CN107438799A - Unmanned plane analogue system, unmanned plane emulation mode and unmanned plane - Google Patents
Unmanned plane analogue system, unmanned plane emulation mode and unmanned plane Download PDFInfo
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- CN107438799A CN107438799A CN201680004727.4A CN201680004727A CN107438799A CN 107438799 A CN107438799 A CN 107438799A CN 201680004727 A CN201680004727 A CN 201680004727A CN 107438799 A CN107438799 A CN 107438799A
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- unmanned plane
- battery
- status information
- model
- emulation
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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
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Abstract
A kind of analogue system, unmanned plane, unmanned plane emulation mode and unmanned plane simulator, the analogue system include：Battery model (102), for the status information of the last moment according to unmanned plane and the battery status information of last moment, simulation calculates the battery status information of subsequent time；And state model (101), for the status information of the last moment according to unmanned plane and the battery status information of subsequent time, simulation calculates the status information of subsequent time.The analogue system emulates battery parameter as operation of the part for analogue system to unmanned plane, emulation is more bonded reality.
Description
Technical field
The present invention relates to a kind of unmanned plane emulation technology, more particularly to a kind of unmanned plane analogue system should with method and use
The unmanned plane of unmanned plane emulation mode.
Background technology
Now with many unmanned plane analogue systems, control signal can be sent using remote control in operator, then emulated
System can according to control signal and simulate come unmanned plane during flying environment calculate a series of actions of following unmanned plane, can
Unmanned plane is manipulated to facilitate operator to be better understood by and practise, the characteristic of unmanned plane can also be better understood by, reduced various
Unnecessary loss.
But existing unmanned plane emulation can not be carried out based on self energy without the emulation for battery to unmanned plane
The emulation of aerial mission, the unmanned plane emulation of no battery simulation can not take the factor of battery into account, but actually battery
It is the property that other external environments such as an important step, environment temperature, height above sea level in unmanned plane during flying may directly affect battery
The power performance of unmanned plane and then can be influenceed, the capacity of battery in itself can also limit the cruising time of unmanned plane, and unmanned plane is different
Consumption of the aerial mission to electricity also different (hovering always and doing the electric current difference of different forms of violence flare maneuver always very
Greatly), simulation result and practical flight result can be caused to fall far short in the unmanned plane during flying analogue system of no battery simulation,
Unmanned plane during flying emulation is caused to lose meaning.
The content of the invention
In view of this, it is necessary to a kind of unmanned plane analogue system, unmanned plane emulation mode are provided and imitated using the unmanned plane
The unmanned plane of true method.
A kind of analogue system, simulated for the operation to unmanned plane, the analogue system includes：Battery model, use
In the status information of the last moment according to unmanned plane and the battery status information of last moment, simulation calculates the electricity of subsequent time
Pond status information；And state model, for the status information of the last moment according to unmanned plane and the battery shape of subsequent time
State information, calculate the status information of the unmanned plane subsequent time.
A kind of unmanned plane, including flight control system, the flight control system include analogue system as described above.
A kind of unmanned plane emulation mode, is simulated for the operation to unmanned plane, and the emulation mode includes：In acquisition
The status information of the unmanned plane at one moment and the battery status information of last moment；Believed according to the state of the unmanned plane of last moment
Breath and the battery status information of last moment calculate the battery status information of subsequent time；According to subsequent time battery status information
Calculate the unmanned plane status information of subsequent time；And believed according to subsequent time battery status information and subsequent time unmanned plane state
Breath adjustment unmanned plane operation task.
A kind of unmanned plane emulation mode includes：The image of display emulation unmanned plane；The control instruction of acquisition user, and according to
The control instruction control emulation unmanned plane carries out analog simulation flight；And the flight course in the emulation unmanned plane
In, the current electric quantity of emulation unmanned plane described in real-time display.
A kind of unmanned plane simulator includes：Display device, for showing the image of emulation unmanned plane；Input unit, with
The display device communication connection, the input unit is used to input control command for user, to control the emulation unmanned plane
Carry out analog simulation flight；Wherein, in the emulation unmanned plane analog simulation flight course, the display device real-time display
The current electric quantity of the emulation unmanned plane.
The analogue system emulates battery parameter as operation of the part for analogue system to unmanned plane, makes to imitate
Very more fitting is actual.
Brief description of the drawings
Fig. 1 is a kind of structural representation for unmanned plane that embodiment of the present invention provides.
Fig. 2 is a kind of module diagram of the flight Simulation System for unmanned plane that embodiment of the present invention provides.
Fig. 3 is a kind of modular structure schematic diagram for state model that embodiment of the present invention provides.
Fig. 4 is a kind of modular structure schematic diagram for battery model that embodiment of the present invention provides.
Fig. 5 is a kind of flow chart for battery simulation method that embodiment of the present invention provides.
Fig. 6 is a kind of battery discharge curve of illustration of battery model of the present invention.
Fig. 7 is another battery discharge curve illustrated of battery model of the present invention.
Fig. 8 is the flow chart for applying a kind of battery simulation method on simulator that embodiment of the present invention provides.
Main element symbol description
Unmanned plane 1
Flight control system 10
Flight Simulation System 100
Dynamic model 101
Kinematics model 102
Kinetic model 103
Battery model 104
Voltage model 1040
Current model 1041
Temperature model 1042
Capacity model 1043
Internal resistance model 1044
Fault model 1045
Life model 1046
Sensor model 105
Noise model 106
Flight control modules 110
Drive device 20
Power set 30
Sensor 40
Data record unit 50
Transceiver 60
Simulator 2
Display device 22
Input unit 24
Following embodiment will combine above-mentioned accompanying drawing and further illustrate the present invention.
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.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or there may also be component placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being arranged at " another component, it
Can be set directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
Refer to shown in Fig. 1, embodiment of the present invention provides a kind of unmanned plane 1, and the unmanned plane 1 can be unmanned vehicle
(Unmanned Aerial Vehicle, UAV), unmanned spacecraft, unmanned boat, unmanned vehicle etc..The unmanned vehicle can be rotation
The aircraft that rotor aircraft, Fixed Wing AirVehicle or fixed-wing mix with rotor.Wherein described rotor can be single rotor, bispin
The wing, three rotors, four rotors, six rotors and eight rotors etc..In the following example, the aircraft 1 is rotor unmanned aircraft.
The unmanned plane 1 includes flight control system 10, drive device 20, power set 30, sensor 40, data record
Unit 50, transceiver 60.
The flight control system 10 is used to produce control instruction to control the flight of the unmanned plane 1, including but unlimited
In controlling flying speed of unmanned plane 1, height, posture etc..The flight control system 10 can be from a unmanned aerial vehicle (UAV) control device (figure
Do not show) control instruction is received, or control instruction is produced based on the conventional flying quality of the data record unit 50 record.
Such as：All flight directives are all wirelessly to be sent from remote control person to the transceiver 60, then by described
Transceiver 60 is transmitted to the flight control system 10.In another embodiment, can also be equipped with the unmanned plane 1 certainly
Dynamic navigation system, the automated navigation system can use Inertial Measurement Unit (Inertial Measurement Unit, IMU)
Or GPS module is to cause the unmanned plane according to set airline operation.The flight control system 10 according to by setting in advance
The trajectory planning and the navigation information of automated navigation system put produce control instruction.The flight control system 10 includes flight
Control module 110, the flight control modules 110 are used for the flight that the unmanned plane is controlled according to control instruction.
The drive device 20 can be any drive device that driving force can be produced according to control instruction, such as：Motor, bag
Include direct current generator (brush motor or brushless electric machine), alternating current generator.Power set 30 can be used for being produced according to the drive device 20
Raw driving force makes the unmanned plane 1 take off, land, hover, and is rotated in the air on three translation freedoms and three
The free degree is moved.In the present embodiment, the power set 30 may include one or more rotors.The rotor may include to connect
To one or more rotor blades of a rotating shaft.The rotor blade or rotating shaft can be driven and rotate by the drive device 20,
So as to which produce the mobile unmanned plane 1 raises power.Although in the present embodiment, the power set 30 of the unmanned plane 1 are retouched
It is to include one or more rotors to state, but it is understood that, when unmanned plane is other kinds of platform, the power dress
It can be other corresponding mechanisms to put.
The number amount and type of the sensor 40 can be multiple, include but is not limited to, Inertial Measurement Unit, air pressure sensing
Device, temperature sensor, acceleration transducer, position sensor etc..The sensor 40 passes through wired or wireless mode and institute
State flight control system 10 to communicate to connect, the flight control system 10 can obtain the unmanned plane 1 from the sensor 40
Various flying qualities, include but is not limited to, height, acceleration (pitching, rolling, and driftage), posture, geographical position, speed, outside
Portion's air themperature, and/or air pressure etc..In some embodiments, the sensor 40 also includes visual sensor, such as camera
Ambient image in flight course etc. can be obtained from the visual sensor Deng, the flight control system 10.Acquired
Various flying qualities can be recorded to the data record unit 50.The data record unit 50 may also include for storing institute
State the memory of flying quality.
The transceiver 60 is used for and external equipment, such as mobile terminal or earth station or remote control device radio communication
Connection, to receive and dispatch flight directive or flying quality.The transceiver 60 can be rf receiver and transmitter.In the embodiment
In, the rf receiver and transmitter can be the application specific integrated circuit for performing transmitting-receiving microwave signal, and its running frequency can be
5.728GHz -5.85GHz microwave range.The rf receiver and transmitter can be received and be transmitted radio signal by antenna.
In other embodiments, the transceiver can also use cellular technology, other wireless transmit-receive technologies such as satellite and broadcast.Its
Described in cellular technology may include the mobile communication skills such as the second generation (2G), the third generation (3G), forth generation (4G) or the 5th generation (5G)
Art.
The flight control system 10 also includes flight Simulation System 100, and mould is carried out for the operation to the unmanned plane 1
Intend, so that operator is better understood by the characteristic of the unmanned plane 1, so as to preferably practise and manipulate the unmanned plane 1.It is described
Simulator 2 is used to set simulation parameter and/or receives state of flight information to show the state of flight information in described imitative
On true device 2.Illustratively, the simulator 2 can be desktop computer, laptop computer, tablet personal computer, smart mobile phone
Deng.The simulator 2 can be communicated to connect by the communications such as mobile communication technology and the unmanned plane 1.It is described
Simulator 2 may include, but be not limited to, display device 22.The display device 22 can be used for the image of display emulation unmanned plane
And state of flight information.The display device 22 can communicate to connect with an input unit 24, for receiving the input unit 24
The instruction sent.The instruction may include simulation parameter, flight control instruction etc..The input unit 24 can be hand-held device
The operating parts of touch-screen or remote control.In other embodiments, the input unit 24 is alternatively the one of the simulator 2
Part, for example, the keyboard or touch-screen that are set on the simulator 2.
Refer to shown in Fig. 2, flight Simulation System 100 provided by the present invention may include, but be not limited to, state model
101 and battery model 102.The state model 101 is used for according to the type of aircraft and the kinetic parameter of each power set,
The kinetic parameter of whole aircraft is calculated, being capable of the status information run in certain circumstances of simulation output unmanned plane.The battery
The relation that model 102 is used between simulated battery state and the status information of unmanned plane, can be according to the last moment of unmanned plane
Status information and the battery status information of last moment, simulation calculate the battery status information at current time.The battery model
102 electric currents that can have present battery according to current flight state computation, voltage, temperature, capacity, the hair of the change of internal resistance and failure
The data such as raw.
It is understood that the flight Simulation System 100 can also be according to the different parameters needed to the analogue system
Model is increased and decreased, it is necessary to just need when higher precision to add more other parameter models, when not high to required precision
When can reduce partial parameters model.
Refer to shown in Fig. 3, the state model 101 may include, but be not limited to, dynamic model 1010, kinematics model
1012nd, kinetic model 1014, sensor model 1016 and noise model 1018.Wherein, the dynamic model 1010 is defined as
A model of propeller lift is drawn according to the various coefficients of motor speed and propeller；The kinetic model 1014 is root
According to the type of aircraft and the kinetic parameter of each oar, the kinetic parameter of whole aircraft is calculated；The kinematics model 1012 is
The external force being subject to according to aircraft calculates the parameters such as the ensuing posture position of aircraft；The sensor model 1016 is used for according to winged
The parameters such as the posture position of machine draw the data of sensor and add the noise data that the noise model 1018 exports；It is described
Noise model 1018 is used for the sensing data output noise data calculated according to the sensor model 1016.In some realities
Apply in example, the dynamic model 1010 can be merged into a model, the dynamic model with the kinetic model 1014
1010 be for for single power set (such as single propeller), the kinetic model 1014 is to be directed to whole fly
For machine, for example, 6 axles, 8 axle aircrafts etc..
Refer to shown in Fig. 4, one embodiment of battery model 102 provided by the invention includes voltage model 1020, electricity
Flow model 1021, temperature model 1022, capacity model 1023, internal resistance model 1024, fault model 1025 and life model 1026.
The voltage model 1020 is used to go out the voltage of each battery core and total electricity of battery according to current flight state computation
Pressure.
The current model 1021 is used for the electric current and battery for going out battery each battery core according to current flight state computation
Total current, the model can really in simulated flight device flight course each battery core curent change.
The temperature model 1022 is used to calculating battery according to information such as current environmental temperature and battery currents current
Temperature, the temperature change that the model can really during simulated battery use.
The capacity model 1023 is used for the change of real simulated battery electricity and the change of each battery core electricity.
The internal resistance model 1024 is used for the internal resistance that battery is calculated according to information such as current environmental temperature and battery temperatures,
Can really during simulated battery use internal resistance change.
The fault model 1025 is used for different events occur according to the fault rate simulated battery of the different faults type of setting
The situation of barrier, operation logic of the testing flying vehicle in battery failures can be facilitated, developer can be facilitated quickly to test
Aircraft operation logic, user can also be helped quickly to understand how this rare is in particular cases handled.
The life model 1026 is used for the life-span that battery is calculated according to the discharge and recharge number and other specification of battery, electricity
The life-span in pond can influence other parameter models, and this can also really simulate the reduction battery performance with battery life
Change.
It is understood that the state model 101 and the battery model 102 can also be according to different needs to the shape
The parameter model of states model 101 and the battery model 102 increased and decreased, it is necessary to just need when higher precision to add it is more its
His parameter model, partial parameters model can be reduced when not high to required precision when.
Fig. 5 is a kind of flow chart for flight simulation method that embodiment of the present invention provides.According to different demands, the flow
The order of step can change in figure, and some steps can be omitted or merged.
Step 402, flight simulation parameter is set.In certain embodiments, the flight simulation parameter can be default
Default value.In further embodiments, the initial value of the flight simulation parameter can also be received from the simulator 2.Institute
The parameter that flight simulation parameter includes, but not limited to battery model 102 is stated, such as：Battery core voltage, battery rated capacity, battery
The battery parameters such as internal resistance, standby current, initial temperature, initial quantity of electricity, discharge and recharge number.In other embodiments, it is described to fly
Row simulation parameter can also include flight ambient parameter and or flight trajectory planning etc..The ambient parameter of the flight includes
Atmospheric gas pressure, temperature, wind speed, wind direction, longitude, latitude etc. are set.
Step 404, the unmanned plane status information and battery status information of last moment is obtained.The unmanned plane status information
From other simulation models of the flight Simulation System, include but is not limited to, dynamic model 1010, kinematics model
1012nd, kinetic model 103, battery model 102, sensor model 1016 and noise model 1018.The implementation of the present invention
Example can be set based on trajectory planning and/or environment set in step 402, the kinematics model 1012 calculates
Locomotivity (i.e. lift) needed for aircraft；The dynamic model 1010 and the kinetic model 103 are according to the kinematics mould
The locomotivity needed for aircraft that type 1012 is calculated calculates the various coefficients of motor speed and propeller.The sensor
Model is set according to set trajectory planning and/or environment, the dynamic model 1010 and the kinetic model 103 calculate
The motor speed and the status information of the various coefficient calculating aircrafts of propeller gone out, include, but not limited to angle, angular speed,
Speed, height, posture, course, longitude, latitude etc..
Step 406, calculated according to set flight initial parameter and acquired last moment unmanned plane status information
Subsequent time battery status information.
Specifically, subsequent time electricity is calculated according to flight initial parameter and acquired last moment unmanned plane status information
One of embodiment of pond status information can be that the voltage model 1020 is according to acquired state of flight information and ring
Border sets the voltage change for calculating battery in flight course.For example, in different environments, the discharge curve of battery is that have difference
Different.Refer to shown in Fig. 6 and Fig. 7, change for the discharge curve of battery because of the difference of environment temperature.Under normal temperature environment,
The discharge curve of battery is progressively declined with the reduction voltage of electricity, and in subzero 10 degree of environment, the electric discharge of battery is bent
Line is fallen after rising.Such as the discharge curve shown in Fig. 6 is electricity when full electric lithium battery discharges in the environment of normal temperature
Capacity curve is pressed, voltage only has 4.35 or so when battery is fully charged, and as discharge time increases, the voltage of battery also can be with
Decline, the capacity of battery can also decline therewith.Such as the discharge curve (#1, #2, #3, #4, #5 curve) shown in Fig. 7 is full
Voltage capacity curve when the lithium battery of electricity is discharged in subzero 10 degree of environment with different discharge currents, battery are full of
Voltage only has 3V or so when electric, and as discharge time increases, the temperature of battery rises, and the voltage of battery also can be on
Rise, this part of test data above explains why voltage is very low, but the phenomenon that volume percent is very high.Pass through the electricity
The simulation calculation of pressing mold type 1020, the voltage change under varying environment can be simulated, facilitate developer's test in this ring
(because low-voltage can influence the flight of aircraft, such as lift can be affected Flight Control Algorithm under border, but electricity is now
Or it is a lot, so these actions of making a return voyage need not be performed), user's more intuitive understanding on the other hand can be allowed to this
Situation, so as to better control over the flight of aircraft.
The capacity model 1023 according to the unmanned plane status information of acquired last moment, battery status information and/
Or set ambient parameter calculates the volume change of battery in flight course.It can specifically join shown in Fig. 6 and Fig. 7, battery holds
Amount is gradually reduced with the passage of simulation time.Under different environment temperatures, the depletion rate of battery capacity can be different, lead to
For often, under colder environment, the consumption of battery capacity can faster.The speed of flight, acceleration, wind speed etc. all can be to batteries
The consumption of capacity is impacted, for example, when flight instantaneous acceleration is big, the rotating speed of the motor can be improved accordingly, so as to be disappeared
The battery capacity of consumption also can be increased accordingly.
The volume change and the ratio calculation of time that the current model 1021 calculates according to the capacity model 1023
Go out the curent change of battery in unmanned plane running.
The temperature model 1022 calculates according to set environment temperature and the battery current change information calculated
The temperature change of battery in unmanned plane running.Environment temperature height can cause battery temperature to increase, charging/discharging voltage
Or electric current flow through it is big also can be so that battery temperature raises.
The internal resistance model 1024 calculates according to environment temperature in unmanned plane running and battery temperature change information
The internal resistance change information of battery in unmanned plane running.For example environment temperature and battery temperature can cause the internal resistance of cell to change,
The internal resistance of cell becomes conference and battery temperature is raised, and influences battery.
The fault model 1025 is for the curent change in the unmanned plane running calculated, temperature change
And internal resistance change, set ambient parameter and/or aerial mission or trajectory planning calculate battery and the possibility of different faults occur
Property.For example the circuit of possible battery can disconnect when controller.
The life model 1026 is used for that (such as environment to be set, flight according to the discharge and recharge number and other specification of battery
Status information etc.) to battery life influence calculate battery life change.For example, environment temperature have to service life of lithium battery it is larger
Influence.Environment below freezing is there is a possibility that lithium battery burns in the moment that electronic product is opened, and the environment overheated can then contract
The capacity in powered down pond.For another example, current of electric during state of flight can influence the discharge current of battery, excessive discharge voltage or
Discharge current can all reduce battery.
The sensor model 1016 is used to draw the data of sensor according to parameters such as the posture positions of aircraft and added
Enter the noise data that the noise model 1018 exports；The noise model 1018 is based on according to the sensor model 1016
The sensing data output noise data calculated.
Step 408, flying for subsequent time is calculated according to the battery status information for the subsequent time being calculated in step 406
Row status information.The state of flight that next moment is calculated according to battery status information is that unmanned plane simulation kernel calculates, meter
The foundation of calculation is mainly the electric current of cell voltage, battery capacity and battery, and the state of flight calculated includes but is not limited to, nothing
The electric current of man-machine motor, because electric current can influence the voltage and capacity of subsequent time.
For example it is exactly that if current time cell voltage 12V, battery capacity also has 1000mah, and the electric current of aircraft is
5A, current aircraft keep floating state, then the simulation kernel of unmanned plane first calculates the lift that hovering needs, and is obtained according to lift
The rotating speed that unmanned plane propeller needs, there is current voltage to learn that motor needs great electricity according to rotating speed and motor model
Stream could maintain the rotating speed needed, that is, the electric current (for example 6A) of next moment aircraft, and then can calculates next
The capacity (1000mah -6000ma*0.02/3600H) of individual moment battery, the voltage model of battery can draw capacity and voltage
Relation, it is contemplated that internal resistance of cell model and current model can show that the voltage at actual battery both ends (for example becomes
11.9V), then so ceaselessly cycle calculations again.
Step 410, the flight control modules are according to the battery status information of the subsequent time and flying for subsequent time
Row status information adjusts aerial mission.It is assumed that it is T0 that current control period, which starts time point, at the end of be T1, a length of T during simulation, then
Data of the battery status information calculated between T0 the and T1 periods, at the end of current control period, i.e. during T1
The battery status information of point is the state of flight information that can be used to calculate next controlling cycle.
Adjusting aerial mission according to the state of flight information of the battery status information of the subsequent time and subsequent time can
To be automatic or be operated based on user.Several scenes below such as：
Unmanned plane performs destination task, and whole process is all unwatched, there is several automatic charging base stations, nothing between destination
Find that current electric quantity can only arrive to get at during man-machine execution destination task to carry out changing battery up to nearest charging base station
When will perform replacing cell commands automatically, change to continue to return to destination after battery is completed and perform order.
User carries out operation of taking photo by plane, and now unmanned plane finds that current residual electricity is merely able to making a return voyage a little for return recording
When will eject prompting frame and remind user, current electric quantity can only make a return voyage, and request carries out operation of making a return voyage, if certain user feel
Need not must return to make a return voyage a little can also select not perform to make a return voyage.
Refer to shown in Fig. 8, for the flow chart of the emulation mode 800 applied to the simulator 2.
Step 802, the simulator 2 obtains the state model parameter of emulation unmanned plane and/or emulates the electricity of unmanned plane
Pool model parameter.Wherein described battery model parameter may include, but be not limited to, and battery core voltage, battery design capacity, internal resistance, treat
Electromechanics stream, initial temperature, initial quantity of electricity, discharge and recharge number.The state model parameter may include, but be not limited to, and motor moves
Force parameter, the kinetic parameter of propeller.The state model parameter and/or the battery model parameter of the emulation unmanned plane can lead to
Cross and inputted with the operating parts of the touch display screen of the hand-held device of the simulator 2 communication connection or remote control.
In certain embodiments, the simulator 2 can also obtain ambient parameter, and the ambient parameter may include, but not
It is limited to, atmospheric gas pressure, temperature, wind speed, wind direction, longitude, latitude etc..
In certain embodiments, the simulator 2 can also obtain the status information of last moment emulation unmanned plane, described
The status information of emulation unmanned plane includes, but not limited to angle, angular speed, speed, height, posture, course, longitude, latitude
Deng.
In certain embodiments, the simulator 2 can also obtain the battery status information of last moment, described upper a period of time
The battery status information at quarter may include, but be not limited to, battery current, voltage, temperature, internal resistance, capacity.
In certain embodiments, the simulator 2 can also obtain aerial mission or trajectory planning, be appointed according to the flight
Business or trajectory planning, the emulation unmanned plane can carry out analog simulation flight automatically.
The upper ambient parameter and/or the status information of last moment emulation unmanned plane, the battery status of last moment letter
Breath, aerial mission or trajectory planning can pass through the touch display screen or distant of the hand-held device communicated to connect with the simulator 2
Control the operating parts input of device.
In some embodiments, the status information of the upper last moment emulation unmanned plane, the battery shape of last moment
State information also can come be derived from it is described emulation unmanned plane flight control system.
Step 804, the simulator 2 passes through the image of the display device display emulation unmanned plane set thereon.It is described
It can be true unmanned plane or unmanned plane simulation model to emulate unmanned plane.
Step 806, the simulator 2 receives user instruction, control emulation unmanned plane simulated flight.In other embodiment
In or pre-set aerial mission or trajectory planning, the aerial mission that the emulation unmanned plane is pre-set according to this
Or trajectory planning carries out analog simulation flight.In certain embodiments, it can also be emulation unmanned plane according to aerial mission or boat
Mark planning is automatic to carry out analog simulation flight, and in the analog simulation flight course, the simulator 2 can be according to user
The flight of the emulation unmanned plane is intervened in input.
Step 808, the battery status information of the real-time display of the simulator 2 emulation unmanned plane.The real-time display
The status information of unmanned plane can be derived from the emulation unmanned plane.
Step 810, the simulator 2 judges whether battery electric quantity deficiency.For example, when battery current electric quantity is only sufficient to maintain
Make a return voyage or less than making a return voyage during subfam. Spiraeoideae, the simulator 2 can determine whether battery electric quantity deficiency.
Step 812, the simulator 2 sends the prompt message of not enough power supply, the prompt message can by sound or
Visual manner exports, such as the caution sound of loudspeaker output or flashing light, voice broadcast etc..
In addition, for the person of ordinary skill of the art, it can be made with technique according to the invention design other each
It is kind corresponding to change and deformation, and all these changes and deformation should all belong to the protection domain of the claims in the present invention.
Claims (55)
1. a kind of analogue system, simulated for the operation to unmanned plane, it is characterised in that：The analogue system includes：
Battery model, for the status information of the last moment according to unmanned plane and the battery status information of last moment, simulation
Calculate the battery status information of subsequent time；And
State model, for the status information of the last moment according to unmanned plane and the battery status information of subsequent time, meter
Calculate the status information of the unmanned plane subsequent time.
2. analogue system as claimed in claim 1, it is characterised in that：The battery status information include battery current, voltage,
One or more in temperature, internal resistance, capacity.
3. analogue system as claimed in claim 1, it is characterised in that：The battery model includes capacity model, the capacity
Model calculates electric in subsequent time unmanned plane running according to last moment unmanned plane status information and ambient parameter simulation
The volume change in pond.
4. analogue system as claimed in claim 3, it is characterised in that：The battery model includes current model, the electric current
Volume change and the ratio of the time simulation that model calculates according to the capacity model calculate battery in unmanned plane running
Curent change.
5. analogue system as claimed in claim 4, it is characterised in that：The battery model includes temperature model, the temperature
Environment temperature of the model in ambient parameter and the battery current change information calculated calculate the temperature change of battery.
6. analogue system as claimed in claim 5, it is characterised in that：The battery model includes internal resistance model, the internal resistance
Model calculates the internal resistance change information of battery according to environment temperature in unmanned plane running and battery temperature change information.
7. analogue system as claimed in claim 6, it is characterised in that：The battery model includes fault model, the failure
Curent change, temperature change and internal resistance change, the ambient parameter that model is used in the unmanned plane running calculated
And/or aerial mission or trajectory planning calculate battery in unmanned plane running and the possibility of different faults occur.
8. analogue system as claimed in claim 3, it is characterised in that：The ambient parameter includes atmospheric gas pressure, temperature, wind
One or more in speed, wind direction, longitude, latitude.
9. analogue system as claimed in claim 1, it is characterised in that：The unmanned plane status information and the battery of last moment
Status information derives from the simulator being connected with the UAV Communication.
10. analogue system as claimed in claim 1, it is characterised in that：The status information of the last moment of the unmanned plane and
It is used to record fortune on the sensor or the unmanned plane that the battery status information of last moment is set on the unmanned plane
The data recording equipment of row status information.
11. analogue system as claimed in claim 1, it is characterised in that：The analogue system includes kinematics model, the fortune
The dynamic external force calculating ensuing posture position information of unmanned plane learned model and be subject to according to unmanned plane.
12. analogue system as claimed in claim 1, it is characterised in that：The analogue system includes sensor model, the biography
Sensor model is used to calculate sensing data according to the posture position information of aircraft.
13. analogue system as claimed in claim 11, it is characterised in that：The analogue system includes noise model, described to make an uproar
The sensing data that acoustic model is used to be calculated according to the sensor model calculates noise data.
14. analogue system as claimed in claim 1, it is characterised in that：The analogue system includes dynamic model, the power
Model calculates propeller lift according to the various coefficients of motor speed and propeller.
15. analogue system as claimed in claim 1, it is characterised in that：The analogue system includes kinetic model, described dynamic
Mechanical model calculates the kinetic parameter of whole aircraft according to the type of aircraft and the kinetic parameter of each oar.
16. analogue system as claimed in claim 1, it is characterised in that：The status information of the unmanned plane includes angle, angle speed
One or more in degree, speed, height, posture, course, longitude, latitude.
17. a kind of unmanned plane, including flight control system, it is characterised in that：The flight control system includes such as claim 1
To the analogue system described in 16 any one.
18. unmanned plane as claimed in claim 17, it is characterised in that：The unmanned plane includes power set, the power dress
Put including rotor.
19. a kind of unmanned plane emulation mode, is simulated for the operation to unmanned plane, it is characterised in that：The emulation mode
Including：
Obtain the status information of unmanned plane and the battery status information of last moment of last moment；
The battery of subsequent time is calculated according to the battery status information of the status information of the unmanned plane of last moment and last moment
Status information；
The unmanned plane status information of subsequent time is calculated according to subsequent time battery status information；And
According to subsequent time battery status information and subsequent time unmanned plane status information adjustment unmanned plane operation task.
20. unmanned plane emulation mode as claimed in claim 19, it is characterised in that：Also include setting ambient parameter, the ring
Border parameter includes the one or more in atmospheric gas pressure, temperature, wind speed, wind direction, longitude, latitude.
21. unmanned plane emulation mode as claimed in claim 19, it is characterised in that：Also include set unmanned plane during flying task or
Trajectory planning, the unmanned plane fly automatically according to the aerial mission or trajectory planning.
22. unmanned plane emulation mode as claimed in claim 19, it is characterised in that：The unmanned plane status information and upper a period of time
The battery status information at quarter derives from the simulator being connected with the UAV Communication.
23. unmanned plane emulation mode as claimed in claim 19, it is characterised in that：The unmanned plane status information and upper a period of time
It is used to record running status on the sensor or the unmanned plane that the battery status information at quarter is set on the unmanned plane
The data recording equipment of information.
24. unmanned plane emulation mode as claimed in claim 19, it is characterised in that：The battery status information includes battery electricity
One or more in stream, voltage, temperature, internal resistance, capacity.
25. unmanned plane emulation mode as claimed in claim 19, it is characterised in that：The status information of the unmanned plane includes angle
One or more in degree, angular speed, speed, height, posture, course, longitude, latitude.
26. unmanned plane emulation mode as claimed in claim 19, it is characterised in that：It is described " according to the unmanned plane of last moment
Status information and the battery status information of last moment calculate subsequent time battery status information " include according to last moment
Unmanned plane status information and ambient parameter simulation calculate the volume change of battery in subsequent time unmanned plane running.
27. unmanned plane emulation mode as claimed in claim 26, it is characterised in that：It is described " according to the unmanned plane of last moment
Status information and the battery status information of last moment calculate subsequent time battery status information " include according to the capacity
Volume change and the ratio of the time simulation that model calculates calculate the curent change of battery in unmanned plane running.
28. unmanned plane emulation mode as claimed in claim 27, it is characterised in that：It is described " according to the unmanned plane of last moment
Status information and the battery status information of last moment calculate subsequent time battery status information " include according to ambient parameter
In environment temperature and the battery current change information that calculates calculate the temperature change of battery in unmanned plane running.
29. unmanned plane emulation mode as claimed in claim 28, it is characterised in that：It is described " according to the unmanned plane of last moment
Status information and the battery status information of last moment calculate subsequent time battery status information " include transported according to unmanned plane
Environment temperature and battery temperature change information during row calculate the internal resistance change information of battery.
30. unmanned plane emulation mode as claimed in claim 29, it is characterised in that：It is described " according to the unmanned plane of last moment
Status information and the battery status information of last moment calculate the battery status information of subsequent time " include according to being calculated
Unmanned plane running in curent change, temperature change and internal resistance change, ambient parameter and/or aerial mission or flight path rule
Draw battery in calculating unmanned plane running and the possibility of different faults occur.
31. unmanned plane emulation mode as claimed in claim 19, it is characterised in that：Wherein " according to subsequent time battery status
Information and subsequent time unmanned plane status information adjustment unmanned plane operation task " is based on user instruction.
32. unmanned plane emulation mode as claimed in claim 19, it is characterised in that：Wherein " according to subsequent time battery status
Information and subsequent time unmanned plane status information adjustment unmanned plane operation task " is unmanned plane according to aerial mission or trajectory planning
And subsequent time battery status information, subsequent time unmanned plane status information are carried out automatically.
A kind of 33. unmanned plane emulation mode, it is characterised in that including：
The image of display emulation unmanned plane；
The control instruction of user is obtained, and analog simulation flight is carried out according to the control instruction control emulation unmanned plane；
And
In the flight course of the emulation unmanned plane, the current electric quantity of unmanned plane is emulated described in real-time display.
34. unmanned plane emulation mode as claimed in claim 33, it is characterised in that：The unmanned plane emulation mode also includes：
Before the image of display emulation unmanned plane, obtain the state model parameter of the emulation unmanned plane and/or described emulate nobody
The battery model parameter of machine.
35. unmanned plane emulation mode as claimed in claim 34, it is characterised in that：The battery model parameter is included as follows extremely
Few one kind：Battery core voltage, battery design capacity, internal resistance, standby current, initial temperature, initial quantity of electricity, discharge and recharge number.
36. unmanned plane emulation mode as claimed in claim 34, it is characterised in that：The state model parameter is included as follows extremely
Few one kind：The kinetic parameter of motor, the kinetic parameter of propeller.
37. unmanned plane emulation mode as claimed in claim 34, it is characterised in that：The state model parameter or/it is described imitative
The battery model parameter of true unmanned plane is inputted by the touch display screen of hand-held device or the operating parts of remote control.
38. unmanned plane emulation mode as claimed in claim 34, it is characterised in that：The state model parameter passes through true nothing
Obtained in man-machine flight control system.
39. unmanned plane emulation mode as claimed in claim 34, it is characterised in that：The unmanned plane emulation mode also includes：
The ambient parameter of simulated flight is obtained, the state of flight of the emulation unmanned plane can be influenceed by the environment of the simulated flight.
40. unmanned plane emulation mode as claimed in claim 39, it is characterised in that：The ambient parameter includes following at least one
Kind：Wind direction, wind-force size.
41. unmanned plane emulation mode as claimed in claim 33, it is characterised in that：The unmanned plane emulation mode also includes：
Before the image of display emulation unmanned plane, the status information of the emulation unmanned plane last moment and/or the emulation are obtained
The status information of the battery last moment of unmanned plane.
42. unmanned plane emulation mode as claimed in claim 41, it is characterised in that：On the battery of the emulation unmanned plane for the moment
The status information at quarter includes the one or more in battery current, voltage, temperature, internal resistance, capacity；It is described to emulate the upper of unmanned plane
The status information at one moment includes the one or more in angle, angular speed, speed, height, posture, course, longitude, latitude.
43. unmanned plane emulation mode as claimed in claim 33, it is characterised in that：The unmanned plane emulation mode also includes：
When the current electric quantity is less than default electricity, not enough power supply prompt message is sent.
44. a kind of unmanned plane simulator, it is characterised in that the unmanned plane simulator includes：
Display device, for showing the image of emulation unmanned plane；
Input unit, communicate and connect with the display device, the input unit is used to input control command for user, with control
The emulation unmanned plane carries out analog simulation flight；
Wherein, in the emulation unmanned plane analog simulation flight course, nobody is emulated described in the display device real-time display
The current electric quantity of machine.
45. unmanned plane simulator as claimed in claim 44, it is characterised in that：The emulation unmanned plane for it is true nobody
Machine.
46. unmanned plane simulator as claimed in claim 44, it is characterised in that：The input unit is remote control or held
The touch display screen of device.
47. unmanned plane simulator as claimed in claim 44, it is characterised in that：The control command is emulation unmanned plane
The battery model parameter of state model parameter and/or the emulation unmanned plane.
48. unmanned plane simulator as claimed in claim 47, it is characterised in that：The battery model parameter is included as follows extremely
Few one kind：Battery core voltage, battery design capacity, internal resistance, standby current, initial temperature, initial quantity of electricity, discharge and recharge number.
49. unmanned plane simulator as claimed in claim 47, it is characterised in that：The state model parameter is included as follows extremely
Few one kind：The kinetic parameter of motor, the kinetic parameter of propeller.
50. unmanned plane simulator as claimed in claim 44, it is characterised in that：The control command is set including ambient parameter
Put, the ambient parameter influences the analog simulation flight of the emulation unmanned plane.
51. unmanned plane simulator as claimed in claim 50, it is characterised in that：The ambient parameter include atmospheric gas pressure,
One or more in temperature, wind speed, wind direction, longitude, latitude.
52. unmanned plane simulator as claimed in claim 44, it is characterised in that：The control command include aerial mission or
Trajectory planning, the emulation unmanned plane carry out analog simulation flight automatically according to the aerial mission or trajectory planning.
53. unmanned plane simulator as claimed in claim 44, it is characterised in that：The control command is imitated including last moment
The status information of true unmanned plane and/or the status information of last moment battery.
54. unmanned plane simulator as claimed in claim 53, it is characterised in that：The battery status information includes battery electricity
One or more in stream, voltage, temperature, internal resistance, capacity.
55. unmanned plane simulator as claimed in claim 53, it is characterised in that：The status information bag of the emulation unmanned plane
Include the one or more in angle, angular speed, speed, height, posture, course, longitude, latitude.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/086796 WO2017219296A1 (en) | 2016-06-22 | 2016-06-22 | Unmanned aerial vehicle simulation system, unmanned aerial vehicle simulation method, and unmanned aerial vehicle |
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| CN107438799B CN107438799B (en) | 2019-03-08 |
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| CN107438799B (en) | 2019-03-08 |
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