accurate position and velocity estimation, so as to
The current positional information of unmanned plane can be determined using user.But during unmanned plane flight in the air, influenceed by external environment
(gps signal is lost, and compass receives magnetic interference etc.) or faults itself (sensor device failure etc.) are possible to occur temporarily
When or permanent positioning it is abnormal, the positional information that the positional information of unmanned plane can not be received or receive by causing user is present
Deviation.
Situations such as serious unmanned plane positioning exception may result in missing unmanned plane, air crash, demolition, it is certain so as to cause
Personnel and property infringement., it is necessary to which user voluntarily has found in the current processing scheme abnormal for the positioning of unmanned plane
Positioning is abnormal, and unmanned plane is carried out manual to control unmanned plane to land by remote control throttle lever, steering yoke.Also
It is to say, it is necessary to user voluntarily notes abnormalities and accurately controlled manually, this undoubtedly proposes higher requirement to user, and one
As user be difficult to complete either occur error or accident during completion.
That is, in the prior art, when unmanned plane breaks down, it is necessary to which user is manually had found and manipulated,
Automatically unmanned plane can not be detected with the presence or absence of positioning is abnormal, and can not be automatically handled and be needed after failure is found
To carry out operation manually by user and the problem of operation ease deficiency be present.
The content of the invention
Based on this, to solve in conventional art because the positioning to unmanned plane abnormal examine whether can not occur automatically
Survey and the technical problem of processing, spy propose a kind of abnormality eliminating method of unmanned plane.
A kind of abnormality eliminating method of unmanned plane, including：
The sensor parameters of unmanned plane are detected, the sensor parameters include first sensor parameter and inertia measurement is joined
Number；
The first running state parameter corresponding with the unmanned plane is determined according to the first sensor parameter, according to described
Inertia measurement parameter determines corresponding with the unmanned plane the second running state parameter, calculate first running state parameter and
The error value of second running state parameter；
The default threshold interval belonging to the error value is determined, sensor of interest event is determined according to the threshold interval
Hinder rank；
The unmanned plane during flying is controlled according to the sensor of interest failure rank.
In addition, to solve in conventional art because the positioning to unmanned plane abnormal detect whether can not occur automatically
With the technical problem of processing, spy proposes a kind of exception handling device of unmanned plane.
A kind of exception handling device of unmanned plane, including：
Sensor parameters detection module, for detecting the sensor parameters of unmanned plane, the sensor parameters include first
Sensor parameters and inertia measurement parameter；
Error value computing module, for determining corresponding with the unmanned plane first according to the first sensor parameter
Running state parameter, the second running state parameter corresponding with the unmanned plane is determined according to the inertia measurement parameter, calculated
The error value of first running state parameter and second running state parameter；
Sensor fault rank determination module, for determining the default threshold interval belonging to the error value, according to
The threshold interval determines sensor of interest failure rank；
Unmanned aerial vehicle (UAV) control module, for controlling the unmanned plane during flying according to the sensor of interest failure rank.
Implement the embodiment of the present invention, will have the advantages that：
After the abnormality eliminating method and device that employ above-mentioned unmanned plane, in unmanned plane in the process flown or hovered
In, sensor parameters corresponding to each sensor included in the alignment system of unmanned plane can be gathered, then according to sensor
Whether parameter fails judging sensor or the rank of existing failure, then according to different failure ranks come perform with should
Processing scheme corresponding to failure rank, for example, controlling unmanned plane to be dropped according to flight parameter corresponding with the failure rank
Fall or fly.That is, after using the embodiment of the present invention, during unmanned plane during flying, can automatically to unmanned plane whether
Detected and be classified in the presence of positioning is abnormal, and handled according to the result point situation detected, avoided unmanned plane and flying
There are the fortuitous events such as missing, air crash because positioning is abnormal in capable process, and do not need user it is manual manipulate,
Realize the automatic detection abnormal to unmanned plane positioning and manipulation.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Wherein：
Fig. 1 is a kind of schematic flow sheet of the abnormality eliminating method of unmanned plane in one embodiment；
Fig. 2 is the schematic diagram for the sensor installed in one embodiment on unmanned plane；
Fig. 3 is the transition diagram between different sensors failure rank in one embodiment；
Fig. 4 is the schematic diagram of reference record under floating state in one embodiment；
Fig. 5 is the parameter setting schematic diagram that unmanned plane landing is controlled in one embodiment；
Fig. 6 is the schematic diagram of the abnormality processing of the sensor fault rank of intermediate level in one embodiment；
Fig. 7 is a kind of structural representation of the exception handling device of unmanned plane in one embodiment；
Fig. 8 is the structural representation of the computer equipment for the abnormality eliminating method that foregoing unmanned plane is run in one embodiment
Figure.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
To solve in conventional art because the positioning to unmanned plane whether can not occur being detected and being located extremely automatically
The technical problem of reason, in the present embodiment, spy propose a kind of abnormality eliminating method of unmanned plane, and realizing for this method is responsible
In computer program, the computer program can run on the computer system based on von Neumann system, the computer journey
Sequence can be the application program of the abnormality processing based on unmanned plane.The computer system can be operation above computer program
Unmanned plane terminal device.
Specifically, as shown in figure 1, the abnormality eliminating method of above-mentioned unmanned plane comprises the following steps S102-S108：
Step S102：The sensor parameters of unmanned plane are detected, the sensor parameters include first sensor parameter and are used to
Property measurement parameter.
Unmanned plane is during flight, it is necessary to detect the various numbers of unmanned plane by the various sensors on unmanned plane
According to, and be controlled by the flight of various sensors and controller to nobody.As shown in Fig. 2 identified in Fig. 2 at nobody
The schematic diagram of the operative sensor integrated on machine.In the present embodiment, the sensor bag involved by the alignment system of unmanned plane
GPS (Global Positioning System, global positioning system), IMU (Inertial measurement are included
Unit, Inertial Measurement Unit), compass, barometer etc..
In the present embodiment, in whether occurring the abnormal detection process of positioning to unmanned plane, it is necessary first to obtain nobody
The relevant parameter that each sensor of machine detects, i.e. sensor parameters.
Specifically, GPS detections and the coordinate of the GPS parameters, i.e. horizontal level of unmanned plane by being set on unmanned plane.It is logical
The coordinate information that GPS parameters are known that the horizontal level that unmanned plane is presently in is crossed, so that it is determined that what unmanned plane was presently in
Position.
Electronic compass can provide the relevant information of inertial navigation and direction alignment system for unmanned plane, i.e., examined by compass
Compass parameter is surveyed, the relevant information of inertial navigation and direction alignment system is provided for unmanned plane.
Barometer can measure atmospheric pressure, and atmospheric pressure is influenceed by height, therefore, can be detected by barometer
Data (i.e. barometer parameter) calculate the current elevation information of unmanned plane.
IMU, measure the device of object three-axis attitude angle (or angular speed) and acceleration, the angle speed of the exportable axle of carrier three
Degree, acceleration magnitude, and according to the relative displacement of the angular speed and acceleration magnitude of three axles calculating unmanned plane.Calculated by IMU
The positional information of the relative displacement arrived and unmanned plane before take off, to calculate the position for the horizontal level that unmanned plane is currently located
Confidence ceases.That is, the inertia measurement parameter that detects to obtain by IMU calculates the relative displacement of unmanned plane, then calculate
The positional information that unmanned plane is currently located.
In the present embodiment, the alignment system of unmanned plane is mainly made up of GPS, compass, barometer and IMU, is being judged
When whether the alignment system of unmanned plane occurs abnormal, the sensing that is detected from sensors such as above-mentioned GPS, IMU, compass, barometers
Whether device parameter there is exception to be judged.
In the present embodiment, first sensor parameter includes other in addition to inertia measurement parameter (IMU parameters)
Sensor parameters.
Step S104：The first running status ginseng corresponding with the unmanned plane is determined according to the first sensor parameter
Number, the second running state parameter corresponding with the unmanned plane is determined according to the inertia measurement parameter, calculate first fortune
The error value of row state parameter and second running state parameter.
In specific implementation, according to the first sensor parameter detected, positioning corresponding with each sensor parameters is calculated
Parameter, as with the first running state parameter that the UI of first sensor parameter is answered and the second operation corresponding with IMU parameters
State parameter.
Specifically, in the present embodiment, the horizontal position information that the GPS parameters detected by GPS include, it is determined that with
Horizontal position information corresponding to GPS.The barometer parameter detected by barometer, it is determined that height and position corresponding with barometer
Information.The compass parameter detected according to compass, determines directional information corresponding to unmanned plane.That is, according to first sensor parameter
It is determined that the first running state parameter corresponding with unmanned plane, the first running state parameter includes the level determined according to GPS parameters
Positional information, the height position information determined according to barometer parameter and the directional information determined according to compass parameter.
Further, it is also necessary to the horizontal level of the corresponding position being presently in unmanned plane is calculated by IMU parameters
Relative displacement and height and position relative position, and the base level position in the positional information before being taken off according to unmanned plane
Confidence ceases and starting altitude positional information, calculates horizontal position information and height position information that unmanned plane is presently in.According to
The horizontal position information and height position information that IMU parameters are calculated are IMU prediction data.It should be noted that IMU is pre-
Survey data to be the second running state parameter for being the unmanned plane determined according to IMU parameters.
In the present embodiment, the horizontal position information that the GPS parameters detected by GPS determine, and in IMU prediction data
Horizontal position information, can represent the current horizontal level of unmanned plane.In general, in the normal situation of alignment system
Under, the two should be identical, i.e. the horizontal position information of the unmanned plane obtained by two ways is consistent.If the two
Difference, then illustrate that wherein exception occurs in some sensor.
In the present embodiment, horizontal position information and the IMU prediction numbers that the GPS parameters detected by GPS determine are calculated
The difference between horizontal position information in, as the first running state parameter and the margin of error of the second running state parameter
Value.It should be noted that in the present embodiment, the error value of the first running state parameter and the second running state parameter is not only
Only include horizontal position information and the horizontal position information in IMU prediction data that the GPS parameters detected by GPS determine
Between difference, in addition to the height position information that determines of the barometer parameter that detects of barometer with IMU prediction data
Difference between height position information.That is, the error between the first running state parameter and the second running state parameter
Between the absolute positional information that numerical value is as determined by GPS, barometer and the relative positional information by IMU determinations
Error value, namely the positioning that two kinds of different positioning methods obtain when being positioned by two kinds of different modes to unmanned plane
Error value between information.
Step S106：The default threshold interval belonging to the error value is determined, mesh is determined according to the threshold interval
Mark sensor fault rank.
In the present embodiment, if the alignment system of unmanned plane breaks down, it is thus necessary to determine that the seriousness of the failure of appearance, because
It is when positioning is abnormal because some sensor or certain is several in multiple sensors included in the alignment system of unmanned plane
Sensor appearance is abnormal and caused, accordingly, it is determined that the seriousness for the failure that the alignment system of unmanned plane occurs is to determine nothing
The sensor fault rank for the sensor fault that man-machine alignment system occurs, then determine to answer according to sensor fault rank
The abnormality processing mode of the progress.
In the present embodiment, sensor fault rank comprises at least is clipped to the other failure of highest failure level by minimum failure level
At least two ranks that rank rises, the other second level of the minimum failure level or error level, the highest failure rank
For first level or failure rank, also, sensor fault rank can also be included in the minimum failure rank and described
Intermediate level in highest failure rank.
Error value is the positional information being calculated by sensor parameters and the positional information being calculated by IMU
Between error, illustrate the gap size between the location data that sensor different in the alignment system of unmanned plane obtains,
In the present embodiment, if the error value being calculated in step S104 is excessive, illustrate that the sensor of unmanned plane is positioning
It is middle larger exception occur, if error value is smaller, illustrate the exception that the sensor of unmanned plane occurs in positioning
Or problem is smaller.
When the gap is excessive, illustrate that the data that some sensor detects in alignment system occur because of certain reason
It is abnormal, for example, between the positional information being calculated by the GPS positional informations detected and the data detected by IMU
Error be more than 1000 meters in the case of, it is abnormal illustrate that serious positioning occurs in unmanned plane, determines that sensing occurs in unmanned plane
Device failure, and be highest failure rank.That is, in the present embodiment, belong to first threshold section in error value
In the case of, determine that unmanned plane is in the other sensor fault rank of highest failure level, i.e. first level.It should be noted that
In the present embodiment, what first threshold section represented is the larger section of a numerical value, for example, larger above or equal to some
Error amount section as first threshold section.
In another optional embodiment, in the sensor fault of highest level, except horizontal location or height are fixed
The error value of position is more than outside the situation of a certain preset value, it is also necessary to is calculated in view of the compass parameter detected according to compass
Obtained yaw angle.If less error occurs in the yaw rate being calculated, flight or control that will not be to unmanned plane be made
Into as serious influence, still, if great error occurs in the yaw rate being calculated, for example, being calculated
The maximum angular rate supported much larger than default maximum angular speed or unmanned plane of yaw rate in the case of, illustrate sieve
There is serious error when detecting compass parameter in disk, it is necessary to is detected in time in order to avoid there is bigger failure.Therefore, at this
In embodiment, in order to avoid the mistake of compass parameter detecting causes to judge by accident, calculated in the compass parameter detected according to compass
In the case that the yaw angle arrived is more than default maximum angular rate, it is also necessary to which the compass parameter detected according to compass is calculated
Yaw angle be more than default maximum angular rate lasting appearance (for example, the duration is 5s), just by sensor fault rank
It is set to highest failure rank.
In addition to the sensor fault of highest level, also exist relative to than less serious or smaller sensing
Device failure, for example, the position error that alignment system detects, in the case of 1 meter, less error occurs in alignment system, no
The tracking of control or position of the meeting to unmanned plane impacts.In the present embodiment, in the case of error value is less, really
Determine unmanned plane and be in the sensor of interest failure of lowest level to determine, i.e. the sensor fault rank of second level.
It is that satellite number is reduced or transient loss in the GPS parameters specifically, in an optional embodiment, and only
Error value belongs in the case of Second Threshold section, and it is the other sensing of minimum failure level to determine the sensor of interest failure rank
Device failure rank.It should be noted that in the present embodiment, the maximum in Second Threshold section is less than or equal to first threshold
It is worth the minimum value in section, that is to say, that the error value included in Second Threshold section is significantly less than the mistake in first threshold section
Difference value, for example, will be less than or wait the section of individual less error value one by one as Second Threshold section.For example, the first threshold
It is [1000 meters ,+∞] to be worth section, and Second Threshold section is [0,50 meter].
That is, if the GPS parameter centre halfbacks star number that detects of GPS sensor is reduced or lost, but GPS also in
Normal operating conditions (i.e. the failure state of GPS parameters is effectively or do not failed), then the failure that GPS sensor occurs not is to lose
Effect can not be saved, and therefore, sensor fault rank is set to and most avoids failure rank.
Further, normal operating conditions is in GPS, and GPS parameter centre halfback's star numbers that GPS is detected are normal, but
It is certain difference be present between the horizontal position information that GPS parameters determine and the location information being calculated by IMU, and
Sensor fault rank within the acceptable range (for example, error value is less than 5 meters), is set to minimum failure by this difference
Rank.
In the present embodiment, when considering failure caused by position error, not only need to consider that GPS and IMU is calculated
The positional information of obtained horizontal level, it is also necessary to the height being presently in view of the sensor in alignment system to unmanned plane
The detection and calculating of information.In a specific embodiment, it is calculated in the elevation information that barometer is calculated with IMU
The distance between elevation information be less than preset value (for example, 5 meters) in the case of, sensor fault rank is set to minimum failure
Rank or second level.
In another embodiment, during the sensor fault rank that consideration unmanned plane is presently in, not only need
Consider the error value being calculated by sensor parameters, it is also necessary to consider whether each sensor is in normal work shape
State.
Specifically, also include after the sensor parameters of the detection unmanned plane：Obtain and included in the sensor parameters
Failure parameter, the failure of corresponding with sensor parameters sensor is determined according to the failure parameter of the sensor parameters
State；It is described to determine that sensor of interest failure rank is according to the threshold interval：According to the failure state of the sensor and
Threshold interval belonging to the error value determines the sensor of interest failure rank.
When detecting corresponding sensor parameters by sensor, if sensor is in normal operating conditions, detect
Sensor parameters be also normal, that is to say, that it is effective during the sensor parameters detected；Opposite, if sensor loses
During effect situations such as (for example, sensor degradation or being disconnected with the connection of unmanned aerial vehicle (UAV) control module), sensor can not normally enter
Row work, now returning to the sensor failure parameter included in the sensor parameters of system can determine that sensor is in failure
State, for example, when GPS fails, the sensor parameters for returning to system fail for GPS.
In the present embodiment, sensor parameters also include failure parameter, and failure parameter includes effective (or not failing)
And failure.In the case that the failure parameter included in sensor parameters is failure, sensor failure, work can not be normally carried out
Make.The failure parameter included in sensor parameters is effectively or under non-failure case, sensor can be normally carried out work, inspection
The sensor parameters measured are effective；Also, sensor parameters be effective not representative sensor parameter be it is accurate,
That is in this case, sensor parameters are probably accurate, it is also possible to error be present.
If the failure parameter included in sensor parameters is failure, illustrate corresponding to sensor in can not work shape
State, in this case, the sensor failure, if being handled not in time, the whole alignment system of unmanned plane may be caused
There is serious failure so as to cause damage.
If the failure parameter included in sensor parameters illustrates that corresponding sensor can be normal not fail effectively or
Progress sensor parameters detection, be only possible to the sensor parameters that detect because ambient signal or other reasonses occur
Error.In this case, the alignment system of unmanned plane is likely to occur exception, it is also possible to there is not exception, specifically can root
Judge whether multiple sensors that the alignment system of unmanned plane is included break down according to the sensor parameters specifically detected.
Specifically, it is determined that during sensor of interest failure rank, according to the failure parameter and step of sensor parameters
The error value that is calculated in S104 determines.For example, when the failure parameter of sensor parameters is fails, illustrate above-mentioned
Some in the sensor parameters such as GPS, compass, barometer and IMU or several sensor failures, in this case, nothing
Man-machine alignment system can not necessarily be normally carried out positioning.In the present embodiment, one or several sensors of alignment system go out
Situation about now failing belongs to the situation of the most serious of alignment system failure.For example, when GPS failures or IMU are failed, unmanned plane
It can not be positioned normal through GPS or IMU, user may lose the monitoring to the positional information of unmanned plane, such a situation
Under sensor fault rank be highest failure rank, be in the present embodiment first level.
In a specific embodiment, in the situation that the failure parameter for the sensor parameters that any one is detected is failure
Under, directly determine that sensor of interest failure rank corresponding with unmanned plane is highest failure rank, i.e. first level.Namely
Say, in the case where the failure parameter of the sensor parameters is failure, it is first to determine the sensor of interest failure rank
Rank.
In addition to needing the failure rank positioning highest failure rank of sensor in the case of in sensor failure,
In the case that parameter that sensor detects is excessive, the sensor parameters that sensor detects do not possess referential completely, herein
In the case of kind, it is also desirable to which sensor fault rank is positioned as into the other first level of highest failure level.That is, in the mistake
In the case that difference value is more than or equal to first threshold, it is first level to determine the sensor of interest failure rank.
The specific sensor parameters that have been given in Table 1 corresponding to different sensor fault ranks or according to sensor
The different situations for the data that parameter is calculated.
Table 1
In the present embodiment, in sensor fault rank, in addition to highest failure rank and minimum failure rank, also
In the presence of the sensor fault rank among highest failure rank and minimum failure rank, i.e. intermediate level.Need what is illustrated
It is that in the present embodiment, the quantity of intermediate level can be one or multiple, that is to say, that basis in intermediate level
Sensor fault has been also divided into multiple different sub- intermediate levels in various degree.
For example, the distance (i.e. error value) of the horizontal coordinate calculated in horizontal coordinate corresponding to GPS and IMU is in first
In the case of between threshold interval and Second Threshold section, the sensor fault of the alignment system of unmanned plane is positioned into intergrade
Not.
In another optional embodiment, it is also necessary to be in continuing for a certain sensor fault rank in view of unmanned plane
Time, for example, when unmanned plane is continuously in state corresponding to the sensor fault rank of lowest level, and sensor fault
Do not deteriorate, in this case, it may be considered that sensor fault rank is modified to positioning normal condition, so that user can be with
Normal control unmanned plane is flown.
It is described to determine to go back after sensor of interest failure rank according to the threshold interval in a specific embodiment
Including：Detect the error value and be in described and continue with the corresponding targets threshold section of sensor of interest failure rank
Time；Threshold interval according to belonging to the duration and the error value determines the sensor of interest failure rank.
That is, after being determined that unmanned plane is in some sensor fault rank, also continue to be to unmanned plane
It is no to be detected in the sensor fault rank, that is, step S102-S106 is performed, to determine the sensor event residing for unmanned plane
Whether barrier rank changes.And it is further desired that detection unmanned plane is in the duration of some sensor fault rank, example
Such as, the duration that the sensor fault rank of lowest level is in unmanned plane is more than the situation of preset value.
In an optional scheme, in the case where the duration is more than or equal to very first time threshold value, by institute
The upgrading of sensor of interest failure rank is stated, for example, being in the duration of the sensor fault rank of intermediate level in unmanned plane
In the case of more than 1min, the sensor fault rank residing for unmanned plane is upgraded, that is, upgrades to the sensor event of highest level
Hinder rank.If do not improved that is, unmanned plane is constantly in some sensor fault rank, in order to avoid occurring
Bigger sensor abnormality or accident, sensor fault rank is upgraded, and used and the sensor of interest event after upgrading
Abnormality processing mode corresponding to barrier rank is handled.
In another optional scheme, some sensor fault rank is in more than the regular hour in unmanned plane
In the case of, it is also contemplated that sensor fault rank is degraded or is revised as positioning normal level.Specifically, described lasting
In the case that time is more than or equal to the second time threshold, the sensor of interest failure rank is degraded or passes the target
It is normal that sensor failure rank is revised as sensor positioning.
Because the influence and little of control and flight of the sensor fault rank of lowest level to unmanned plane, if nobody
Machine is constantly in the state of auto-flare system corresponding with the sensor fault rank of lowest level, may cause user without
Method normally operates to unmanned plane, therefore, in sensor of interest failure rank in the minimum failure rank and institute
State in the case that the intermediate level in highest failure rank and the duration be more than the second time threshold, by unmanned plane institute
The sensor of interest failure rank at place is degraded or the sensor fault rank of lowest level is modified into positioning normally.
The schematic diagram that can be changed from each other between different sensor fault ranks has been presented in Fig. 3, has been met
In the case of related condition, it can be changed between the sensor fault rank residing for unmanned plane between correlation.
In the present embodiment, it is in targets threshold area corresponding to the sensor of interest failure rank in detection error numerical value
Between duration process need to detect multiple error values be in the sensor of interest failure level it is other corresponding to threshold value
The duration in section, for example, the distance and barometer of horizontal coordinate corresponding to GPS and the IMU horizontal coordinates calculated calculate
The distance between elevation information that obtained elevation information and IMU is calculated.In the present embodiment, in order to save unmanned plane
Amount of calculation, in the case where being GPS location error level in the sensor of interest failure rank, only error described in perform detection
Numerical value is in the duration of the other corresponding threshold interval of the sensor of interest failure level.
Step S108：The unmanned plane during flying is controlled according to the sensor of interest failure rank.
In the present embodiment, different control programs is set for different sensor fault ranks in advance, that is, passed
During sensor failure rank, it is first determined current sensor of interest failure rank, then obtain the event of default and sensor of interest
Hinder control program corresponding to rank, and unmanned plane during flying or landing are controlled according to the control program.
Specifically, in the case where the sensor of interest failure rank is first level, the unmanned plane is controlled to land.
That is, in the case where unmanned plane is in the sensor fault rank of highest level, unmanned plane can not continue to fly
OK, therefore, control unmanned plane is landed.Specifically, obtain default default landing operation corresponding with unmanned plane landing
Parameter, and unmanned plane is controlled according to default landing operational factor, and make it that unmanned plane is landed.
In another embodiment, in the case where being not required to control unmanned plane to be landed, in order to avoid unmanned plane
It is out of control, it is necessary to control unmanned plane to be flown according to different sensor fault ranks, specifically, above-mentioned according to the target
Sensor fault rank controls the unmanned plane during flying to include：Obtain unmanned plane corresponding with the sensor of interest failure rank
Kinematic parameter, the unmanned plane during flying is controlled according to the unmanned plane kinematic parameter.For each sensor fault rank, if
Corresponding with the sensor fault rank unmanned plane operational factor or unmanned plane operational factor are put and rule are set, then true
After having determined the sensor of interest failure rank residing for unmanned plane, unmanned plane operation corresponding with the sensor fault rank is obtained
Parameter or unmanned plane operational factor set rule, then control unmanned plane during flying according to the unmanned plane kinematic parameter.
It should be noted that in the present embodiment, only normally taken off in unmanned plane and alignment system can be relied on steady
In the case of being scheduled on hovering, just go to judge whether unmanned plane is in some sensor fault rank.For example, at nobody
In the case that machine can not normally take off, it can directly know that unmanned plane has failure, in this case, directly controls unmanned plane
Landed, it is not necessary to perform above-mentioned steps S102-S108.That is, also include before the sensor parameters of detection unmanned plane：
After the unmanned plane takes off, detect whether the unmanned plane is in floating state, if so, performing the biography of the detection unmanned plane
Sensor parameter.
In another embodiment, when detecting that unmanned plane is under floating state, it is also necessary to obtain unmanned plane outstanding
Stop the hovering running state parameter under state.Specifically, in the case where the unmanned plane is in floating state, the nothing is obtained
Man-machine hovering running state parameter, the hovering running state parameter include hovering roll angle, the hovering angle of pitch, and/or hanged
Stop at least one in throttle；It is described to control the unmanned plane during flying to include according to the sensor of interest failure rank：According to
Hovering operational factor is configured to the operational factor of the unmanned plane, and the nothing is controlled according to the operational factor after the setting
It is man-machine to enter floating state.
Unmanned plane in the air by alignment system can steadily hovering on fixing point, this be by position control module according to
Positional information obtains the error with target location, then with PID (ratio proportion, integration integral, derivative
Derivative) method calculates horizontal level correction and throttle correction, and horizontal level correction is again by gesture stability mould
Block is converted into corresponding new attitude control quantity, and throttle correction is superimposed original throttle and measures new Throttle Opening Control amount, new
Attitude control quantity and Throttle Opening Control amount are finally applied to motor module, so as to reach the mesh that unmanned plane is capable of positioning flight in the air
's.
As described in Figure 4, when detecting that unmanned plane is under floating state, if user does not control unmanned plane with rocking bar
All around fly up and down, skyborne unmanned plane is in hovering mode stable and hovered on fixing point, records posture now
Hovering roll angle (Loiter_Roll) and the hovering angle of pitch (Loiter_Pitch) in controlled quentity controlled variable, and hovering throttle
(Loiter_Throttle)。
In a specific embodiment, in the case where unmanned plane is in the sensor fault rank of first level, place
It can not complete to position in the air in the unmanned plane of this state, in order to ensure not causing more serious loss, directly control unmanned plane
Landed.Specifically can be as shown in figure 5, according to the default parameter setting rule landed with control unmanned plane (for example, drop
Fall pattern algorithm) come determine attitude control quantity hover roll angle (Loiter_Roll), hovering the angle of pitch (Loiter_Pitch) with
And the occurrence of hovering throttle (Loiter_Throttle), and the attitude control quantity of determination is sent in unmanned plane accordingly
Control module, by control module according to the attitude control quantity of determination hovering roll angle (Loiter_Roll), the hovering angle of pitch
(Loiter_Pitch) and hovering throttle (Loiter_Throttle) controls unmanned plane to be landed.
It is because the location information for the horizontal level that GPS parameters determine in unmanned plane in another specific embodiment
There is error in the positional information between the horizontal level being calculated with IMU, cause unmanned plane to enter the biography with intermediate level
When under state corresponding to sensor failure rank, because the difference of GPS measurements and the horizontal coordinate of IMU predictions is larger, the position drawn
Information credibility reduces.Now, due to the hovering roll angle recorded under floating state before, under normal positioning states
(Loiter_Roll) and the hovering angle of pitch (Loiter_Pitch) is the experience controlled quentity controlled variable that past experience is drawn, it is possible to temporarily
When use the controlled quentity controlled variable under the two values as this state.
If as shown in fig. 6, between the elevation information and the elevation informations that are calculated of IMU of barometer detection error and by
In the case of judging that unmanned plane is in the sensor fault rank of intermediate level, to ensure that aircraft will not run fast, Throttle Opening Control amount
(Throttle) outstanding hovering throttle (Loiter_Throttle) should not be exceeded, Throttle Opening Control amount (Throttle), i.e.,：
Throttle=min { Throttle, Loiter_Throttle }
It should be noted that applying the hovering roll angle (Loiter_Roll) in unmanned plane under floating state, hovering is bowed
Controlled quentity controlled variable of the elevation angle (Loiter_Pitch) as unmanned plane under the sensor fault rank in intermediate level, is that one kind is leaned on
Past experience controlling value reaches approximately the behavior of hovering purpose, but under this approximate hovering, unmanned plane does not adapt to environment
Change so as to being likely to occur slowly to the skew flight of direction, so in the present embodiment, unmanned plane can also be set
Duration under sensor fault rank in intermediate level no more than a certain preset value (for example, 10 seconds), if exceeding,
The sensor fault rank of minimum failure rank/second level can be then switched to.
In addition, to solve in conventional art because the positioning to unmanned plane abnormal detect whether can not occur automatically
With the technical problem of processing, in one embodiment, as shown in Figure 7, it is also proposed that a kind of exception handling device of unmanned plane, bag
Include：
Sensor parameters detection module 102, for detecting the sensor parameters of unmanned plane, the sensor parameters include the
One sensor parameters and inertia measurement parameter；
Error value computing module 104, it is corresponding with the unmanned plane for being determined according to the first sensor parameter
First running state parameter, the second running state parameter corresponding with the unmanned plane is determined according to the inertia measurement parameter,
Calculate the error value of first running state parameter and second running state parameter；
Sensor fault rank determination module 106, for determining the default threshold interval belonging to the error value, root
Sensor of interest failure rank is determined according to the threshold interval；
Unmanned aerial vehicle (UAV) control module 108, for controlling the unmanned plane during flying according to the sensor of interest failure rank.
Optionally, in one embodiment, unmanned aerial vehicle (UAV) control module 108 is additionally operable in the sensor of interest failure rank
In the case of for first level, the unmanned plane is controlled to land according to default landing operational factor；In the sensor of interest
In the case that failure rank is second level, the operational factor of the unmanned plane is set according to default hovering operational factor
Put, control the unmanned plane to enter floating state according to the operational factor after the setting.
Optionally, in one embodiment, as shown in fig. 7, said apparatus also includes hovering parameter acquisition module 110, use
After being taken off in the unmanned plane, detect whether the unmanned plane is in floating state；Hovering shape is in the unmanned plane
In the case of state, the hovering running state parameter of the unmanned plane is obtained as the default hovering operational factor, it is described outstanding
Constantly running state parameter includes at least one in hovering roll angle, the hovering angle of pitch and the throttle threshold values that hovers.
Optionally, in one embodiment, sensor fault rank determination module 106 is additionally operable to obtain the sensor ginseng
The failure parameter included in number, sensing corresponding with the sensor parameters is determined according to the failure parameter of the sensor parameters
The failure state of device；Threshold interval according to belonging to the failure state of the sensor and the error value determines the target
Sensor fault rank.
Optionally, in one embodiment, sensor fault rank determination module 106 is additionally operable to detect the error value
Duration in the targets threshold section corresponding with the sensor of interest failure rank；According to the duration
The sensor of interest failure rank is determined with the threshold interval belonging to the error value.
Optionally, in one embodiment, sensor fault rank determination module 106 is additionally operable to big in the duration
In or equal in the case of very first time threshold value, the sensor of interest failure rank is upgraded；It is or, big in the duration
In or equal in the case of the second time threshold, the sensor of interest failure rank is degraded.
Optionally, in one embodiment, sensor fault rank determination module 106 is additionally operable to the mistake in the sensor
Effect state be failure or the error value belonging to threshold interval be first threshold section in the case of, determine the target
Sensor fault rank is first level；In the failure state of the sensor be effectively or the GPS parameters are that satellite number subtracts
Less or transient loss, and in the case that the threshold interval belonging to the error value is Second Threshold section, the target is determined
Sensor fault rank is second level, wherein, the maximum in the Second Threshold section is less than or equal to the first threshold
The minimum value in section.
Implement the embodiment of the present invention, will have the advantages that：
After the abnormality eliminating method and device that employ above-mentioned unmanned plane, in unmanned plane in the process flown or hovered
In, sensor parameters corresponding to each sensor included in the alignment system of unmanned plane can be gathered, then according to sensor
Whether parameter fails judging sensor or the rank of existing failure, then according to different failure ranks come perform with should
Processing scheme corresponding to failure rank, for example, controlling unmanned plane to be dropped according to flight parameter corresponding with the failure rank
Fall or fly.That is, after using the embodiment of the present invention, during unmanned plane during flying, can automatically to unmanned plane whether
Detected and be classified in the presence of positioning is abnormal, and handled according to the result point situation detected, avoided unmanned plane and flying
There are the fortuitous events such as missing, air crash because positioning is abnormal in capable process, and do not need user it is manual manipulate,
Realize the automatic detection abnormal to unmanned plane positioning and manipulation.
In the above-described embodiments, can with it is all or part of by software, hardware, firmware or its any combination come reality
It is existing.When being realized using software program, can realize in the form of a computer program product whole or in part.The computer
Program product includes one or more computer instructions.When loading on computers and performing the computer program instructions, entirely
Portion is partly produced according to the flow or function described in the embodiment of the present invention.The computer can be all-purpose computer, specially
With computer, computer network or other programmable devices.The computer instruction can be stored in computer-readable storage
In medium, or the transmission from a computer-readable recording medium to another computer-readable recording medium, for example, the meter
The instruction of calculation machine can pass through wired (such as coaxial cable, light from a web-site, computer, server or data center
Fine, Digital Subscriber Line (DSL)) or wireless (such as infrared, wireless, microwave etc.) mode to another web-site, computer, clothes
Business device or data center are transmitted.It is any available can be that computer can access for the computer-readable recording medium
Medium is either comprising data storage devices such as the integrated server of one or more usable mediums, data centers.It is described to use
Medium can be magnetic medium, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as it is solid
State hard disk Solid State Disk (SSD)) etc..
In one embodiment, as shown in figure 8, Fig. 8 illustrates a kind of abnormality eliminating method for running above-mentioned unmanned plane
The terminal of computer system based on von Neumann system.The computer system can be smart mobile phone, tablet personal computer, palm electricity
The terminal devices such as brain, notebook computer or PC.Specifically, it may include the outer input interface connected by system bus
1001st, processor 1002, memory 1003, output interface 1004 and sensor 1005 (first sensor 10051 and inertia measurement
Unit 10052).Wherein, outer input interface 1001 can optionally comprise at least network interface 10012.Memory 1003 can wrap
Include external memory 10032 (such as hard disk, CD or floppy disk etc.) and built-in storage 10034.Output interface 1004 can comprise at least
The equipment such as display screen 10042.
In the present embodiment, the operation of this method is based on computer program, and the program file of the computer program is stored in
In the external memory 10032 of the foregoing computer system based on von Neumann system, built-in storage is operationally loaded into
In 10034, then it is compiled as being transferred in processor 1002 after machine code performing, so that being based on von Neumann system
Computer system in formed sensor parameters detection module 102 in logic, error value computing module 104, sensor therefore
Hinder rank determination module 106, unmanned aerial vehicle (UAV) control module 108, hovering parameter acquisition module 110.And in the exception of above-mentioned unmanned plane
In processing method implementation procedure, the parameter of input is received by outer input interface 1001, and is transferred in memory 1003
Caching, be then input in processor 1002 and handled, the result data of processing or be cached in memory 1003 carry out after
Handle continuously, or be passed to output interface 1004 and exported.
Specifically, the first sensor 10051 is used for the first sensor parameter for detecting unmanned plane；The inertia measurement
Unit 10052 is used for the inertia measurement parameter for detecting the unmanned plane；The processor 1002 is used for according to the described first sensing
Device parameter determines the first running state parameter corresponding with the unmanned plane, is determined and the nothing according to the inertia measurement parameter
Second running state parameter corresponding to man-machine, calculate the mistake of first running state parameter and second running state parameter
Difference value；The default threshold interval belonging to the error value is determined, sensor of interest event is determined according to the threshold interval
Hinder rank；The unmanned plane during flying is controlled according to the sensor of interest failure rank.
Optionally, in one embodiment, it is first that processor 1002, which is additionally operable in the sensor of interest failure rank,
In the case of rank, the unmanned plane is controlled to land according to default landing operational factor；In the sensor of interest failure level
The operational factor of the unmanned plane Wei be configured according to default hovering operational factor, root in the case of second level
The unmanned plane is controlled to enter floating state according to the operational factor after the setting.
Optionally, in one embodiment, processor 1002 is additionally operable to after the unmanned plane takes off, and detects the nothing
It is man-machine whether to be in floating state；In the case where the unmanned plane is in floating state, the hovering fortune of the unmanned plane is obtained
Row state parameter includes hovering roll angle, hovering as the default hovering operational factor, the hovering running state parameter
It is at least one in the angle of pitch and hovering throttle threshold values.
Optionally, in one embodiment, processor 1002 is additionally operable to obtain the failure included in the sensor parameters
Parameter, the failure state of sensor corresponding with the sensor parameters is determined according to the failure parameter of the sensor parameters；
Threshold interval according to belonging to the failure state of the sensor and the error value determines the sensor of interest failure level
Not.
Optionally, in one embodiment, processor 1002 be additionally operable to detect the error value be in it is described with it is described
The duration in targets threshold section corresponding to sensor of interest failure rank；According to the duration and the error value
Affiliated threshold interval determines the sensor of interest failure rank.
Optionally, in one embodiment, processor 1002 is additionally operable to when the duration being more than or equal to first
Between in the case of threshold value, the sensor of interest failure rank is upgraded；Or, when the duration being more than or equal to second
Between in the case of threshold value, the sensor of interest failure rank is degraded.
Optionally, in one embodiment, processor 1002 be additionally operable to failure state in the sensor for failure or
In the case that threshold interval belonging to the error value is first threshold section, determine that the sensor of interest failure rank is
First level；In the failure state of the sensor be effectively or the GPS parameters are that satellite number is reduced or transient loss, and
In the case that threshold interval belonging to the error value is Second Threshold section, determine that the sensor of interest failure rank is
Second level, wherein, the maximum in the Second Threshold section is less than or equal to the minimum value in the first threshold section.
Above disclosure is only preferred embodiment of present invention, can not limit the right model of the present invention with this certainly
Enclose, therefore the equivalent variations made according to the claims in the present invention, still belong to the scope that the present invention is covered.
Claims (15)
- A kind of 1. abnormality eliminating method of unmanned plane, it is characterised in that including：The sensor parameters of unmanned plane are detected, the sensor parameters include first sensor parameter and inertia measurement parameter；The first running state parameter corresponding with the unmanned plane is determined according to the first sensor parameter, according to the inertia Measurement parameter determines corresponding with the unmanned plane the second running state parameter, calculating first running state parameter with it is described The error value of second running state parameter；The default threshold interval belonging to the error value is determined, sensor of interest failure level is determined according to the threshold interval Not；The unmanned plane during flying is controlled according to the sensor of interest failure rank.
- 2. the abnormality eliminating method of unmanned plane as claimed in claim 1, it is characterised in that described according to the sensor of interest Failure rank controls the unmanned plane during flying to include：In the case where the sensor of interest failure rank is first level, according to default landing operational factor control Unmanned plane lands；In the case where the sensor of interest failure rank is second level, according to default hovering operational factor to the nothing Man-machine operational factor is configured, and controls the unmanned plane to enter floating state according to the operational factor after the setting.
- 3. the abnormality eliminating method of unmanned plane according to claim 2, it is characterised in that the sensing of the detection unmanned plane Also include before device parameter：After the unmanned plane takes off, detect whether the unmanned plane is in floating state；In the case where the unmanned plane is in floating state, obtain described in the hovering running state parameter conduct of the unmanned plane Default hovering operational factor, the hovering running state parameter include hovering roll angle, the hovering angle of pitch and hovering throttle It is at least one in threshold values.
- 4. the abnormality eliminating method of unmanned plane according to claim 1, it is characterised in that the sensing of the detection unmanned plane Also include after device parameter：Obtain the failure parameter included in the sensor parameters, according to the failure parameter of the sensor parameters determine with it is described The failure state of sensor corresponding to sensor parameters；It is described to determine that sensor of interest failure rank is according to the threshold interval：Threshold interval according to belonging to the failure state of the sensor and the error value determines the sensor of interest event Hinder rank.
- 5. the abnormality eliminating method of unmanned plane according to claim 1, it is characterised in that described according to the threshold interval Determine also to include after sensor of interest failure rank：Detect the error value and be in described and continue with the corresponding targets threshold section of sensor of interest failure rank Time；Threshold interval according to belonging to the duration and the error value determines the sensor of interest failure rank.
- 6. the abnormality eliminating method of unmanned plane according to claim 5, it is characterised in that described according to the duration Determine that the sensor of interest failure rank is with the threshold interval belonging to the error value：In the case where the duration is more than or equal to very first time threshold value, by the sensor of interest failure rank liter Level；Or,In the case where the duration is more than or equal to the second time threshold, by the sensor of interest failure grade drops Level.
- 7. the abnormality eliminating method of unmanned plane according to claim 4, it is characterised in that described according to the sensor Threshold interval belonging to failure state and the error value determines that the sensor of interest failure rank is：The sensor failure state be failure or the error value belonging to threshold interval be first threshold section In the case of, it is first level to determine the sensor of interest failure rank；In the failure state of the sensor be effectively or the GPS parameters are that satellite number is reduced or transient loss, and the mistake In the case that threshold interval belonging to difference value is Second Threshold section, it is the second level to determine the sensor of interest failure rank Not, wherein, the maximum in the Second Threshold section is less than or equal to the minimum value in the first threshold section.
- A kind of 8. exception handling device of unmanned plane, it is characterised in that including：Sensor parameters detection module, for detecting the sensor parameters of unmanned plane, the sensor parameters include the first sensing Device parameter and inertia measurement parameter；Error value computing module, for determining the first operation corresponding with the unmanned plane according to the first sensor parameter State parameter, corresponding with the unmanned plane the second running state parameter is determined according to the inertia measurement parameter, described in calculating The error value of first running state parameter and second running state parameter；Sensor fault rank determination module, for determining the default threshold interval belonging to the error value, according to described Threshold interval determines sensor of interest failure rank；Unmanned aerial vehicle (UAV) control module, for controlling the unmanned plane during flying according to the sensor of interest failure rank.
- 9. the exception handling device of unmanned plane according to claim 8, it is characterised in that the unmanned aerial vehicle (UAV) control module is also In the case of being first level in the sensor of interest failure rank, according to default landing operational factor control Unmanned plane lands；In the case where the sensor of interest failure rank is second level, according to default hovering operational factor The operational factor of the unmanned plane is configured, controls the unmanned plane to enter hovering according to the operational factor after the setting State.
- 10. the exception handling device of unmanned plane according to claim 9, it is characterised in that described device also includes hovering Parameter acquisition module, after being taken off in the unmanned plane, detect whether the unmanned plane is in floating state；In the nothing It is man-machine be in floating state in the case of, obtain the hovering running state parameter of the unmanned plane as the default hovering fortune Row parameter, the hovering running state parameter are included in hovering roll angle, the hovering angle of pitch and hovering throttle threshold values at least One.
- 11. the exception handling device of unmanned plane according to claim 8, it is characterised in that the sensor fault rank Determining module is additionally operable to obtain the failure parameter included in the sensor parameters, according to the failure parameter of the sensor parameters It is determined that the failure state of sensor corresponding with the sensor parameters；According to the failure state of the sensor and the error Threshold interval belonging to numerical value determines the sensor of interest failure rank.
- 12. the exception handling device of unmanned plane according to claim 8, it is characterised in that the sensor fault rank Determining module is additionally operable to detect the error value in the targets threshold corresponding with the sensor of interest failure rank The duration in section；Threshold interval according to belonging to the duration and the error value determines the sensor of interest Failure rank；In the case where the duration is more than or equal to very first time threshold value, by the sensor of interest failure level Do not upgrade；Or, in the case where the duration is more than or equal to the second time threshold, by the sensor of interest failure level Do not degrade.
- 13. the exception handling device of unmanned plane according to claim 11, it is characterised in that the sensor fault rank Determining module be additionally operable to the failure state of the sensor be failure or the error value belonging to threshold interval be first In the case of threshold interval, it is first level to determine the sensor of interest failure rank；In the failure state of the sensor It is the reduction of satellite number or transient loss for effective or described GPS parameters, and the threshold interval belonging to the error value is second In the case of threshold interval, it is second level to determine the sensor of interest failure rank, wherein, the Second Threshold section Maximum is less than or equal to the minimum value in the first threshold section.
- 14. a kind of computer-readable recording medium, including computer instruction, when the computer instruction is run on computers When so that computer performs the method as described in claim 1-7.
- A kind of 15. unmanned plane terminal, it is characterised in that including first sensor, Inertial Measurement Unit, processor, wherein：The first sensor is used for the first sensor parameter for detecting unmanned plane；The Inertial Measurement Unit is used for the inertia measurement parameter for detecting the unmanned plane；The processor is used to determine that the first running status corresponding with the unmanned plane is joined according to the first sensor parameter Number, the second running state parameter corresponding with the unmanned plane is determined according to the inertia measurement parameter, calculate first fortune The error value of row state parameter and second running state parameter；Determine the default threshold zone belonging to the error value Between, sensor of interest failure rank is determined according to the threshold interval；According to sensor of interest failure rank control Unmanned plane during flying.
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