CN109823570A - A kind of unmanned aerial vehicle body damage monitoring system - Google Patents
A kind of unmanned aerial vehicle body damage monitoring system Download PDFInfo
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Abstract
The present invention provides a kind of unmanned aerial vehicle body damage monitoring system, including drone body, BOTDA system and ground control station, carries BOTDA system in drone body, passes through communication system real-time communication between BOTDA system and ground control station；BOTDA system includes optical section, software portion and Hardware Subdivision, and optical section includes tunable laser, electric light controller, Polarization Controller, fibre optic attenuator, optoisolator and photodetector；Software portion includes tunable laser driving circuit, electrooptic modulator driving circuit, Polarization Controller driving circuit, signal amplification circuit, data acquisition circuit and microwave frequency detection circuit.The present invention provides a kind of unmanned aerial vehicle body damage monitoring system and has the advantage that fiber-optic grating sensor has that light weight, small in size, high temperature resistant, corrosion-resistant, electromagnetism interference, good reliability, measurement accuracy are high, its measurement point is more, and measurement range is big, measurement result can pass in real time ground control centre back by wireless communication module.
Description
Technical field
The present invention relates to a kind of unmanned plane, in particular to a kind of unmanned aerial vehicle body damage monitoring system.
Background technique
UAV is to utilize radio robot and the process control provided for oneself referred to as " unmanned plane " (" UAV ")
The not manned vehicle of device manipulation.Unmanned plane has the characteristics that maneuverability, it is small in size, light-weight, can transport at any time and
It carries.Its requirement to landing is low, flies drop at any time.Unmanned plane generally low latitude smooth flight below clouds, it is distant to compensate for satellite optical
Sense and general aviation photography are often obtained the defect less than image by cloud cover.In addition to wide military application prospect
Outside, someone's aircraft is substituted with unmanned plane execute high risk task, and one important development aspect of current international space industry.It is special
It is not that unmanned plane is used in large quantities in international local war in recent years, it is anticipated that unmanned plane purposes will more on future battlefield
Come bigger, has become the emphasis of countries in the world Weapon Development.In future war, it is high, medium and low empty and remote, in, short range
Reconnaissance warning, tracking and positioning, special operations, relayed communications, precise guidance, information will be executed respectively etc. all types of military unmanned air vehicles
All kinds of Strategy & Tactics tasks such as confrontation, battlefield search and rescue, its Military application scope and sphere constantly will expand and expand from now on.
In severe space environment, the moment is faced with all kinds of harsh challenges, and often shakes with violent structure for military long-term work
Dynamic, these factors may cause fatigue, crackle, buckling of structure etc., brings larger hidden danger to unmanned plane during flying, even results in nothing
The failure of man-machine task.Meanwhile unmanned plane as it is a kind of it is with high content of technology, that service performance is good, development prospect is wide is aerial winged
Row device, civil field also the achievable Disaster Assessment prevented and reduced natural disasters, geological exploration take photo by plane, the inspection of police highway, forest
The multiple-tasks such as fire prevention, maritime affairs are gone on patrol, the performance of large-scale dew field is taken photo by plane.It can be seen that unmanned plane applicable situation is extensive, possible work
Make in compared with adverse circumstances, thus it is guaranteed that the safe handling to unmanned plane, to unmanned plane structure temperature, ess-strain, deformation
Etc. the real-time monitorings of parameters propose urgent need；Late 1970s, optical fiber sensing technology is along with Fibre Optical Communication Technology
Development and it is rapidly growing, nearly 20 years fiber gratings are rapidly developed as a kind of micro-optical component, so that light
The development of fine sensing technology obtains a qualitative leap.It is extremely close for the use of various kinds of sensors in aerospace field
Collection.And there is higher requirement to its sensitivity, volume and weight.The monitoring structural health conditions of one frame aircraft are needed
Number of sensors is huge, therefore the size of sensor, weight just become particularly important.Especially when advanced aircraft is flying
During, traditional sensing technology has been unable to satisfy real-time this demand of accurate measurements atmosphere data.In addition, aircraft is flying
Period can all be influenced by extremely harsh flight environment of vehicle (including high temperature, high-intensity magnetic field etc.).Existing tradition electrical sensor,
Being easy to be limited by environmental factor cannot work normally under extreme flight environment of vehicle, this necessarily will affect the use of aircraft
Safety, leads to catastrophic failure.And fiber-optic grating sensor is then because of its light weight, small in size, high temperature resistant, corrosion-resistant, anti-electromagnetism
The advantages that interference, can largely overcome the influence of environmental factor, be capable of the various parameters of accurate measurements Flight Vehicle Structure,
It judges in time, prevents the generation of accident.Extensive use of the fiber grating sensing technology in aerospace field will be right
The development of aerospace has important facilitation.
Optical fiber sensing technology is a kind of New Sensing Technology, is different from traditional electro-mechanical and senses, and is sensing and biography with optical fiber
The optical sensing technology of defeated element.There are many unique advantages for this technology:
(1) sensor probe configuration is simple, small in size, light-weight, can measure strain and structural damage of structure etc.；
(2) there are natural compatibility between optical fiber, no electromagnetic interference is easily connect with optical fiber, low-loss, spectral characteristic
Good, high reliablity；
(3) have non-conducting, measured medium is influenced small, and have the characteristics that anticorrosive, electromagnetism interference, be suitble to
It works in adverse circumstances；
(4) light and handy soft, multiple gratings can be written in an optical fiber, constitute sensor array；
(5) multiplexing of the sensor technology exclusive as fibre optical sensor, can be realized and divide along optical fiber layout path
The measurement of cloth field；
In order to improve survival ability, the protective capacities of unmanned plane structure, the uniqueness in conjunction with possessed by fiber-optic grating sensor
Fiber-optic grating sensor is used for the health monitoring of unmanned plane structural key component by advantage in conjunction with real-time method for estimating damage, right
Damage is assessed, and self diagnosis is implemented, and has important application value in army.Unmanned plane application scenarios are extensive, during flight
It may be subjected to the influence of extremely harsh flight environment of vehicle (including high temperature, high-intensity magnetic field etc.).It is existing tradition electrical sensor with
Fibre optical sensor compare Shortcomings: (1) be easy to be limited by environmental factor, cannot under extreme flight environment of vehicle normal work
Make, this necessarily will affect unmanned plane using safe, lead to catastrophic failure.(2) point sensor can only to any or it is multiple
Point measures, and acquisition data are few, and temporal synchronization is difficult between multiple measurement points, it is difficult to accomplish to unmanned plane
Comprehensively, it monitors in real time.
Summary of the invention
[1] technical problems to be solved
Optical fiber sensing technology is utilized the technical problem to be solved in the present invention is to provide a kind of, fiber-optic grating sensor is installed
On unmanned aerial vehicle body and the unmanned aerial vehicle body damage monitoring system demarcated.
[2] technical solution solved the problems, such as
The present invention provides a kind of unmanned aerial vehicle body damage monitoring system, including drone body, BOTDA system and ground are controlled
System is stood, and is carried the BOTDA system in the drone body, is passed through between the BOTDA system and the ground control station
Communication system real-time communication；The BOTDA system includes optical section, software portion and Hardware Subdivision, and the optical section includes tunable
Laser, electric light controller, Polarization Controller, fibre optic attenuator, optoisolator and photodetector；The software portion includes can
Tuned laser driving circuit, electrooptic modulator driving circuit, Polarization Controller driving circuit, signal amplification circuit, data are adopted
Collector and microwave frequency detection circuit；The tunable laser includes the first optical port and the second optical port, first optical port
The first coupler is connected, first coupler is separately connected fiber amplifier and the second coupler, and the fiber amplifier connects
The electric light controller is connect, the electric light controller is separately connected circulator and the electrooptic modulator driving circuit, the electricity
Modulator Driver IC for Lightwave Communication Systems connects pc, and the circulator connects the signal amplification circuit, and the signal amplification circuit connects institute
Data acquisition circuit is stated, the data acquisition circuit connects the pc；Second optical port connects third coupler, the third
Coupler is separately connected second coupler and the Polarization Controller, and the polarization control is connected on the Polarization Controller
Device driving circuit processed and the fibre optic attenuator are connected with the optoisolator, the optoisolator on the fibre optic attenuator
It is connect between the circulator by sensor fibre；The photodetector, the light are connected on second coupler
It is connected with the microwave frequency detection circuit on electric explorer, the microwave frequency detection circuit connects the pc, on the pc
The tunable laser driving circuit is connected, the tunable laser driving circuit is for controlling first optical port and institute
State the second optical port.
Further, the fiber amplifier is erbium-doped fiber amplifier.
Further, the Hardware Subdivision include the quick tuning algorithm of fast laser device frequency, Brillouin's frequency spectrum fitting algorithm,
Brillouin's peak-seeking algorithm, wavelet algorithm, fuselage damage event judge software.
Further, the data acquisition circuit is High Speed Data Acquisition Circuit.
Further, the circulator is three port circulators.
Further, the photodetector is the photodetector of 20GHz.
Further, first coupler and the third coupler are coupled to the ratio of the second coupler glazing
It is equal.
Further, pass through wireless telecommunication system real-time communication between the BOTDA system and the ground control station.
[3] beneficial effect
The present invention, which provides a kind of unmanned aerial vehicle body damage monitoring system, has the advantages that the following: (1) optical fiber grating sensing
Device has many advantages, such as light weight, small in size, high temperature resistant, corrosion-resistant, electromagnetism interference, can largely overcome environmental factor
Influence, be capable of the various parameters of accurate measurements unmanned plane structure, judge in time, prevent the generation of accident；(2) reliability
Well, measurement accuracy is high, and the ability that multiple gratings can be made on single-path optical fiber can carry out distributed measurement to unmanned aerial vehicle body,
Its measurement point is more, and measurement range is big；(3) measurement result can pass in real time ground control centre back by wireless communication module, if nothing
Man-machine generation fuselage damage, can be found in time by fiber-optic grating sensor, make coping style in time, avoid to unmanned plane not
Necessary loss.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of unmanned aerial vehicle body damage monitoring system of the present invention；
Fig. 2 is the structural schematic diagram of BOTDA system in unmanned aerial vehicle body damage monitoring system of the present invention.
Specific embodiment
With reference to the accompanying drawing, the embodiment of the present invention is discussed in detail.
- Fig. 2 refering to fig. 1, the present invention provide a kind of unmanned aerial vehicle body damage monitoring system, including drone body 1,
BOTDA system 2 and ground control station 3 control in drone body 1 equipped with BOTDA system 2, BOTDA system 2 and ground
It stands between 3 through communication system real-time communication, passes through channel radio between BOTDA system 2 and ground control station 3 in the present embodiment
News system real-time communication；BOTDA system 2 includes optical section, software portion and Hardware Subdivision, and optical section includes tunable laser, electricity
Optical controller 9, Polarization Controller 18, fibre optic attenuator 19, optoisolator 20 and photodetector 16；Software portion includes tunable
Laser driving circuit 22, electrooptic modulator driving circuit 10, Polarization Controller driving circuit 21, signal amplification circuit 12, number
According to Acquisition Circuit 13 and microwave frequency detection circuit 15；Tunable laser includes the first optical port 4 and the second optical port 5, the first light
Mouth 4 connects the first couplers 6, and the first coupler 6 is separately connected fiber amplifier 8 and the second coupler 17, and fiber amplifier 8 connects
Electric light controller 9 is connect, electric light controller 9 is separately connected circulator 11 and electrooptic modulator driving circuit 10, and electrooptic modulator drives
Dynamic circuit 10 connects pc14,11 connection signal amplifying circuit 12 of circulator, and signal amplification circuit 12 connects data acquisition circuit 13,
Data acquisition circuit 13 connects pc14；Second optical port 5 connects third coupler 7, and third coupler 7 is separately connected the second coupler
17 with Polarization Controller 18, be connected with Polarization Controller driving circuit 21 and fibre optic attenuator 19, optical fiber on Polarization Controller 18
It is connected with optoisolator 20 on attenuator 19, is connected between optoisolator 20 and circulator 11 by sensor fibre, in this implementation
Circulator 11 is three port circulators in example；It is connected with photodetector 16 on second coupler 17, connects on photodetector 16
It is connected to microwave frequency detection circuit 15, microwave frequency detection circuit 15 connects the pc14, connects on the pc14 tunable sharp
Light device driving circuit 22, tunable laser driving circuit 22 is for controlling the first optical port 4 and the second optical port 5；In the present embodiment
Middle Hardware Subdivision includes the quick tuning algorithm of fast laser device frequency, Brillouin's frequency spectrum fitting algorithm, Brillouin's peak-seeking algorithm, small echo
Algorithm, fuselage damage event judge software.
In order to improve measurement accuracy, fiber amplifier 8 is erbium-doped fiber amplifier in the present embodiment.
In order to improve measurement efficiency, data acquisition circuit 13 is High Speed Data Acquisition Circuit in the present embodiment, and photoelectricity is visited
Survey the photodetector that device 16 is 20GHz.
In order to further improve measurement accuracy, the first coupler 6 and third coupler 7 are coupled to the in the present embodiment
Two couplers, 17 glazing is in equal proportions, particularly on the first coupler 6 90% optically coupling on fiber amplifier 8,
10% optically coupling to the second coupler 17；On third coupler 7 90% optically coupling on Polarization Controller 18,10% light
It is coupled to the second coupler 17.
A kind of unmanned aerial vehicle body damage monitoring system BOTDA system of the present invention is elaborated in conjunction with the embodiment of appeal
Application method is taken full advantage of the continuously distributed feature of optical fiber space, can be measured along optical fiber using distributed fiberoptic sensor
The every bit information of distribution, and can work under the adverse circumstances such as complex space, inflammable and explosive, strong electromagnetic, real-time monitoring
The minor change of temperature and strain on unmanned aerial vehicle body: opticator includes tunable laser, electric light controller 9, polarization control
Device 18, fibre optic attenuator 19, optoisolator 20 and photodetector 16 processed, tunable laser export the adjusting of light frequency by temperature
The chamber for controlling coarse adjustment and electric current fine tuning laser is long to realize；Polarization Controller 18 is used to control the polarization state of light beam, to oriented
PUMP light after coupler output carries out disturbing inclined control, eliminates the influence of brillouin scattering signal polarization state；Optoisolator is installed
20 help to eliminate influence of the PROBE light to PUMP light stability degree；Fibre optic attenuator 19 is for being adjusted into sensor fibre
PUMP light intensity；The continuous wave that probe source exports is modulated into the certain pulsed light of width by electric light controller 9, for real
The positioning of existing sensor region, the width of pulsed light is narrower, and positioning accuracy is higher；Electric light controller 9 is connect by optical circulator 11
The pump light signals after Brillouin amplification are received, amplify using low noise and are sent into High Speed Data Acquisition Circuit after signal condition
Multiple cumulative mean is carried out, to improve signal-to-noise ratio；Pump light is with the part optical signals of detection light after the second coupler 17 mixes
Electric signal is converted by the photodetector 16 that bandwidth is 20GHz, and goes out the difference on the frequency of two-beam by microwave numeration circuit measuring；
The measurement of Brillouin shift in entire scope can be realized in continuous adjustment pump light and the difference on the frequency for detecting light, obtains whole optical fiber
The cloth benefit deep pool spectrum distribution of each collection point is obtained from the deep frequency displacement of cloth benefit of corresponding position in conjunction with the various parameters of optical fiber itself
The temperature and tension distribution of optical cable whole process.
The hardware design, the active optical component that hardware circuit is mainly used for controlling in optical system, which is in, works normally shape
State, system need to design tunable laser driving circuit 22, electrooptic modulator driving circuit 10, Polarization Controller driving circuit
21, signal amplification circuit 12, data acquisition circuit 13 and microwave frequency detection circuit 15 etc.；Tunable laser driving circuit 22
It is main linear designed with operating temperature and drive current variations according to laser frequency in a certain range, wherein
Thermal tuning mode tuning range is wide, but the response time is slower；Electric current tuning mode tuning range is small, but the response time is fast；Electricity
Modulator Driver IC for Lightwave Communication Systems 10 is mainly used for driving electrooptic modulator 9 (EOM), is allowed to generate pulsed light, circuit mainly has light function
Rate detection circuit, adaptive DC bias circuit, pulse amplifying circuit composition, since EOM characteristic is obvious by temperature change,
DC bias circuit makes EOM keep best work in environmental temperature fluctuation according to optical power automatic Modulation bias voltage is detected
Make state, EOM rf inputs mouth impedance is only 40 Ω or so, have low impedance characteristic, therefore driving pulse must have compared with
Strong driving capability；For polarization control circuit 21 according to the characteristic of circuit Polarization Controller 18 (EPC), 4 tunnel amplitudes of output are identical, frequency
The different sinusoidal signal of rate, for driving EPC, realization disturbs inclined function, drops to system polarization correlated noise；Microwave frequency detection electricity
Road 15 has the function of that microwave signal amplification and frequency counting, look-in frequency signal reach 14Ghz, and microwave frequency detection circuit uses
Microwave mixer principle selects high stability microwave clock source and frequency mixer meticulously, realizes microwave sounding；Signal amplification circuit 12 is real
Existing small and weak electric signal enlarging function, it is desirable that circuit has high-gain, the performance of wide bandwidth, low noise, and wide bandwidth is signal integrity
Guarantee, dedicated high speed width amplifier is used in design, detective bandwidth reaches 100MHz or more；High Speed Data Acquisition Circuit is completed
Signal digital quantization process (AD) uses high speed time sharing sampling technology, equivalent sampling rate > 200MSPS, sampling essence in design
Degree > 12bit.High Speed Data Acquisition Circuit has high-precision firmly plus accumulation function simultaneously, and maximum cumulative mean number is greater than 500,000
It is secondary.
Software section design, software section design mainly include the quick tuning algorithm of fast laser device frequency, brillouin frequency
The design of spectrum fitting algorithm, the design of Brillouin's peak-seeking algorithm, wavelet algorithm research, fuselage damage event judge software design；Quickly
Laser frequency tuning algorithm is designed by PID (proportional-integral-differential) shaping modes, the first presetting frequency difference of system, then root
The practical frequency difference adjustment detected according to microwave frequence counter is adjusted, and reaches the adjusting of completion frequency after the value of setting；
Brillouin gain spectrum fitting algorithm fits continuous frequency spectrum, adopts in system according to discrete brillouin gain signal is collected
With the mode of gaussian curve approximation, the time needed for ensure that the precision of fitting, shortening fitting；Brillouin's peak-seeking algorithm is
After finger obtains whole optical fiber fitting brillouin gain spectrum, frequency mistake corresponding to the brillouin gain peak value at optical fiber each point is calculated
Journey, software algorithm directly influence temperature measurement accuracy and time；In software design by the way of signal derivation, calculate in cloth
Deep gain peak improves the precision of measurement；Wavelet algorithm is very widely used, and small echo calculation is also used in project software design
Method, the signal-to-noise ratio of lifting system increase event arbitration functions；Fuselage damage event judge software according to measured temperature and
Stress establishes the fuselage damage event decision algorithm of a set of suitable unmanned plane.UAV ground control station is mainly used for nobody
Machine flight is controlled and is managed, and monitors the flight condition of unmanned aerial vehicle platform, and be remotely controlled operation to unmanned plane；In it is controlled
Appearance includes: the normal work of the flight course of aircraft, flight track, the task function of payload, communication link, utilizes nothing
The sensor of man-machine weapon platform obtains discovery target and feeds back target of attack by aid decision, completes single combat duty,
And the transmitting and recycling of aircraft；Ground control's control system is other than completing basic flight and task control function, together
When to be also required to neatly to overcome various unknown Nature and Man be the adverse effect of factor, adapt to various complex environments,
Guarantee the successful realization of total system allomeric function.
The present invention, which provides a kind of unmanned aerial vehicle body damage monitoring system, has the advantages that the following: (1) optical fiber grating sensing
Device has many advantages, such as light weight, small in size, high temperature resistant, corrosion-resistant, electromagnetism interference, can largely overcome environmental factor
Influence, be capable of the various parameters of accurate measurements unmanned plane structure, judge in time, prevent the generation of accident；(2) reliability
Well, measurement accuracy is high, and the ability that multiple gratings can be made on single-path optical fiber can carry out distributed measurement to unmanned aerial vehicle body,
Its measurement point is more, and measurement range is big；(3) measurement result can pass in real time ground control centre back by wireless communication module, if nothing
Man-machine generation fuselage damage, can be found in time by fiber-optic grating sensor, make coping style in time, avoid to unmanned plane not
Necessary loss.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of unmanned aerial vehicle body damage monitoring system, it is characterised in that: including drone body (1), BOTDA system (2) with
Ground control station (3), carries the BOTDA system (2) on the drone body (1), the BOTDA system (2) with it is described
Pass through communication system real-time communication between ground control station (3)；The BOTDA system (2) includes optical section, software portion and hardware
Portion, the optical section include tunable laser, electric light controller (9), Polarization Controller (18), fibre optic attenuator (19), light
Isolator (20) and photodetector (16)；The software portion includes tunable laser driving circuit (22), electrooptic modulator
Driving circuit (10), Polarization Controller driving circuit (21), signal amplification circuit (12), data acquisition circuit (13) and Microwave Frequency
Rate detection circuit (15)；The tunable laser includes the first optical port (4) and the second optical port (5), and first optical port (4) is even
It connects the first coupler (6), first coupler (6) is separately connected fiber amplifier (8) and the second coupler (17), the light
Fiber amplifier (8) connects the electric light controller (9), and the electric light controller (9) is separately connected circulator (11) and the electricity
Modulator Driver IC for Lightwave Communication Systems (10), the electrooptic modulator driving circuit (10) connect pc (14), circulator (11) connection
The signal amplification circuit (12), the signal amplification circuit (12) connect the data acquisition circuit (13), and the data are adopted
Collector (13) connects the pc (14)；Second optical port (5) connects third coupler (7), the third coupler (7) point
Second coupler (17) and the Polarization Controller (18) are not connected, are connected on the Polarization Controller (18) described inclined
Shake controller driving circuit (21) and the fibre optic attenuator (19), is connected with the optical isolation on the fibre optic attenuator (19)
Device (20) is connect between the optoisolator (20) and the circulator (11) by sensor fibre；Second coupler
(17) it is connected on the photodetector (16), is connected with the microwave frequency detection circuit on the photodetector (16)
(15), the microwave frequency detection circuit (15) connects the pc (14), connects the tunable laser on the pc (14)
Driving circuit (22), the tunable laser driving circuit (22) is for controlling first optical port (4) and second light
Mouth (5).
2. unmanned aerial vehicle body damage monitoring system as described in claim 1, it is characterised in that: the fiber amplifier (8) is
Erbium-doped fiber amplifier.
3. unmanned aerial vehicle body damage monitoring system as described in claim 1, it is characterised in that: the Hardware Subdivision includes quickly swashing
The quick tuning algorithm of light device frequency, Brillouin's frequency spectrum fitting algorithm, Brillouin's peak-seeking algorithm, wavelet algorithm, fuselage damage event
Judge software.
4. unmanned aerial vehicle body damage monitoring system as described in claim 1, it is characterised in that: the data acquisition circuit (13)
For High Speed Data Acquisition Circuit.
5. unmanned aerial vehicle body damage monitoring system as described in claim 1, it is characterised in that: the circulator (11) is three ends
Mouth circulator.
6. unmanned aerial vehicle body damage monitoring system as described in claim 1, it is characterised in that: the photodetector (16) is
The photodetector of 20GHz.
7. unmanned aerial vehicle body damage monitoring system as described in claim 1, it is characterised in that: first coupler (6) with
The third coupler (7) is coupled to being in equal proportions for the second coupler (17) glazing.
8. unmanned aerial vehicle body damage monitoring system as described in claim 1, it is characterised in that: the BOTDA system (2) and institute
It states between ground control station (3) through wireless telecommunication system real-time communication.
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| CN201910230147.2A CN109823570A (en) | 2019-03-26 | 2019-03-26 | A kind of unmanned aerial vehicle body damage monitoring system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910230147.2A CN109823570A (en) | 2019-03-26 | 2019-03-26 | A kind of unmanned aerial vehicle body damage monitoring system |
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| Publication Number | Publication Date |
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| CN109823570A true CN109823570A (en) | 2019-05-31 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112678204A (en) * | 2021-03-10 | 2021-04-20 | 南京纬多科技有限公司 | Health monitoring method for unmanned aerial vehicle power system hardware |
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2019
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112678204A (en) * | 2021-03-10 | 2021-04-20 | 南京纬多科技有限公司 | Health monitoring method for unmanned aerial vehicle power system hardware |
| CN112678204B (en) * | 2021-03-10 | 2021-06-25 | 南京纬多科技有限公司 | Health monitoring method for unmanned aerial vehicle power system hardware |
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Application publication date: 20190531 |