CN107340764B - Abnormality eliminating method, device, storage medium and the unmanned plane terminal of unmanned plane - Google Patents
Abnormality eliminating method, device, storage medium and the unmanned plane terminal of unmanned plane Download PDFInfo
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- CN107340764B CN107340764B CN201710428286.7A CN201710428286A CN107340764B CN 107340764 B CN107340764 B CN 107340764B CN 201710428286 A CN201710428286 A CN 201710428286A CN 107340764 B CN107340764 B CN 107340764B
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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
- G01—MEASURING; TESTING
- 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
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
Abstract
The embodiment of the invention discloses a kind of abnormality eliminating methods 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；It determines the preset threshold interval belonging to the error value, 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 devices of unmanned plane.Using the present invention, can the positioning of unmanned plane be detected and be controlled extremely automatically, improve the operation ease of unmanned plane.
Description
Technical field
The present invention relates to air vehicle technique field more particularly to the abnormality eliminating methods and device of 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, profession is carried out for example, executing various special shooting tasks by unmanned plane or carrying ultra high-definition camera
It takes photo by plane, the precious the resources of movie & TV of various visual angles can be provided to the user；By equipping the police type unmanned plane of Infrared pod, then may be used
It assists to execute investigation tasks, reduction scene of a crime etc., the video data being stored at this time on unmanned plane also tends to as important card
According to data.
Unmanned plane will generally use the devices auxiliary positionings such as GPS, GPS is observed data when outdoor scene executes 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 location information of unmanned plane can be determined using user.But it when unmanned plane flight in the air, is influenced by external environment
(GPS signal is lost, and compass receives magnetic interference etc.) or faults itself (sensor device failure etc.) are possible to occur temporary
When or permanent positioning it is abnormal, cause the location information that user can not receive the location information of unmanned plane or receive to exist
Deviation.
It is serious unmanned plane positioning abnormal situations such as may result in missing unmanned plane, air crash, demolition, certain to cause
Personnel and property damage.In the current processing scheme abnormal for the positioning of unmanned plane, user is needed voluntarily to find
Positioning is abnormal, and is manually landed to control unmanned plane by remote controler throttle lever, steering yoke to unmanned plane progress.Also
It is to say, needs user voluntarily to note abnormalities and accurately manually controlled, 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, user is needed manually to find and manipulate,
Automatically unmanned plane can not be detected with the presence or absence of positioning is abnormal, and cannot be handled and is needed automatically after finding failure
It to carry out operation manually by user and there is a problem of operation ease deficiency.
Invention content
Based on this, to solve in traditional technology because abnormal examine whether can not occur to the positioning of unmanned plane automatically
The technical issues of surveying and handling, spy proposes 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 ginseng
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；
It determines the preset threshold interval belonging to the error value, 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 traditional technology because abnormal be detected whether can not occur to the positioning of unmanned plane automatically
The technical issues of with 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, the sensor parameters for detecting 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 determines the second running state parameter corresponding with the unmanned plane according to the inertia measurement parameter, calculates
The error value of first running state parameter and second running state parameter；
Sensor fault rank determination module, for determining the preset 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 use above-mentioned unmanned plane, in unmanned plane in the process flown or hovered
In, the corresponding sensor parameters of each sensor included in the positioning system of unmanned plane can be acquired, then according to sensor
Whether parameter fails judging sensor or the rank of existing failure, then according to different failure ranks come execute with should
The corresponding processing scheme of failure rank, for example, being dropped according to flight parameter corresponding with the failure rank to control unmanned plane
It falls or flies.That is, after using the embodiment of the present invention, during unmanned plane during flying, can automatically to unmanned plane whether
It is detected and is classified in the presence of positioning is abnormal, and handled according to the result point situation detected, avoid 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 and manually manipulate,
Realize the automatic detection and manipulation abnormal to unmanned plane positioning.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Wherein：
Fig. 1 is a kind of flow diagram of the abnormality eliminating method of unmanned plane in one embodiment；
Fig. 2 is the schematic diagram for the sensor installed on unmanned plane in one embodiment；
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 of control unmanned plane landing 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 schematic diagram 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 aforementioned unmanned plane is run in one embodiment
Figure.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
To solve in traditional technology because whether can not occur being detected and locating extremely to the positioning of unmanned plane automatically
The technical issues of reason, in the present embodiment, spy, propose a kind of abnormality eliminating method of unmanned plane, and the realization of this method can rely on
In computer program, which 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 includes 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 needs the various numbers that unmanned plane is detected by the various sensors on unmanned plane during flight
According to, and nobody flight is controlled by various sensors and controller.As shown in Fig. 2, being identified at nobody in Fig. 2
The schematic diagram of the operative sensor integrated on machine.In the present embodiment, the sensor packet involved by the positioning 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, detecting the GPS parameters with unmanned plane, the i.e. coordinate of horizontal position by the GPS being arranged on unmanned plane.It is logical
The coordinate information for the horizontal position that GPS parameters are known that unmanned plane is presently in is crossed, so that it is determined that unmanned plane was presently in
Position.
Electronic compass can provide the relevant information of inertial navigation and direction positioning system for unmanned plane, i.e., examined by compass
Compass parameter is surveyed, to provide the relevant information of inertial navigation and direction positioning system for unmanned plane.
Barometer can measure atmospheric pressure, and atmospheric pressure is influenced by height, therefore, can be detected by barometer
Data (i.e. barometer parameter) calculate the current elevation information of unmanned plane.
IMU measures the device of object three-axis attitude angle (or angular speed) and acceleration, the angle speed of three axis of exportable carrier
Degree, acceleration value, and according to the relative displacement of the angular speed of three axis and acceleration value calculating unmanned plane.It is calculated by IMU
The location information of the relative displacement arrived and unmanned plane before take off, to calculate the position for the horizontal position that unmanned plane is currently located
Confidence ceases.That is, the inertia measurement parameter that is detected by IMU calculates the relative displacement of unmanned plane, then calculate
The location information that unmanned plane is currently located.
In the present embodiment, the positioning system of unmanned plane is mainly made of GPS, compass, barometer and IMU, is being judged
When whether the positioning 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 other than inertia measurement parameter (IMU parameters)
Sensor parameters.
Step S104：The first operating status ginseng corresponding with the unmanned plane is determined according to the first sensor parameter
Number determines the second running state parameter corresponding with the unmanned plane according to the inertia measurement parameter, calculates 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 and the first running state parameters for answering of the UI of first sensor parameter 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, determine with
The corresponding horizontal position informations of GPS.The barometer parameter detected by barometer determines height and position corresponding with barometer
Information.The compass parameter detected according to compass determines the corresponding directional information of unmanned plane.That is, according to first sensor parameter
Determine the first running state parameter corresponding with unmanned plane, the first running state parameter includes the level determined according to GPS parameters
Location 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 position 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 location information before being taken off according to unmanned plane
Confidence ceases and starting altitude location 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-
Measured data is the second running state parameter of the unmanned plane to be 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 indicate the current horizontal position of unmanned plane.In general, the situation normal in positioning system
Under, the two should be identical, that is, the horizontal position information of the unmanned plane obtained by two ways is consistent.If the two
Difference then illustrates that wherein exception occurs in some sensor.
In the present embodiment, it calculates the horizontal position information determined by the GPS parameters that GPS is detected, predict number with IMU
The difference between horizontal position information in, the margin of error as the first running state parameter and 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 the horizontal position information determined by the GPS parameters that GPS is detected and the horizontal position information in IMU prediction data
Between difference, further include the height position information that determines of the barometer parameter that detects of barometer in 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 numerical value is the absolute location information determined by GPS, barometer and the opposite location information that determines by IMU
Error value, namely positioning that while being positioned to unmanned plane by two different modes two different positioning methods obtain
Error value between information.
Step S106：It determines the preset threshold interval belonging to the error value, mesh is determined according to the threshold interval
Mark sensor fault rank.
In the present embodiment, if the positioning 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 of some sensor or certain is several in multiple sensors included in the positioning system of unmanned plane
Sensor occurs abnormal and generates, accordingly, it is determined that the seriousness for the failure that the positioning system of unmanned plane occurs is to determine nothing
The sensor fault rank for the sensor fault that man-machine positioning system occurs, is then answered according to sensor fault rank to determine
The abnormality processing mode of the progress.
In the present embodiment, sensor fault rank is included 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 include in the minimum failure rank and described
Intermediate level in highest failure rank.
Error value is the location information being calculated by sensor parameters and the location information being calculated by IMU
Between error, illustrate the gap size between the location data that sensor different in the positioning 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 the data that some sensor detects in positioning system because certain reason occurs
It is abnormal, for example, between the location information being calculated by the GPS location informations detected and by the data that IMU is detected
Error be more than 1000 meters in the case of, it is abnormal to 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, belonging 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, in addition to horizontal location or height are fixed
The error value of position was more than except the case where a certain preset value, it is also necessary in view of the compass parameter detected according to compass calculates
Obtained yaw angle.If smaller error occurs in the yaw rate being calculated, the flight or control of unmanned plane will not be made
At 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 preset 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 be detected in time in order to avoid there is the failure of bigger.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 preset maximum angular rate, it is also necessary to which the compass parameter detected according to compass is calculated
Yaw angle be more than the lasting appearance (for example, duration be 5s) of preset maximum angular rate, just by sensor fault rank
It is set to highest failure rank.
Other than the sensor fault of highest level, there is also relative to than less serious or smaller sensing
Device failure, for example, the position error that positioning system detects is in the case of 1 meter, there is smaller error in positioning system, no
The control of unmanned plane or the tracking of position can be impacted.In the present embodiment, in the case where error value is smaller, really
Determine unmanned plane be in lowest level sensor of interest failure it is fixed, i.e. the sensor fault rank of second level.
Specifically, in an alternative embodiment, in the GPS parameters it is that satellite number is reduced or transient loss, and only
Error value belongs in the case of second threshold section, determines that the sensor of interest failure rank is the other sensing of minimum failure level
Device failure rank.It should be noted that in the present embodiment, the maximum value 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 for including 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 a smaller 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 GPS parameter centre halfback's star numbers for detecting of GPS sensor are reduced or are lost, but GPS also in
Normal operating conditions (i.e. the failure state of GPS parameters is not fail effectively or), 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, it is in normal operating conditions in GPS, and GPS parameter centre halfback's star numbers that GPS is detected are normal, but
It is that there are certain differences between the horizontal position information and the location information being calculated by IMU that GPS parameters determine, 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, it in failure caused by considering position error, not only needs to calculate in view of GPS and IMU
The location information of obtained horizontal position, it is also necessary to the height that unmanned plane is presently in view of the sensor in positioning system
The detection and calculating of information.In a specific embodiment, the elevation information being calculated in 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, it during the sensor fault rank that consideration unmanned plane is presently in, not only needs
Consider the error value being calculated by sensor parameters, it is also necessary to consider each sensor whether in normal work shape
State.
Specifically, further including after the sensor parameters of the detection unmanned plane：It obtains in the sensor parameters and includes
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 when the sensor parameters detected；Opposite, if sensor loses
When 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 into
Row work, returning to the sensor failure parameter for including in the sensor parameters of system at this time can determine that sensor is in failure
State returns to the sensor parameters of system and fails for GPS for example, when GPS fails.
In the present embodiment, sensor parameters further include failure parameter, and failure parameter includes effective (or not failing)
And failure.In the case that the failure parameter for including in sensor parameters is failure, sensor failure can not be normally carried out work
Make.The failure parameter for including in sensor parameters is effectively or under non-failure case, and 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 may be accurate, it is also possible to which there are errors.
If the failure parameter for including in sensor parameters is failure, illustrate that corresponding sensor is in the shape that can not work
State, in this case, the sensor failure may cause the entire positioning system of unmanned plane if being handled not in time
There is serious failure so as to cause damages.
If the failure parameter for including in sensor parameters is not fail effectively or, illustrate that corresponding sensor can be normal
Progress sensor parameters detection, be only possible to the sensor parameters detected because environmental signal or other reasons occur
Error.In this case, the positioning system of unmanned plane is likely to occur exception, it is also possible to there is not exception, it specifically can root
Judge whether multiple sensors that the positioning system of unmanned plane is included break down according to the sensor parameters specifically detected.
Specifically, when determining 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 failure, 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 positioning system can not necessarily be normally carried out positioning.In the present embodiment, one or several sensors of positioning system go out
The case where the case where now failing belongs to the most serious of positioning 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 location information of unmanned plane, such situation
Under sensor fault rank be highest failure rank, be in the present embodiment first level.
In a specific embodiment, the case where the failure parameter of any one sensor parameters detected is failure
Under, direct determination sensor of interest failure rank corresponding with unmanned plane is highest failure rank, i.e. first level.Namely
It says, in the case where the failure parameter of the sensor parameters is failure, determines that the sensor of interest failure rank is first
Rank.
Other than needing in the case of sensor failure by the failure rank positioning highest failure rank of sensor,
In the case that parameter that sensor detects is excessive, the sensor parameters that sensor detects do not have referential completely, herein
In the case of kind, it is also desirable to which sensor fault rank is positioned as the other first level of highest failure level.That is, in the mistake
In the case that difference value is greater than or equal to first threshold, determine that the sensor of interest failure rank is first level.
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, other than 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.It needs to illustrate
It is that in the present embodiment, the quantity of intermediate level can be one, can also be multiple, that is to say, that basis in intermediate level
Sensor fault has been also divided into multiple and different sub- intermediate levels in various degree.
For example, (i.e. error value) is in first at a distance from the horizontal coordinate that IMU is calculated in the corresponding horizontal coordinates of GPS
In the case of between threshold interval and second threshold section, the sensor fault of the positioning system of unmanned plane is positioned into intergrade
Not.
In another optional embodiment, it is also necessary in view of unmanned plane is in continuing for a certain sensor fault rank
Time, for example, when the corresponding state of the sensor fault rank for being continuously in lowest level in unmanned plane, 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 flies.
In a specific embodiment, described to determine sensor of interest failure rank later also according to the threshold interval
Including：It detects the error value and is in described and continue with the corresponding targets threshold section of sensor of interest failure rank
Time；Threshold interval 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 executed, 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 case where duration of the sensor fault rank of lowest level is in unmanned plane more than preset value.
In an optional scheme, in the case where the duration being greater than or equal to first time threshold, 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.That is, if unmanned plane is constantly in some sensor fault rank there is no improving, in order to avoid occurring
The sensor abnormality or accident of bigger, sensor fault rank is upgraded, and is used and the sensor of interest event after upgrading
The corresponding abnormality processing mode of 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 greater than or equal to 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 sensor fault rank of lowest level is to the control of unmanned plane and the influence and little flown, 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 unmanned plane, therefore, in sensor of interest failure rank in the minimum failure rank and institute
It states in the case that the intermediate level in highest failure rank and the duration be more than second time threshold, by unmanned plane institute
The sensor of interest failure rank at place degrade or the sensor fault rank of lowest level is modified to positioning normally.
It has been presented in Fig. 3 the schematic diagram that can be converted from each other between different sensor fault ranks, has been met
In the case of relevant condition, it can be converted between correlation between the sensor fault rank residing for unmanned plane.
In the present embodiment, it is in the corresponding targets threshold area of the sensor of interest failure rank in detection error numerical value
Between the process of duration need to detect multiple error values and be in the other corresponding threshold value of the sensor of interest failure level
The duration in section, for example, the corresponding horizontal coordinates of GPS are at a distance from the horizontal coordinate that IMU is calculated and barometer calculates
The distance between the elevation information that obtained elevation information is calculated with IMU.In the present embodiment, in order to save unmanned plane
Calculation amount only executes in the case where the sensor of interest failure rank is GPS positioning error level and detects the error
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, is passing
When sensor failure rank, it is first determined then current sensor of interest failure rank obtains the event of preset and sensor of interest
Hinder the corresponding control program of 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 landing is controlled.
That is, in the case where unmanned plane is in the sensor fault rank of highest level, unmanned plane cannot continue to fly
Row, therefore, control unmanned plane land.Specifically, obtaining preset preset landing operation corresponding with unmanned plane landing
Parameter, and unmanned plane is controlled according to preset landing operating parameter, and unmanned plane is landed.
In another embodiment, be not required to control unmanned plane landed in the case of, in order to avoid unmanned plane
It is out of control, it needs to be flown to control unmanned plane according to different sensor fault ranks, specifically, above-mentioned according to the target
Sensor fault rank controls the unmanned plane during flying：Obtain unmanned plane corresponding with the sensor of interest failure rank
Kinematic parameter controls the unmanned plane during flying according to the unmanned plane kinematic parameter.For each sensor fault rank, if
Unmanned plane operating parameter corresponding with the sensor fault rank or unmanned plane operating parameter setting 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 operating parameter setting 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 taking off in unmanned plane and positioning system can be relied on steady
In the case of being scheduled on hovering, just go to judge unmanned plane whether in some sensor fault rank.For example, at nobody
In the case that machine can not normally take off, it can directly know that there are failures for unmanned plane, in this case, directly control unmanned plane
Land, above-mentioned steps S102-S108 need not be executed.That is, further including 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, executing 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, hovering pitch angle, and/or hang
Stop at least one of throttle；It is described to include according to the sensor of interest failure rank control unmanned plane during flying：According to
Hovering operating parameter is configured the operating parameter of the unmanned plane, and the nothing is controlled according to the operating parameter after the setting
It is man-machine to enter floating state.
Unmanned plane in the air rely on positioning system can steadily hovering on fixed point, this be by position control module according to
Location information obtains the error with target location, then uses PID (ratio proportion, integral integral, derivative
Derivative) method calculates horizontal position correction amount and throttle correction amount, and horizontal position correction amount is again by gesture stability mould
Block is converted into corresponding new attitude control quantity, and throttle correction amount 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, 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
Flight up and down all around, skyborne unmanned plane are in hovering mode stable and hover on fixed point, record posture at this time
Hovering roll angle (Loiter_Roll) in controlled quentity controlled variable and hovering pitch angle (Loiter_Pitch), 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
Land.It specifically can be as shown in figure 5, according to the preset 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 pitch angle (Loiter_Pitch) with
And the occurrence of hovering throttle (Loiter_Throttle), and determining attitude control quantity is sent in unmanned plane accordingly
Control module, by control module according to determining attitude control quantity hovering roll angle (Loiter_Roll), hovering pitch angle
(Loiter_Pitch) and hovering throttle (Loiter_Throttle) lands to control unmanned plane.
It is the location information because of the horizontal position that GPS parameters determine in unmanned plane in another specific embodiment
There are errors for location information between the horizontal position being calculated with IMU, and unmanned plane is caused to enter the biography with intermediate level
When under the corresponding state of sensor failure rank, since the difference for the horizontal coordinate that GPS is measured and IMU is predicted is larger, the position obtained
Information credibility reduces.At this point, due to the hovering roll angle recorded under floating state before, under normal positioning states
(Loiter_Roll) and hovering pitch angle (Loiter_Pitch) is experience controlled quentity controlled variable that past experience obtains, 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 that judgement unmanned plane is in the sensor fault rank of intermediate level, to ensure that aircraft will not run fast, Throttle Opening Control amount
It (Throttle) should not be more than hovering throttle (Loiter_Throttle), 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
Variation to be likely to occur slowly to the offset flight of direction, so in the present embodiment, unmanned plane can also be arranged
Duration under sensor fault rank in intermediate level no more than a certain preset value (for example, 10 seconds), if being more than,
The sensor fault rank of minimum failure rank/second level can be then switched to.
In addition, to solve in traditional technology because abnormal be detected whether can not occur to the positioning of unmanned plane automatically
The technical issues of with processing, in one embodiment, as shown in Figure 7, it is also proposed that a kind of exception handling device of unmanned plane, packet
It includes：
Sensor parameters detection module 102, the sensor parameters for detecting 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 determines the second running state parameter corresponding with the unmanned plane 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 preset 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 according to preset landing operating parameter and is landed；In the sensor of interest
In the case that failure rank is second level, the operating parameter of the unmanned plane is set according to preset hovering operating parameter
It sets, controlling the unmanned plane according to the operating parameter after the setting enters floating state.
Optionally, in one embodiment, it as shown in fig. 7, above-mentioned apparatus further includes hovering parameter acquisition module 110, uses
After taking off in the unmanned plane, detect whether the unmanned plane is in floating state；It is in hovering shape in the unmanned plane
In the case of state, the hovering running state parameter of the unmanned plane is obtained as the preset hovering operating parameter, it is described outstanding
It includes at least one of hovering roll angle, hovering pitch angle and hovering throttle threshold values to stop running state parameter.
Optionally, in one embodiment, sensor fault rank determination module 106 is additionally operable to obtain the sensor ginseng
The failure parameter for including in number determines sensing corresponding with the sensor parameters according to the failure parameter of the sensor parameters
The failure state of device；Threshold interval 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 first time threshold, the sensor of interest failure rank is upgraded；Or, big in the duration
In or equal in the case of 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 value 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 use above-mentioned unmanned plane, in unmanned plane in the process flown or hovered
In, the corresponding sensor parameters of each sensor included in the positioning system of unmanned plane can be acquired, then according to sensor
Whether parameter fails judging sensor or the rank of existing failure, then according to different failure ranks come execute with should
The corresponding processing scheme of failure rank, for example, being dropped according to flight parameter corresponding with the failure rank to control unmanned plane
It falls or flies.That is, after using the embodiment of the present invention, during unmanned plane during flying, can automatically to unmanned plane whether
It is detected and is classified in the presence of positioning is abnormal, and handled according to the result point situation detected, avoid 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 and manually manipulate,
Realize the automatic detection and manipulation abnormal to unmanned plane positioning.
In the above-described embodiments, all or part of reality can be come by software, hardware, firmware or its arbitrary combination
It is existing.When being realized using software program, can entirely or partly realize in the form of a computer program product.The computer
Program product includes one or more computer instructions.When loading on computers and executing the computer program instructions, entirely
Portion is partly generated 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 from a computer readable storage medium to the transmission of another computer readable storage 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 storage medium
Medium is either comprising data storage devices such as one or more usable mediums integrated server, 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 of the above-mentioned unmanned plane of operation
The terminal of computer system based on von Neumann system.The computer system can be smart mobile phone, tablet computer, palm electricity
The terminal devices such as brain, laptop or PC.Specifically, may include the outer input interface connected by system bus
1001, 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 include 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 include 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 aforementioned computer system based on von Neumann system, it is loaded into built-in storage at runtime
It in 10034, is then compiled as being transferred in processor 1002 after machine code executing, 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
It handles continuously, or is passed to output interface 1004 and is exported.
Specifically, the first sensor 10051 is used to detect the first sensor parameter of unmanned plane；The inertia measurement
Unit 10052 is used to detect the inertia measurement parameter of the unmanned plane；The processor 1002 is used to sense according to described first
Device parameter determines the first running state parameter corresponding with the unmanned plane, is determined and the nothing according to the inertia measurement parameter
Man-machine corresponding second running state parameter calculates the mistake of first running state parameter and second running state parameter
Difference value；It determines the preset threshold interval belonging to the error value, 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, processor 1002 is additionally operable in the sensor of interest failure rank be first
In the case of rank, the unmanned plane is controlled according to preset landing operating parameter and is landed；In the sensor of interest failure level
The operating parameter of the unmanned plane Wei not be configured according to preset hovering operating parameter, root in the case of second level
The unmanned plane, which is controlled, according to the operating parameter after the setting enters floating state.
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
For row state parameter as the preset hovering operating parameter, the hovering running state parameter includes hovering roll angle, hovering
At least one of pitch angle and hovering throttle threshold values.
Optionally, in one embodiment, processor 1002 is additionally operable to obtain the failure for including in the sensor parameters
Parameter determines the failure state of sensor corresponding with the sensor parameters according to the failure parameter of the sensor parameters；
Threshold interval 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 the corresponding targets threshold section of 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 greater 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 greater 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 the sensor failure state be 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 value in the second threshold section is less than or equal to the minimum value in the first threshold section.
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.
Claims (15)
1. a kind of abnormality eliminating method of unmanned plane, which is characterized 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；
It determines the preset threshold interval belonging to the error value, 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 described in claim 1, which is characterized in that described according to the sensor of interest
Failure rank controls the unmanned plane during flying：
In the case where the sensor of interest failure rank is first level, according to the control of preset landing operating parameter
Unmanned plane lands；
In the case where the sensor of interest failure rank is second level, according to preset hovering operating parameter to the nothing
Man-machine operating parameter is configured, and controlling the unmanned plane according to the operating parameter after the setting enters floating state.
3. the abnormality eliminating method of unmanned plane according to claim 2, which is characterized in that the sensing of the detection unmanned plane
Further 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
Preset hovering operating parameter, the hovering running state parameter include hovering roll angle, hovering pitch angle and hovering throttle
At least one of threshold values.
4. the abnormality eliminating method of unmanned plane according to claim 1, which is characterized in that the sensing of the detection unmanned plane
Further include after device parameter：
Obtain the failure parameter for including in the sensor parameters, according to the failure parameter of the sensor parameters determine with it is described
The failure state of the corresponding sensor of sensor parameters；
It is described to determine that sensor of interest failure rank is according to the threshold interval：
Threshold interval 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, which is characterized in that described according to the threshold interval
Determine that sensor of interest failure rank further includes later：
It detects the error value and is in described and continue with the corresponding targets threshold section of sensor of interest failure rank
Time；
Threshold interval 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, which is characterized 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 being greater than or equal to first time threshold, by the sensor of interest failure rank liter
Grade；
Or,
In the case where the duration being greater than or equal to second time threshold, by the sensor of interest failure grade drops
Grade.
7. the abnormality eliminating method of unmanned plane according to claim 4, which is characterized 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, 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 the mistake
In the case that threshold interval belonging to difference value is second threshold section, determine that the sensor of interest failure rank is the second level
Not, wherein the maximum value in the second threshold section is less than or equal to the minimum value in the first threshold section.
8. a kind of exception handling device of unmanned plane, which is characterized in that including：
Sensor parameters detection module, the sensor parameters for detecting 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 determines corresponding with the unmanned plane the second running state parameter, described in calculating according to the inertia measurement parameter
The error value of first running state parameter and second running state parameter；
Sensor fault rank determination module, for determining the preset 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, which is characterized in that the unmanned aerial vehicle (UAV) control module is also
For the sensor of interest failure rank be first level in the case of, according to preset landing operating parameter control described in
Unmanned plane lands；In the case where the sensor of interest failure rank is second level, according to preset hovering operating parameter
The operating parameter of the unmanned plane is configured, controlling the unmanned plane according to the operating parameter after the setting enters hovering
State.
10. the exception handling device of unmanned plane according to claim 9, which is characterized in that described device further includes hovering
Parameter acquisition module detects whether the unmanned plane is in floating state after taking off in the unmanned plane；In the nothing
It is man-machine in the case of the floating state, obtain the hovering running state parameter of the unmanned plane as the preset hovering fortune
Row parameter, the hovering running state parameter include hovering roll angle, hovering pitch angle and hovering throttle threshold values at least
One.
11. the exception handling device of unmanned plane according to claim 8, which is characterized in that the sensor fault rank
Determining module is additionally operable to obtain the failure parameter for including in the sensor parameters, according to the failure parameter of the sensor parameters
Determine 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, which is characterized 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 belonging to the duration and the error value determines the sensor of interest
Failure rank；In the case where the duration being greater than or equal to first time threshold, by the sensor of interest failure level
Do not upgrade；Or, in the case where the duration being greater than or equal to 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, which is characterized 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, determine that the sensor of interest failure rank is first level；In the failure state of the sensor
It is the reduction of satellite number or transient loss for the effective or described GPS parameters, and the threshold interval belonging to the error value is second
In the case of threshold interval, determine that the sensor of interest failure rank is second level, wherein the second threshold section
Maximum value is less than or equal to the minimum value in the first threshold section.
14. a kind of computer readable storage medium, including computer instruction, when the computer instruction is run on computers
When so that computer executes the method as described in claim 1-7.
15. a kind of unmanned plane terminal, which is characterized in that including first sensor, Inertial Measurement Unit, processor, wherein：
The first sensor is used to detect the first sensor parameter of unmanned plane；
The Inertial Measurement Unit is used to detect the inertia measurement parameter of the unmanned plane；
The processor is used to determine that the first operating status corresponding with the unmanned plane is joined according to the first sensor parameter
Number determines the second running state parameter corresponding with the unmanned plane according to the inertia measurement parameter, calculates first fortune
The error value of row state parameter and second running state parameter；Determine the preset 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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