CN108510616A - A kind of unmanned plane High-speed Data Recording System - Google Patents
A kind of unmanned plane High-speed Data Recording System Download PDFInfo
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- CN108510616A CN108510616A CN201810139472.3A CN201810139472A CN108510616A CN 108510616 A CN108510616 A CN 108510616A CN 201810139472 A CN201810139472 A CN 201810139472A CN 108510616 A CN108510616 A CN 108510616A
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Classifications
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
- G07C5/0866—Registering performance data using electronic data carriers the electronic data carrier being a digital video recorder in combination with video camera
Abstract
The present invention is a kind of unmanned plane High-speed Data Recording System, including unmanned plane, which is characterized in that the unmanned plane includes：Speed/acceleration sensor, angular speed/acceleration transducer, to complete posture parsing；Navigation positional device, for obtaining current geographic position information；Motor drives, and is used for driving motor；Earth station's interactive system is used for and earth station's wireless telecommunications；Camera system, for executing shooting task；Cradle head control, to control camera system orientation shooting；Real time clock of system is used for generation system relative time；Solid state disk is used for high speed storing flying quality；High-speed memory system, for completing the data read-write operation to solid state disk；USB interface, the export for connecting host and flying quality.The present invention can record the information such as gathered data, flight parameter and control command of items flight in real time, and batch data can be transferred to earth station system when standby and be summarized and analyzed.
Description
Technical field
The present invention relates to Multi-axis aircraft technical fields, and in particular to a kind of unmanned plane High-speed Data Recording System.
Background technology
For widely used UAV system, in order to obtain the various data in flight course for flight record, ginseng
Either accident analysis has important meaning for the reliability for meeting wider sector application or promoting flight for number debugging
Justice.
Existing unmanned plane is in flight course, due to the limitation of bandwidth, leads to not record all flight numbers in real time
According to, and when flight range is wider, lead to not normally establish wireless connection, it may appear that lose between earth station in real time
The possibility of communication, and then cannot flying quality be sent back to earth station in real time and preserved.In this case, it needs to establish more
Add complete flight data recording system.
Invention content
The object of the present invention is to overcome the problems of the prior art, provides a kind of unmanned plane high-speed data recording system
System.
To realize above-mentioned technical purpose and the technique effect, the invention is realized by the following technical scheme：
A kind of unmanned plane High-speed Data Recording System, including unmanned plane, the unmanned plane include：
Speed/acceleration sensor detects current three-dimensional velocity, acceleration information, to complete posture parsing；
Angular speed/acceleration transducer detects current three-dimensional angular velocity, angular acceleration information, to complete posture parsing；
Navigation positional device, is used for and satellite communication, obtains current geographic position information；
Motor drives, and is used for driving motor, completes displacement or pose adjustment；
Earth station's interactive system, for earth station's wireless telecommunications, realize the reception of task, realize reception and the flight shape of task
The low-density data communication of state inquiry；
Camera system, for executing fixed point shooting task in flight course；
Cradle head control, the steering for controlling the camera in camera system, to control camera system orientation shooting；
Real time clock of system, for generating high-precision timing, the time is system relative time, and system starts after starting from zero meter
Number；
Solid state disk is used for high speed storing flying quality as high-speed processing apparatus, the flying quality include flight parameter,
Control command and gathered data；
High-speed memory system connects the solid state disk, for completing the data read-write operation to solid state disk；
USB interface for connecting host, and is enumerated as mobile hard disk when unmanned plane is standby, is used for the export of flying quality.
Further, the high-speed memory system includes：
SATA drives, and is connected by the ata command of SATA buses and standard and is written and read operation to solid state disk；
File system, opening, establishment, modification and reading for completing file；
Flight parameter records, the time of running, continues that relevant flight parameter information of specifically flying is written to specified file；
Control command records：The time of running continues to the received terminal control order of specified file write-in；
Gathered data records, the time of running, continues that a large amount of gathered datas acquired are written to specified file.
Further, the flight parameter includes that height, posture, speed, acceleration and electric transfer drive move size information.
Further, the gathered data includes the video and image data that camera system is acquired.
Further, the flight parameter record, control command record and gathered data are recorded as the high speed storing system
Three tasks that system backstage is concurrently run, the file operated each other is independent, for realizing the concurrently record of flying quality.
Further, further include having several file configuration rules in the high-speed memory system, the file configuration rule
Including：
A configuration file of existence anduniquess, the configuration file storage booting number information and startup temporal information, it is described to open
Machine number information adds 1 for the moment that is switched on every time and configuration file is written automatically, and the startup temporal information is used for as when navigation
Acquired absolute time after the completion of positioning device initialization；
Flight parameter file creates a file for including this booting number every time after booting, for flight parameter to be written, and
By flight parameter according to the unified format organization of system relative time；
Control command file creates a file for including this booting number every time after booting, for control command to be written, and
By control command according to the unified format organization of system relative time；
Gathered data file creates a file for including this booting number every time after booting, for gathered data to be written, and
By gathered data according to the unified format organization of system relative time.
Further, the workflow of the high-speed memory system is as follows：
Step 1.1）Initialize Real time clock of system, navigation positional device and solid state disk；
Step 1.2）File system initialization reads configuration file；
Step 1.3）The number that is switched on is incremented by, and the absolute time that navigation positional device is obtained is written in configuration file；
Step 1.4）Check solid state disk space, if it exceeds the threshold value of setting, then delete earliest document data record, including
Flight parameter file, control command file and gathered data file；
Step 1.5）It is respectively created when time flight parameter file, when secondary control command file and when time gathered data file；
Step 1.6）Flight parameter file is periodically updated, the flight of the unified format organization according to system relative time is written
Parameter；
Step 1.7）Judge whether to receive new control command, if so, entering step 1.8）, if it is not, then skipping to step
1.9）；
Step 1.8）Control command file is updated, the control command of the unified format organization according to system relative time is written,
And enter in next step；
Step 1.9）Periodically update gathered data file；The acquisition of the unified format organization according to system relative time is written
Data；
Step 1.10）Judge whether to land, if so, configuration file is closed, if it is not, then going to step 1.6）It continues cycling through.
Further, the unmanned plane is as follows by the flow of USB interface to host export flying quality：
Step 2.1）The host is connect by USB line and corresponding USB interface with unmanned plane；
Step 2.2）A downloading mode is set on the unmanned plane, when for exporting flying quality, unmanned plane is by operating mode
It is switched to downloading mode, file system is in bypass mode under the downloading mode and unmanned plane is complete with host by USB interface
At usb protocol interaction and data transmission, at this point, unmanned generator terminal is modeled to standard mobile hard disk equipment to host；
Step 2.3）Host reads the data LBA for specifying logical address space by sending, and the USB interface of unmanned plane passes through SATA
Driving obtains corresponding flying quality from solid state disk and returns to host；
Step 2.4）The file system logic-based address date of host parses corresponding partitions of file information, identification hard disk text
Part list, and then complete the download of flight data file.
The beneficial effects of the invention are as follows:
The high-speed memory system that the present invention is loaded by unmanned plane, can be to gathered data, flight parameter and the control of items flight
The information such as system order are recorded in real time, and batch data can be transferred to system of earth station when standby by USB interface
System is summarized and is analyzed.
Description of the drawings
Fig. 1 is the unmanned plane comprising modules figure of the present invention；
Fig. 2 is the high-speed memory system block diagram of the present invention；
Fig. 3 is that the unmanned plane of the present invention exports the schematic block diagram of flying quality by USB interface to host；
Fig. 4 is the workflow of the high-speed memory system of the present invention.
Specific implementation mode
It is below with reference to the accompanying drawings and in conjunction with the embodiments, next that the present invention will be described in detail.
As shown in Figure 1, a kind of unmanned plane High-speed Data Recording System, including unmanned plane, the unmanned plane include：
Speed/acceleration sensor detects current three-dimensional velocity, acceleration information, to complete posture parsing；
Angular speed/acceleration transducer detects current three-dimensional angular velocity, angular acceleration information, to complete posture parsing；
Navigation positional device, is used for and satellite communication, obtains current geographic position information, GPS device is used in the present embodiment；
Motor drives, and is used for driving motor, completes displacement or pose adjustment；
Earth station's interactive system, for earth station's wireless telecommunications, realize the reception of task, realize reception and the flight shape of task
The low-density data communication of state inquiry；
Camera system, for executing fixed point shooting task in flight course；
Cradle head control, the steering for controlling the camera in camera system, to control camera system orientation shooting；
Real time clock of system, for generating high-precision timing, the time is system relative time, and system starts after starting from zero meter
Number；
Solid state disk is used for high speed storing flying quality as high-speed processing apparatus, the flying quality include flight parameter,
Control command and gathered data；
High-speed memory system connects the solid state disk, for completing the data read-write operation to solid state disk；
USB interface for connecting host, and is enumerated as mobile hard disk when unmanned plane is standby, is used for the export of flying quality.
As shown in Fig. 2, the high-speed memory system includes：
SATA drives, and is connected by the ata command of SATA buses and standard and is written and read operation to solid state disk；
File system, opening, establishment, modification and reading for completing file；
Flight parameter records, the time of running, continues that relevant flight parameter information of specifically flying is written to specified file；
Control command records：The time of running continues to the received terminal control order of specified file write-in；
Gathered data records, the time of running, continues that a large amount of gathered datas acquired are written to specified file.
The flight parameter includes that height, posture, speed, acceleration and electric transfer drive move size information.
The gathered data includes the video and image data that camera system is acquired.
It is concurrent that the flight parameter record, control command record and gathered data are recorded as the high-speed memory system backstage
Three tasks of operation, the file operated each other is independent, for realizing the concurrently record of flying quality.
Further include having several file configurations regular in the high-speed memory system, the file configuration rule includes：
A configuration file of existence anduniquess is configuration file config.log in the present embodiment, and the configuration file storage is opened
Machine number information and startup temporal information, the booting number information add 1 for the moment that is switched on every time and configuration text are written automatically
Part, the temporal information that starts are used for as acquired absolute time after the completion of navigation positional device initialization；
Flight parameter file creates a file for including this booting number every time after booting, for flight parameter to be written, and
By flight parameter according to the unified format organization of system relative time, in the present embodiment, the entitled fly_ of flight parameter file
Para_xxx.log, wherein xxx be by this booting number,
Information is recorded, for every in this document record is written according to following format organization：
【System relative time 1】：Highly/posture/speed/acceleration/electricity transfer drive moves size,
【System relative time 2】：Highly/posture/speed/acceleration/electricity transfer drive moves size,
And so on,
Wherein system relative time can be obtained from Real time clock of system；
Control command file creates a file for including this booting number every time after booting, for control command to be written, and
By control command according to the unified format organization of system relative time, in the present embodiment, the entitled fly_ of control command file
Control_xxx.log, wherein xxx be by this booting number,
Information is recorded, for every in this document record is written according to following format organization：
【System relative time M】：M is ordered,
【System relative time Y】：Y is ordered,
And so on,
Notice that control command is externally input, record is discrete in time；
Gathered data file creates a file for including this booting number every time after booting, for gathered data to be written, and
By gathered data according to the unified format organization of system relative time；In the present embodiment, the entitled data_ of gathered data file
Xxx.log, wherein xxx be by this booting number,
Information is recorded, for every in this document record is written according to following format organization：
【System relative time 1】：Gathered data 1,
【System relative time 2】：Gathered data 2,
And so on,
According to different application demands, gathered data can diversification, such as shooting photo/spacing wireless data packet monitoring etc..
As shown in figure 4, the workflow of the high-speed memory system is as follows：
Step 1.1）Initialize Real time clock of system, navigation positional device and solid state disk；
Step 1.2）File system initialization reads configuration file；
Step 1.3）The number that is switched on is incremented by, and the absolute time that navigation positional device is obtained is written in configuration file；
Step 1.4）Check solid state disk space, if it exceeds the threshold value of setting, then delete earliest document data record, including
Flight parameter file, control command file and gathered data file；
Step 1.5）It is respectively created when time flight parameter file, when secondary control command file and when time gathered data file；
Step 1.6）Flight parameter file is periodically updated, the flight of the unified format organization according to system relative time is written
Parameter；
Step 1.7）Judge whether to receive new control command, if so, entering step 1.8）, if it is not, then skipping to step
1.9）；
Step 1.8）Control command file is updated, the control command of the unified format organization according to system relative time is written,
And enter in next step；
Step 1.9）Periodically update gathered data file；The acquisition of the unified format organization according to system relative time is written
Data；
Step 1.10）Judge whether to land, if so, configuration file is closed, if it is not, then going to step 1.6）It continues cycling through.
As shown in figure 3, the flow that the unmanned plane exports flying quality by USB interface to host is as follows：
Step 2.1）The host is connect by USB line and corresponding USB interface with unmanned plane；
Step 2.2）A downloading mode is set on the unmanned plane, when for exporting flying quality, unmanned plane is by operating mode
It is switched to downloading mode, can also be opened the light by hardware dial-up by order in the present embodiment to realize download mould in realization
The switching of formula and operating mode, file system is in bypass mode under the downloading mode and unmanned plane passes through USB interface and master
Machine completes usb protocol interaction and data transmission, at this point, unmanned generator terminal is modeled to standard mobile hard disk equipment to host；
Step 2.3）Host reads the data LBA for specifying logical address space by sending, and the USB interface of unmanned plane passes through SATA
Driving obtains corresponding flying quality from solid state disk and returns to host；
Step 2.4）The file system logic-based address date of host parses corresponding partitions of file information, identification hard disk text
Part list, and then complete the download of flight data file.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of unmanned plane High-speed Data Recording System, including unmanned plane, which is characterized in that the unmanned plane includes：
Speed/acceleration sensor detects current three-dimensional velocity, acceleration information, to complete posture parsing；
Angular speed/acceleration transducer detects current three-dimensional angular velocity, angular acceleration information, to complete posture parsing；
Navigation positional device, is used for and satellite communication, obtains current geographic position information；
Motor drives, and is used for driving motor, completes displacement or pose adjustment；
Earth station's interactive system, for earth station's wireless telecommunications, realize the reception of task, realize reception and the flight shape of task
The low-density data communication of state inquiry；
Camera system, for executing fixed point shooting task in flight course；
Cradle head control, the steering for controlling the camera in camera system, to control camera system orientation shooting；
Real time clock of system, for generating high-precision timing, the time is system relative time, and system starts after starting from zero meter
Number；
Solid state disk is used for high speed storing flying quality as high-speed processing apparatus, the flying quality include flight parameter,
Control command and gathered data；
High-speed memory system connects the solid state disk, for completing the data read-write operation to solid state disk；
USB interface for connecting host, and is enumerated as mobile hard disk when unmanned plane is standby, is used for the export of flying quality.
2. unmanned plane High-speed Data Recording System according to claim 1, which is characterized in that the high-speed memory system packet
It includes：
SATA drives, and is connected by the ata command of SATA buses and standard and is written and read operation to solid state disk；
File system, opening, establishment, modification and reading for completing file；
Flight parameter records, the time of running, continues that relevant flight parameter information of specifically flying is written to specified file；
Control command records：The time of running continues to the received terminal control order of specified file write-in；
Gathered data records, the time of running, continues that a large amount of gathered datas acquired are written to specified file.
3. unmanned plane High-speed Data Recording System according to claim 2, which is characterized in that the flight parameter includes
Highly, posture, speed, acceleration and electric transfer drive move size information.
4. unmanned plane High-speed Data Recording System according to claim 2, which is characterized in that the gathered data includes
The video and image data that camera system is acquired.
5. unmanned plane High-speed Data Recording System according to claim 2, which is characterized in that the flight parameter record,
Control command records and gathered data is recorded as three tasks that the high-speed memory system backstage is concurrently run, and operates each other
File is independent, for realizing the concurrently record of flying quality.
6. unmanned plane High-speed Data Recording System according to claim 2, which is characterized in that in the high-speed memory system
Further include having several file configurations regular, the file configuration rule includes：
A configuration file of existence anduniquess, the configuration file storage booting number information and startup temporal information, it is described to open
Machine number information adds 1 for the moment that is switched on every time and configuration file is written automatically, and the startup temporal information is used for as when navigation
Acquired absolute time after the completion of positioning device initialization；
Flight parameter file creates a file for including this booting number every time after booting, for flight parameter to be written, and
By flight parameter according to the unified format organization of system relative time；
Control command file creates a file for including this booting number every time after booting, for control command to be written, and
By control command according to the unified format organization of system relative time；
Gathered data file creates a file for including this booting number every time after booting, for gathered data to be written, and
By gathered data according to the unified format organization of system relative time.
7. unmanned plane High-speed Data Recording System according to claim 6, which is characterized in that the high-speed memory system
Workflow is as follows：
Step 1.1）Initialize Real time clock of system, navigation positional device and solid state disk；
Step 1.2）File system initialization reads configuration file；
Step 1.3）The number that is switched on is incremented by, and the absolute time that navigation positional device is obtained is written in configuration file；
Step 1.4）Check solid state disk space, if it exceeds the threshold value of setting, then delete earliest document data record, including
Flight parameter file, control command file and gathered data file；
Step 1.5）It is respectively created when time flight parameter file, when secondary control command file and when time gathered data file；
Step 1.6）Flight parameter file is periodically updated, the flight of the unified format organization according to system relative time is written
Parameter；
Step 1.7）Judge whether to receive new control command, if so, entering step 1.8）, if it is not, then skipping to step
1.9）；
Step 1.8）Control command file is updated, the control command of the unified format organization according to system relative time is written,
And enter in next step；
Step 1.9）Periodically update gathered data file；The acquisition of the unified format organization according to system relative time is written
Data；
Step 1.10）Judge whether to land, if so, configuration file is closed, if it is not, then going to step 1.6）It continues cycling through.
8. unmanned plane High-speed Data Recording System according to claim 2, which is characterized in that the unmanned plane passes through USB
The flow that interface exports flying quality to host is as follows：
Step 2.1）The host is connect by USB line and corresponding USB interface with unmanned plane；
Step 2.2）A downloading mode is set on the unmanned plane, when for exporting flying quality, unmanned plane is by operating mode
It is switched to downloading mode, file system is in bypass mode under the downloading mode and unmanned plane is complete with host by USB interface
At usb protocol interaction and data transmission, at this point, unmanned generator terminal is modeled to standard mobile hard disk equipment to host；
Step 2.3）Host reads the data LBA for specifying logical address space by sending, and the USB interface of unmanned plane passes through SATA
Driving obtains corresponding flying quality from solid state disk and returns to host；
Step 2.4）The file system logic-based address date of host parses corresponding partitions of file information, identification hard disk text
Part list, and then complete the download of flight data file.
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| CN111121723A (en) * | 2019-12-23 | 2020-05-08 | 中国科学院长春光学精密机械与物理研究所 | Working state parameter recording system of aerial remote sensing equipment |
| CN114936172A (en) * | 2022-05-24 | 2022-08-23 | 国网河南省电力公司内乡县供电公司 | Unmanned aerial vehicle airborne data management system capable of realizing load data management |
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Application publication date: 20180907 |