CN111442860B - Detection method and processing method for temperature drift of unmanned aerial vehicle sensor and electronic equipment - Google Patents
Detection method and processing method for temperature drift of unmanned aerial vehicle sensor and electronic equipment Download PDFInfo
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- CN111442860B CN111442860B CN201910041778.XA CN201910041778A CN111442860B CN 111442860 B CN111442860 B CN 111442860B CN 201910041778 A CN201910041778 A CN 201910041778A CN 111442860 B CN111442860 B CN 111442860B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K15/00—Testing or calibrating of thermometers
- G01K15/005—Calibration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K1/00—Details of thermometers not specially adapted for particular types of thermometer
- G01K1/02—Means for indicating or recording specially adapted for thermometers
- G01K1/024—Means for indicating or recording specially adapted for thermometers for remote indication
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C25/00—Arrangements for preventing or correcting errors; Monitoring arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
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Abstract
The invention discloses a detection method and a processing method for temperature drift of an unmanned aerial vehicle sensor and electronic equipment. The detection method comprises the steps of writing the working temperature of a sensor of the unmanned aerial vehicle and corresponding system time into a log data packet and forming a check log data packet; writing the check log data packet and the log description packet into a log file; checking the check log data packet according to the check field; acquiring the system time and the working temperature of the sensor from the check log data packet; calculating to obtain the actual temperature change rate; and comparing the actual temperature change rate with a preset temperature change rate to detect whether temperature drift occurs. The processing method sends a control signal to the unmanned aerial vehicle after the detection method is realized. The processor of the electronic equipment realizes the method. The storage medium stores a computer program executable by a processor to implement the above-described method. Save the cost, also can guarantee unmanned aerial vehicle's normal flight.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a detection method and a processing method for temperature drift of a sensor of an unmanned aerial vehicle and electronic equipment.
Background
Various sensors for collecting data are installed on the unmanned aerial vehicle, such as an acceleration sensor, an optical flow sensor, a gyroscope and the like, the stability degree of the data of the sensors depends on the working temperature of the sensors, and the temperature drift of the sensors can occur due to too large temperature change, so that large data deviation is caused. The unmanned aerial vehicle during operation is in the high air and small, is difficult to be like waiting ground machine and installing check out test set on it and follow tracks the detection to it, like this, even the sensor has appeared the temperature drift and also is difficult to discover. Although the problem that some temperature drift brought can be solved to the self-contained automatic calibration function of sensor, just also need not to detect temperature drift, unmanned aerial vehicle's operational environment is complicated, and the change of temperature is difficult to expect occasionally, and this automatic calibration to the sensor also puts forward very high requirement, needs to adopt expensive sensor just can reach the effect of ideal, the cost of the unmanned aerial vehicle of increase that like this can be great.
Disclosure of Invention
The technical problem solved by the invention is as follows: the unmanned aerial vehicle during operation is in the high sky and small, is difficult to detect the temperature drift like waiting ground machine installation check out test set on it. Therefore, the invention provides a detection method and a processing method for temperature drift of an unmanned aerial vehicle sensor and electronic equipment.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method for detecting temperature drift of a sensor of an unmanned aerial vehicle comprises the following steps:
writing the working temperature of a sensor of the unmanned aerial vehicle and the corresponding system time into a log data packet;
after the log data packet is verified, writing a verification field into the log data packet to form a verification log data packet;
writing the check log data packet into a log file;
writing a log description packet recording the analysis rule of the check log data packet into the log file;
the log file is acquired through data transmission between a wireless communication unit of the unmanned aerial vehicle and the unmanned aerial vehicle in flight or after the unmanned aerial vehicle is in flight, and the check log data packet is checked according to the check field;
acquiring the system time from the check log data packet;
analyzing the check log data packet according to the log description packet to obtain the working temperature of the sensor;
calculating to obtain an actual temperature change rate according to the working temperatures of the sensors corresponding to different system times;
and comparing the actual temperature change rate with a preset temperature change rate, and if the actual temperature change rate is greater than the preset temperature change rate, judging that the temperature drifts.
In some preferred embodiments, for the same sensor, a plurality of preset temperature change rates are set, and a plurality of actual temperature change rates are calculated according to different time intervals; and comparing the actual temperature change rates with the preset temperature change rates respectively, and judging that the temperature drifts if the actual temperature change rates are larger than the preset temperature change rates.
In some preferred embodiments, the method further comprises: writing flight data into the log data packet, the flight data corresponding to the system time; and analyzing whether the variation of the flight data corresponding to the sensor is abnormal or not according to the time interval so as to verify the temperature drift.
In a further preferred embodiment, the method further comprises: writing flight data into the log data packet, the flight data corresponding to the system time; and analyzing whether the plurality of variable quantities of the flight data corresponding to the sensor are abnormal or not according to the time interval so as to verify the temperature drift.
In some preferred embodiments, the log description packet is provided with a description data ID, the check log data packet is provided with a data ID, and checking the check log data packet according to the check field includes:
searching and storing all the log description packets in the log file;
traversing the check log data packet in the log file;
checking the check log data packet by using the check field;
and matching the description data ID with the data ID.
In a further preferred embodiment, the verifying the verification log data packet by using the verification field, if the verification fails, returning to execute traversing the verification log data packet in the log file, and if the verification passes, executing the matching of the description data ID and the data ID;
and matching the description data ID with the data ID, if the matching fails, returning to execute traversing the verification log data packet in the log file, and if the matching passes, executing to acquire the system time from the verification log data packet.
In some preferred embodiments, the method further comprises: a signal related to the temperature drift is output.
In another aspect, the invention provides a processing method for temperature drift of a sensor of an unmanned aerial vehicle, and after the detection method is implemented, a control signal is sent to the unmanned aerial vehicle to eliminate the temperature drift.
In another aspect, the invention provides an electronic device comprising a memory and one or more processors operable to execute a computer program in the memory to perform the above method in another aspect, and a computer readable storage medium storing a computer program for use in conjunction with a computing device, the computer program being executable by the processors to perform the above method.
Compared with the prior art, the invention has the beneficial effects that:
and writing the working temperature of the sensor of the unmanned aerial vehicle and the corresponding system time into a log data packet, and verifying the log data packet through a check field to form a check log data packet so as to reliably associate the working temperature of the sensor with the system time. Data transmission is carried out with unmanned aerial vehicle in flight through unmanned aerial vehicle's wireless communication unit or after unmanned aerial vehicle flight finishes, acquires the log file, analyzes this log file that has recorded sensor operating temperature and system time, can obtain the operating temperature of different moments, different sensors on the unmanned aerial vehicle. Therefore, the actual temperature change rate of the sensor can be obtained, and whether the temperature drift occurs in the sensor can be detected by comparing the actual temperature change rate with the preset temperature change rate. Utilize unmanned aerial vehicle from the equipment of taking can realize detecting the temperature drift, can strengthen cost competitiveness when promoting the unmanned aerial vehicle performance.
Drawings
Fig. 1 is a flowchart of a method for detecting temperature drift of a sensor of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating step S500 according to an embodiment of the present invention.
Detailed Description
Referring to fig. 1 to 2, embodiments of the present invention will be described in detail below. It should be emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention or its application.
Referring to fig. 1, the method for detecting the temperature drift of the sensor of the unmanned aerial vehicle according to the embodiment of the present invention includes steps S100 to S900.
Steps S100 to S400 are generally performed by a drone. Unmanned aerial vehicle is operated with manned flight control software. The flight control software writes data into storage equipment of the unmanned aerial vehicle, specifically into a log file of the unmanned aerial vehicle. The log file of the unmanned aerial vehicle comprises a log data packet and a log description packet, wherein the log data packet records data generated in the operation process of the unmanned aerial vehicle, such as the working temperature of a sensor, and the log description packet records the analysis rule of the log data packet.
And S100, writing the working temperature of the sensor of the unmanned aerial vehicle and the corresponding system time into a log data packet. Besides the flight data of the unmanned aerial vehicle, the sensor on the unmanned aerial vehicle is internally provided with a temperature measuring device for measuring the working temperature of the sensor chip, and the working temperature is the working temperature of the sensor. And the flight control software writes the current system time and the working temperature of the sensor into a log data packet according to a preset rule at a set time, wherein the working temperature of each sensor corresponds to the system time. With multiple sensors, the operating temperatures of the multiple sensors are recorded at the same system time.
Step S200, after the log data packet is verified, the verification field is written into the log data packet to form a verification log data packet. The flight control software adopts a checksum algorithm such as a CRC16 algorithm to check the content of the log data packet, and after the check is completed, a check field, namely, a checksum, is written into the log data packet to form a check log data packet. The check log data packet is a log data packet with a check field.
And step S300, writing the verification log data packet into a log file.
And step S400, writing a log description packet recording the analysis rule of the check log data packet into a log file. The analysis rule can be preset, and the specific rule content is set according to the actual requirement.
Steps S500 to S900 are generally completed by the upper computer, and the upper computer acquires the log file of the unmanned aerial vehicle. The upper computer can be a PC computer, a mobile terminal, a server and other equipment for running an analysis tool.
And S500, carrying out data transmission with the flying unmanned aerial vehicle through a wireless communication unit of the unmanned aerial vehicle or acquiring a log file after the unmanned aerial vehicle is in flight, and checking the log data packet according to the check field.
Some unmanned aerial vehicles carry wireless communication units, and the communication mode can be WiFi, Bluetooth, 4G or 5G and the like; to these unmanned aerial vehicles, can carry out radio communication through ground satellite station or host computer and unmanned aerial vehicle, transmit data to acquire unmanned aerial vehicle's log file on line. Can also be connected with unmanned aerial vehicle through host computer or other data acquisition equipment after unmanned aerial vehicle flight finishes, acquire unmanned aerial vehicle's log file. No matter which mode is adopted, the log file is finally transmitted to the upper computer. After the upper computer acquires the check log data packet, the check log data packet is checked by using a CRC16 algorithm according to a check field, namely a check sum.
Step S600, system time is obtained from the check log data packet. And after the verification of the verification log data packet is completed, the upper computer acquires the system time from the verification log data packet.
And S700, analyzing the check log data packet according to the log description packet to obtain the working temperature of the sensor. And an analysis rule is recorded in the log description packet, and the upper computer analyzes the check log data packet according to the analysis rule so as to obtain the working temperature of the sensor. After the working temperature of the sensor and the system time are obtained, data processing can be carried out based on the data. Data processing herein includes, but is not limited to, interpretation, debugging, analysis, visualization, comparison of data.
And step S800, calculating to obtain the actual temperature change rate according to the working temperatures of the sensors corresponding to different system times. Setting a time interval according to the characteristics of the sensors, positioning any two different system times according to the time interval, finding two sensor working temperatures corresponding to the two system times, wherein the ratio of the difference value of the two sensor working temperatures to the time interval is the actual temperature change rate. Wherein, the time intervals of different sensors can be different, which is related to the working principle, structure, material, etc. of the sensors; exemplary time intervals are 10 seconds, 20 seconds, 30 seconds, 40 seconds, 50 seconds, 60 seconds, 120 seconds, and the like.
And S900, comparing the actual temperature change rate with a preset temperature change rate, and if the actual temperature change rate is greater than the preset temperature change rate, judging that the temperature drifts. The preset temperature change rates may be different for different sensors, again determined by the sensors themselves. The preset temperature change rate may be a temperature change rate at which the sensor may generate temperature drift, so that when the actual temperature change rate is greater than the preset temperature change rate, it indicates that the sensor has temperature drift, and at this time, a signal related to the temperature drift may be output, for example, a sound or light may be used to inform a user which sensor has temperature drift; the preset temperature change rate may also be a temperature change rate smaller than or close to the temperature drift generated by the sensor, for example, the value of the preset temperature change rate is 90% of the temperature change rate of the temperature drift generated by the sensor, so that when the actual temperature change rate is greater than the preset temperature change rate, it indicates that the temperature drift is about to occur in the sensor, and at this time, a signal related to the temperature drift may be output to prompt the user to optimize the working temperature of the sensor, for example, prompt the user to take a cooling measure such as reducing the flying speed, starting the cooling device, and reducing the flying height. Of course, the signal relating to the temperature drift may also be a control signal for controlling the drone to eliminate the current temperature drift.
According to the method, the working temperature of the sensor of the unmanned aerial vehicle and the corresponding system time are written into the log data packet, and the log data packet is verified through the verification field to form a verification log data packet, so that the working temperature of the sensor is reliably related to the system time. Data transmission is carried out with unmanned aerial vehicle in flight through unmanned aerial vehicle's wireless communication unit or after unmanned aerial vehicle flight finishes, acquires the log file, analyzes this log file that has recorded sensor operating temperature and system time, can obtain the operating temperature of different moments, different sensors on the unmanned aerial vehicle. Therefore, the actual temperature change rate of the sensor can be obtained, and whether the sensor has temperature drift or not can be detected by comparing the actual temperature change rate with the preset temperature change rate. According to the invention, the temperature drift can be detected by using the equipment of the unmanned aerial vehicle, and the cost competitiveness can be enhanced while the performance of the unmanned aerial vehicle is improved.
The invention can be used for testing the unmanned aerial vehicle so as to improve the unmanned aerial vehicle. After the unmanned aerial vehicle flies, the temperature change of the sensor is analyzed according to the log file, if the temperature drift of a certain sensor is found, the working environment of the sensor is researched, the reason for the temperature drift is found and eliminated, and therefore the unmanned aerial vehicle is improved.
The invention can also be used for carrying out online control on the unmanned aerial vehicle, namely a processing method of the temperature drift of the sensor of the unmanned aerial vehicle, so as to ensure the normal flight of the unmanned aerial vehicle. In the process of unmanned aerial vehicle flight, the ground station carries out data transmission through unmanned aerial vehicle's wireless communication unit and the unmanned aerial vehicle in flight, acquires the log file, monitors the temperature variation of sensor according to the log file, if discover that certain sensor appears temperature drift then to unmanned aerial vehicle sending control signal, eliminates temperature drift, makes the sensor accurately gather data to make the ground station accurately control unmanned aerial vehicle according to data, guarantee unmanned aerial vehicle's normal flight.
Although the sensor is normal from the perspective of a certain preset temperature change rate, the unmanned aerial vehicle works in the air, the temperature change is difficult to be expected sometimes, the sensor may be abnormal on other temperature change rates, and the analysis of a plurality of preset temperature change rates can deal with the difficult unexpected situations. Since the operating temperatures of the sensors at different times are recorded in a log file, conditions are provided for the aforementioned analysis. And setting a plurality of preset temperature change rates for the same sensor, and detecting the sensor according to the temperature change rates. Namely, the working temperature of the sensor is selected according to different time intervals, and a plurality of actual temperature change rates are obtained through calculation. Wherein each time interval has a corresponding preset temperature change rate, for example, the smaller the time interval, the larger the preset temperature change rate, which can be set according to the characteristics of the sensor. And comparing the actual temperature change rates with preset temperature change rates, if one actual temperature change rate is greater than the corresponding preset temperature change rate, judging that the temperature is shifted, and sending a signal related to the temperature shift.
In step S100, the flight data is also written into the log data packet, and the flight data also corresponds to the system time, and then steps S200 to S700 are performed to obtain the flight data. Flight data includes, but is not limited to, acceleration, angular velocity, altitude, roll, pitch, yaw, flight pattern, electrical quantities. In this way, the variation of the flight data corresponding to the sensor is compared with the actual temperature variation rate to verify the temperature drift. The sensors are used for collecting flight data, for example, the acceleration sensor collects acceleration signals, and if the temperature of the sensor drifts, the collected data can also show an abnormality. According to the time interval corresponding to the actual temperature change rate, whether the variation of the flight data corresponding to the sensor is abnormal or not is analyzed, for example, whether the variation of the flight data is suddenly increased or decreased or not is judged, and whether the temperature drift of the sensor really occurs or not can be verified from another angle.
In addition, whether a plurality of variation amounts of the flight data corresponding to the sensor are abnormal or not can be analyzed to verify the temperature drift. For a certain type of flight data, such as acceleration data, each actual temperature change rate corresponds to a different time interval, and these time intervals also correspond to different flight data change amounts, that is, each actual temperature change rate corresponds to a different flight data change amount. If the actual temperature change rate of one sensor is larger than the corresponding preset temperature change rate, analyzing whether the change quantity of the flight data corresponding to the actual temperature change rate is abnormal or not, and verifying whether the temperature drift of the sensor on the corresponding preset temperature change rate really occurs or not; this is also true for other actual rates of temperature change for the sensor.
The present invention will be further described below.
The data processing based on flight data, sensor operating temperature and system time includes:
the system time, flight data and the working temperature of the sensor are used for data processing, and the data processing is used for researching the historical flight state of the unmanned aerial vehicle, for example, the system time is used as an X axis of a chart;
or, the system time is used as data for data processing and a basis for searching flight data or sensor working temperature, and the system time is not only used as data for data processing, but also used for searching flight data or sensor working temperature, namely, data are quickly searched according to the system time, so that the efficiency is improved.
The present invention will be further described below.
Types of data for flight data and sensor operating temperatures include, but are not limited to: signed 8-bit integer, unsigned 8-bit integer, signed 16-bit integer, unsigned 16-bit integer, signed 32-bit integer, unsigned 32-bit integer, float type, double type, 64-bit string, 64 x 64-bit unsigned 8-bit integer;
the contents of the check log data packet include, but are not limited to:
a start header for identifying the start of a packet;
a type for identifying a category of the package;
length, used to identify the data length of the entire packet;
a data ID for matching with the description data ID;
the data sets are used for storing flight data and the working temperature of the sensor, the number of the data sets is equal to that of the format sets and the label sets of the log description packets, and the first item of the sets can be time data;
a check field for identifying a checksum of the entire packet;
the contents of the log description package include, but are not limited to:
a start header for identifying the start of a packet;
a type for identifying a category of the package;
length, used to identify the data length of the entire packet;
a description data ID for matching with the data ID;
a data name for identifying a name of the data set;
the format set is used for identifying the type of each data in the data set, the number of the format set is equal to that of the label set and the data set, and the first item can be a time type;
and the label sets are used for identifying the name of each data in the data sets, the number of the label sets is equal to the number of the format sets and the data sets of the log description packets, and the first item of each label set can be a time name.
Of course, after the log description packet is verified, the verification field can be written into the log description packet to form a verification log description packet, so that the accuracy of the log description packet is ensured.
Referring to fig. 2, in the case that the log description packet is provided with the description data ID and the verification log data packet is provided with the data ID, the step S500 of verifying the verification log data packet according to the verification field includes steps S510 to S540, which can ensure the accuracy of the data.
Step S510, searching and storing all log description packages in the log file;
step S520, traversing and checking a log data packet in a log file;
step S530, checking the check log data packet by using the check field;
step S540, matching the description data ID with the data ID.
And step S530, verifying the verification log data packet by using the verification field, if the verification fails, returning to execute step S520, traversing the verification log data packet in the log file, and if the verification passes, executing step S540, and matching the description data ID with the data ID.
And for the step S540, matching the description data ID with the data ID, if the matching fails, returning to execute the step S520, traversing the verification log data packet in the log file, and if the matching passes, executing the step S600, and acquiring the system time from the verification log data packet.
The sequence of the steps of the detection method of the present invention is flexible, for example, step S400 is executed before step 100, step S700 is executed before step 600, and the technical solution formed by the sequence change of the steps is within the protection scope of the present invention.
The invention is explained in detail below by way of an example:
the user needs to save the flight status data (status) of the drone, including the following flight data:
roll (roll angle), data type float;
pitch, data type float;
yaw (yaw), data type float;
mode, data type unsigned 8 bit integer;
battery, data type is unsigned 8 bit integer;
6. the working temperature of the acceleration sensor is the float data type;
data at XX minutes 20 seconds are: 6.5(roll), 2.5(pitch), 5(yaw), 0(mode), 70(battery), 45.8 (acceleration sensor operating temperature);
data at XX minutes 30 seconds are: 5.5(roll), 1.5(pitch), 6(yaw), 0(mode), 65(battery), 45.9 (acceleration sensor operating temperature);
data at XX minutes 40 seconds are: 7.5(roll), 1.0(pitch), 7(yaw), 0(mode), 60(battery), 45.7 (acceleration sensor operating temperature);
the main contents of the log description package are as follows:
starting head: 0 xABCD;
type (2): 0 (log description packet);
length: the log describes the sum of the lengths of 1 to 7 items of data of the packet;
data ID: 1
Data name: status;
and (3) format set: float, unsigned 8 bit reshaping, float;
and (3) label set: roll, pitch, yaw, mode, battery, acceleration sensor operating temperature;
the main contents of the check log data packet are as follows:
XX minute 20 second time XX:
starting head: 0 xABCD;
type (2): 1 (check log packet);
length: the sum of the lengths of 1 to 7 items of data of the check log data packet;
data ID: 1;
system time: XX: XX: 20;
data collection: 6.5, 2.5, 5, 0, 70, 45.8;
and (4) checking a field: the result of performing checksum on 1-6 items of data of the check log data packet by using the CRC16 algorithm;
XX minute and 30 second time XX:
starting head: 0 xABCD;
type (2): 1 (check log packet);
length: the sum of the lengths of 1 to 7 items of data of the check log data packet;
data ID: 1;
system time: XX is XX: 30;
data collection: 5.5, 1.5, 6, 0, 65, 45.9;
and (4) checking a field: the result of performing checksum on 1-6 items of data of the check log data packet by using the CRC16 algorithm;
XX minute 40 second time XX:
starting head: 0 xABCD;
type (2): 1 (check log packet);
length: the sum of the lengths of 1 to 7 items of data of the check log data packet;
data ID: 1;
system time: XX: XX: 40;
data collection: 7.5, 1.0, 7, 0, 60, 45.7;
and (4) checking a field: the result of performing checksum on 1-6 items of data of the check log data packet by using the CRC16 algorithm;
after the flight control software is started, writing a predefined log description packet into a log file, acquiring data at 20 seconds, packaging into a data packet and writing into the log file, acquiring data at 30 seconds, packaging into a data packet and writing into the log file, acquiring data at 40 seconds, packaging into a data packet and writing into the log file.
And the upper computer searches the log description packet in the log file and finds the log description packet with the data name of status. Traversing the data packets in the log file, finding a check log data packet, after the check is successful, knowing that the data ID of the data packet is 1 and is consistent with the data ID of a log description packet with a status data name, analyzing the data set of the data packet according to the format set of the log description packet to obtain the system time XX: XX:20 and the data of 6.5, 2.5, 5, 0, 70 and 45.8; continuously traversing the data packets in the log file, finding a check log data packet, after the check is successful, knowing that the data ID of the data packet is 1 and is consistent with the data ID of a log description packet with a status data name, analyzing the data set of the data packet according to the format set of the log description packet to obtain the data set with the system time of XX: XX:30 and the data of 5.5, 1.5, 6, 0, 65 and 45.9; continuously going through data packets in the log file, finding a check log data packet, obtaining that the data ID of the check log data packet is 1 after the check is successful, the check log data packet is consistent with the data ID of a log description packet with a data name of status, and analyzing the data set of the data packet according to the format set of the log description packet to obtain the system time XX: XX:40 and the data of 7.5, 1.0, 7, 0, 60 and 45.7; and circulating the steps until all the check log data packets are analyzed.
After the analysis is completed, the state of the unmanned aerial vehicle can be known: when XX is in XX minute and 20 seconds, roll is 6.5 degrees, pitch is 2.5 degrees, yaw is 5 degrees, flight mode is No. 0 mode, battery power is 70 percent, and the working temperature of the acceleration sensor is 45.8 degrees; when XX is in XX minute and 30 seconds, roll is 5.5 degrees, pitch is 1.5 degrees, yaw is 6 degrees, flight mode is No. 0 mode, battery power is 65%, and the working temperature of the acceleration sensor is 45.9 degrees centigrade; when XX is in XX minute 40 seconds, roll is 7.5 degrees, pitch is 1.0 degree, yaw is 7 degrees, flight mode is No. 0 mode, battery power is 60 percent, and the working temperature of the acceleration sensor is 45.7 degrees; and (3) reading the log: the pitch axis is more stable than the roll axis, the yaw axis is always deviated, the flight mode is unchanged, the battery power continuously drops, and the acceleration sensor works normally. Alternatively, steps S800 and S900 are performed to complete the detection of the temperature drift of the acceleration sensor.
In another aspect, the invention provides an electronic device comprising a memory and one or more processors operable with a computer program in the memory to perform the above-described method.
In another aspect, the invention also provides a computer readable storage medium storing a computer program for use in conjunction with a computing device, the computer program being executable by a processor to implement the above-described method.
The invention can realize the detection of the temperature drift of the sensor by using the equipment of the unmanned aerial vehicle, thereby saving the cost and ensuring the normal flight of the unmanned aerial vehicle.
The foregoing is a more detailed description of the invention in connection with specific/preferred embodiments and is not intended to limit the practice of the invention to those descriptions. It will be apparent to those skilled in the art that various substitutions and modifications can be made to the described embodiments without departing from the spirit of the invention, and these substitutions and modifications should be considered to fall within the scope of the invention.
Claims (10)
1. A method for detecting temperature drift of a sensor of an unmanned aerial vehicle is characterized by comprising the following steps:
writing the working temperature of a sensor of the unmanned aerial vehicle and the corresponding system time into a log data packet;
after the log data packet is verified, writing a verification field into the log data packet to form a verification log data packet;
writing the check log data packet into a log file;
writing a log description packet recording the analysis rule of the check log data packet into the log file;
the log file is acquired through data transmission between a wireless communication unit of the unmanned aerial vehicle and the unmanned aerial vehicle in flight or after the unmanned aerial vehicle is in flight, and the check log data packet is checked according to the check field;
acquiring the system time from the check log data packet;
analyzing the check log data packet according to the log description packet to obtain the working temperature of the sensor;
calculating to obtain an actual temperature change rate according to the working temperatures of the sensors corresponding to different system times;
and comparing the actual temperature change rate with a preset temperature change rate, and if the actual temperature change rate is greater than the preset temperature change rate, judging that the temperature drifts.
2. The detection method according to claim 1, characterized in that: setting a plurality of preset temperature change rates for the same sensor, and calculating according to different time intervals to obtain a plurality of actual temperature change rates; and comparing the actual temperature change rates with the preset temperature change rates respectively, and judging that the temperature drifts if the actual temperature change rates are larger than the preset temperature change rates.
3. The detection method according to claim 2, characterized by further comprising: writing flight data into the log data packet, the flight data corresponding to the system time; and analyzing whether the variation of the flight data corresponding to the sensor is abnormal or not according to the time interval so as to verify the temperature drift.
4. The detection method according to claim 2, characterized by further comprising: writing flight data into the log data packet, the flight data corresponding to the system time; and analyzing whether the plurality of variable quantities of the flight data corresponding to the sensor are abnormal or not according to the time interval so as to verify the temperature drift.
5. The detection method according to claim 1, characterized in that: the log description packet is provided with a description data ID, the verification log data packet is provided with a data ID, and the verification of the verification log data packet according to the verification field comprises the following steps:
searching and storing all the log description packets in the log file;
traversing the check log data packet in the log file;
checking the check log data packet by using the check field;
and matching the description data ID with the data ID.
6. The detection method according to claim 5, characterized in that:
the verification is carried out on the verification log data packet by using the verification field, if the verification fails, the traversal of the verification log data packet in the log file is returned to be executed, and if the verification passes, the description data ID is matched with the data ID;
and matching the description data ID with the data ID, if the matching fails, returning to execute traversing the verification log data packet in the log file, and if the matching passes, executing to acquire the system time from the verification log data packet.
7. The detection method according to any one of claims 1 to 6, characterized by further comprising: a signal related to the temperature drift is output.
8. A processing method for temperature drift of a sensor of an unmanned aerial vehicle is characterized in that after the detection method of any one of claims 1 to 7 is implemented, a control signal is sent to the unmanned aerial vehicle to eliminate the temperature drift.
9. An electronic device comprising a memory and one or more processors, wherein the processors are operable to execute a computer program in the memory to perform the method according to any one of claims 1-8.
10. A computer-readable storage medium storing a computer program for use in conjunction with a computing device, the computer program being executable by a processor to implement the method of any one of claims 1-8.
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