CN111896978B - GNSS original observation data recording method and device of unmanned aerial vehicle - Google Patents
GNSS original observation data recording method and device of unmanned aerial vehicle Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/08—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing integrity information, e.g. health of satellites or quality of ephemeris data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
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Abstract
The invention discloses a GNSS original observation data recording method and device of an unmanned aerial vehicle, which are applied to a GNSS component of the unmanned aerial vehicle, wherein the method comprises the following steps: monitoring the operation state of the unmanned aerial vehicle in real time; when the unmanned aerial vehicle is in a first operation state, creating an original observation file according to the current moment, and recording GNSS original observation data of the unmanned aerial vehicle in the original observation file; when the unmanned aerial vehicle is in a non-first operation state, recording GNSS original observation data of the unmanned aerial vehicle in the original observation file; when the unmanned aerial vehicle stops working, the GNSS original observation data of the unmanned aerial vehicle is stopped to be recorded, so that the technical problem of creating a plurality of original observation files in the multi-frame data recording process of the unmanned aerial vehicle is solved, and the data processing efficiency and the data accuracy of the internal settlement process are improved.
Description
Technical Field
The invention relates to the technical field of satellite navigation mapping, in particular to a GNSS original observation data recording method and device of an unmanned aerial vehicle.
Background
With the development of unmanned aerial vehicle technology and GNSS (Global Navigation Satellite System ) technology, the mapping unmanned aerial vehicle has generally adopted high-precision GNSS PPK (post processed kinematic, dynamic post-processing technology) technology in mapping regions, if common GNSS single-point positioning is adopted, a plurality of image control points are required to be laid in the field, and if the high-precision GNSS PPK technology is adopted, no or only a small number of image control points are basically required.
The working principle of the PPK technology is that a reference station and a mobile station synchronously observe satellites, GNSS original observation data are recorded in real time, and then the GNSS processing software is utilized for resolving, so that the centimeter-level POS position is obtained.
The current survey and drawing unmanned aerial vehicle can real-time record GNSS original observation data through the on-board PPK module, generally needs a plurality of times of flight in actual operation, for guaranteeing unmanned aerial vehicle's electric quantity supply, all need change unmanned aerial vehicle's battery at every time of setting. However, in the above prior art, whether there is an actual flight before and after replacing the battery, a plurality of original observation data files are generated in the storage unit of the on-board PPK module due to the influence of each replaced battery, so that a plurality of original observation files need to be processed during the in-house resolving process of the PPK technology, and the data processing efficiency is low; meanwhile, it is also necessary to manually distinguish which files are actually flown, and an invalid file may be introduced in the manual file distinguishing process, so that the accuracy of data is reduced.
Disclosure of Invention
The invention provides a GNSS original observation data recording method and device of an unmanned aerial vehicle, which solve the technical problems of lower data processing efficiency and reduced data accuracy in an internal settlement process caused by the fact that a plurality of original observation data files are generated by each replacement battery of the surveying and mapping unmanned aerial vehicle in the prior art.
The invention provides a GNSS original observation data recording method of an unmanned aerial vehicle, which is applied to a GNSS component of the unmanned aerial vehicle, and comprises the following steps:
monitoring the operation state of the unmanned aerial vehicle in real time;
when the unmanned aerial vehicle is in a first operation state, creating an original observation file according to the current moment, and recording GNSS original observation data of the unmanned aerial vehicle in the original observation file;
when the unmanned aerial vehicle is in a non-first operation state, recording GNSS original observation data of the unmanned aerial vehicle in the original observation file;
and when the unmanned aerial vehicle stops working, stopping recording GNSS original observation data of the unmanned aerial vehicle.
Optionally, the unmanned aerial vehicle further comprises a flight control assembly, and the GNSS assembly is connected with the flight control assembly through a serial port; the step of monitoring the operation state of the unmanned aerial vehicle in real time comprises the following steps:
acquiring a feedback signal of the flight control component in response to a preset control instruction in real time through the serial port;
and analyzing the feedback signal according to a preset communication protocol of the flight control assembly, and determining the operation state of the unmanned aerial vehicle.
Optionally, when the unmanned aerial vehicle is in the first operation state, creating an original observation file according to the current time, and recording the GNSS original observation data of the unmanned aerial vehicle in the original observation file, including:
when the unmanned aerial vehicle is in a first operation state, creating an observation folder according to the current date;
creating an original observation file in the observation folder according to the current moment;
and recording GNSS original observation data of the unmanned aerial vehicle in the original observation file.
Optionally, the step of recording, when the unmanned aerial vehicle is in the non-first operation state, GNSS raw observation data of the unmanned aerial vehicle in the raw observation file includes:
when the unmanned aerial vehicle is in a non-first operation state, detecting whether the original observation file exists in the observation folder;
and if the original observation file exists in the observation folder, recording GNSS original observation data of the unmanned aerial vehicle in the original observation file.
Optionally, the method further comprises:
if the original observation file does not exist in the observation folder, an original observation file is newly built in the observation folder according to the current moment, and GNSS original observation data of the unmanned aerial vehicle are recorded in the original observation file.
Optionally, when the unmanned aerial vehicle stops working, the step of stopping recording the GNSS raw observation data of the unmanned aerial vehicle includes:
when the unmanned aerial vehicle stops working, stopping recording GNSS original observation data of the unmanned aerial vehicle, and setting an end mark at the last of the GNSS original observation data of the unmanned aerial vehicle;
the end mark is used for identifying that the GNSS component is finished in the GNSS original observation data recording process of the unmanned aerial vehicle of the current frame of the unmanned aerial vehicle, and distinguishing the GNSS original observation data recorded by the unmanned aerial vehicle in different frames.
The invention also provides a GNSS original observation data recording device of the unmanned aerial vehicle, which is applied to a GNSS component of the unmanned aerial vehicle, and comprises:
the operation state monitoring module is used for monitoring the operation state of the unmanned aerial vehicle in real time;
the first operation processing module is used for creating an original observation file according to the current moment when the unmanned aerial vehicle is in a first operation state, and recording GNSS original observation data of the unmanned aerial vehicle in the original observation file;
the non-first operation processing module is used for recording GNSS original observation data of the unmanned aerial vehicle in the original observation file when the unmanned aerial vehicle is in a non-first operation state;
and the operation stopping processing module is used for stopping recording GNSS original observation data of the unmanned aerial vehicle when the unmanned aerial vehicle stops operating.
Optionally, the unmanned aerial vehicle further comprises a flight control assembly, and the GNSS assembly is connected with the flight control assembly through a serial port; the job status monitoring module includes:
the feedback signal acquisition sub-module is used for acquiring feedback signals of the flight control assembly in response to a preset control instruction in real time through the serial port;
and the operation state determining sub-module is used for analyzing the feedback signal according to a preset communication protocol of the flight control assembly and determining the operation state of the unmanned aerial vehicle.
Optionally, the first job processing module includes:
the observation folder creation sub-module is used for creating an observation folder according to the current date when the unmanned aerial vehicle is in a first operation state;
the original observation file new building sub-module is used for building an original observation file in the observation folder according to the current moment;
and the GNSS original observation data recording sub-module of the first unmanned aerial vehicle is used for recording the GNSS original observation data of the unmanned aerial vehicle in the original observation file.
Optionally, the non-first job processing module includes:
the original observation file detection submodule is used for detecting whether the original observation file exists in the observation folder or not when the unmanned aerial vehicle is in a non-first operation state;
and the second unmanned aerial vehicle GNSS original observation data recording submodule is used for recording GNSS original observation data of the unmanned aerial vehicle in the original observation file if the original observation file exists in the observation folder.
Optionally, the non-first job processing module further includes:
and a GNSS original observation data recording sub-module of the third unmanned aerial vehicle, if the original observation file does not exist in the observation folder, a new original observation file is built in the observation folder according to the current moment, and the GNSS original observation data of the unmanned aerial vehicle is recorded in the original observation file.
Optionally, the stop job processing module includes:
the GNSS original observation data stopping recording sub-module is used for stopping recording the GNSS original observation data of the unmanned aerial vehicle when the unmanned aerial vehicle stops working, and setting an ending mark at the last of the GNSS original observation data of the unmanned aerial vehicle;
the end mark is used for identifying that the GNSS component is finished in the GNSS original observation data recording process of the unmanned aerial vehicle of the current frame of the unmanned aerial vehicle, and distinguishing the GNSS original observation data recorded by the unmanned aerial vehicle in different frames.
From the above technical scheme, the invention has the following advantages:
in the embodiment of the invention, the operation state of the unmanned aerial vehicle is monitored in real time through the GNSS component of the unmanned aerial vehicle, and when the unmanned aerial vehicle is in the first operation state, an original observation file is newly built according to the current moment and GNSS original observation data of the unmanned aerial vehicle is written in the original observation file; if the unmanned aerial vehicle is in a non-first operation state, the GNSS original observation data is directly written in the created original observation file; and when the unmanned aerial vehicle is changed from the operation state to the operation stopping state, stopping recording GNSS original observation data of the unmanned aerial vehicle so as to terminate the data recording process of the unmanned aerial vehicle in the frame. Multiple original observation files are not created in the multi-frame data recording process of the unmanned aerial vehicle, so that the data processing efficiency and the data accuracy of the internal settlement process are improved.
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In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
Fig. 1 is a flowchart of steps of a method for recording GNSS raw observation data of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating steps of a method for recording GNSS raw observation data of an unmanned aerial vehicle according to an alternative embodiment of the present invention;
fig. 3 is a block diagram of a GNSS raw observation data recording apparatus of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a GNSS original observation data recording method and device of an unmanned aerial vehicle, which are used for solving the technical problems of lower data processing efficiency and reduced data accuracy in an internal settlement process caused by the fact that a plurality of original observation data files are generated by each replacement battery of the surveying and mapping unmanned aerial vehicle in the prior art.
GNSS refers to a global navigation satellite system that uses observables such as pseudoranges, ephemeris, satellite launch times for a set of satellites to provide all-weather 3-dimensional coordinates and velocity and time information to a user at any location on the earth's surface or near earth space, such as GPS in the united states, glonass in russia, galileo in europe, beidou satellite navigation system in china, and related augmentation systems.
In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in detail below with reference to the accompanying drawings, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a flowchart illustrating steps of a method for recording GNSS raw observation data of an unmanned aerial vehicle according to an embodiment of the present invention.
The invention provides a GNSS original observation data recording method of an unmanned aerial vehicle, which is applied to a GNSS component of the unmanned aerial vehicle, and comprises the following steps:
step 101, monitoring the operation state of the unmanned aerial vehicle in real time;
in the embodiment of the invention, the operation state of the unmanned aerial vehicle relates to whether the GNSS component records GNSS original observation data at the current moment, so that the operation state of the unmanned aerial vehicle needs to be monitored in real time.
102, when the unmanned aerial vehicle is in a first operation state, creating an original observation file according to the current moment, and recording GNSS original observation data of the unmanned aerial vehicle in the original observation file;
in the embodiment of the invention, when the unmanned aerial vehicle is started for the first time and is in the first operation state, the unmanned aerial vehicle has no original observation file, if the original observation file is directly written into GNSS, the data is disordered, and the efficiency is lower in the subsequent internal processing process of the PPK technology. Therefore, an original observation file can be newly established according to the current moment, and GNSS original observation data of the unmanned aerial vehicle can be recorded in the original observation file
Step 103, recording GNSS original observation data of the unmanned aerial vehicle in the original observation file when the unmanned aerial vehicle is in a non-first operation state;
in a specific implementation, when the operation state of the unmanned aerial vehicle is not the first operation state, that is, the unmanned aerial vehicle is replaced with a battery, after repeated power-up, it is explained that an original observation file is created in a GNSS component of the unmanned aerial vehicle at this time, and in order to improve the data processing efficiency and the data accuracy in the subsequent internal industry processing process, the original GNSS observation data of the unmanned aerial vehicle can be directly recorded in the created original observation file.
And 104, stopping recording GNSS original observation data of the unmanned aerial vehicle when the unmanned aerial vehicle stops working.
In the embodiment of the invention, the operation state of the unmanned aerial vehicle is monitored in real time through the GNSS component of the unmanned aerial vehicle, and when the unmanned aerial vehicle is in the first operation state, an original observation file is newly built according to the current moment and GNSS original observation data of the unmanned aerial vehicle is written in the original observation file; if the unmanned aerial vehicle is in a non-first operation state, the GNSS original observation data is directly written in the created original observation file; and when the unmanned aerial vehicle is changed from the operation state to the operation stopping state, stopping recording GNSS original observation data of the unmanned aerial vehicle so as to terminate the data recording process of the unmanned aerial vehicle in the frame. Multiple original observation files are not created in the multi-frame data recording process of the unmanned aerial vehicle, so that the data processing efficiency and the data accuracy of the internal settlement process are improved.
Referring to fig. 2, fig. 2 is a flowchart illustrating steps of a method for recording GNSS raw observation data of an unmanned aerial vehicle according to an alternative embodiment of the present invention.
The invention provides a GNSS original observation data recording method of an unmanned aerial vehicle, which is applied to a GNSS component of the unmanned aerial vehicle, and comprises the following steps:
step 201, monitoring the operation state of the unmanned aerial vehicle in real time;
optionally, the unmanned aerial vehicle further includes a flight control component, the GNSS component and the flight control component are connected through a serial port, and the step 201 may include the following substeps:
acquiring a feedback signal of the flight control component in response to a preset control instruction in real time through the serial port;
and analyzing the feedback signal according to a preset communication protocol of the flight control assembly, and determining the operation state of the unmanned aerial vehicle.
In a specific implementation, the control of the unmanned aerial vehicle is generally realized based on an instruction sent by the ground station through the data transmission station, and because the GNSS component also can transmit and receive data, if the control instruction of the ground station is directly received through connection of the GNSS component and the data transmission unit, the operation state of the unmanned aerial vehicle may be affected.
Therefore, in order to achieve the purpose that the normal operation of the unmanned aerial vehicle is not affected, the operation state of the unmanned aerial vehicle can be obtained through the GNSS component in real time. The transmitting pin of the serial port used for communicating with the data radio station in the flight control assembly of the unmanned aerial vehicle can be connected to the GNSS assembly, the characteristic that the flight control assembly receives the feedback signal returned by the ground station signal is utilized, and the preset communication protocol of the flight control assembly is used for analyzing the feedback signal, so that the current operation state of the unmanned aerial vehicle is determined.
Optionally, the GNSS module may be a high-precision GNSS module, and the preset communication protocol may be a Mavlink protocol, and in actual operation, the flight status of the unmanned aerial vehicle may be determined according to mav_state and mav_state in the Mavlink protocol, which is not limited in the embodiment of the present invention.
In one example of the present invention, the above step 102 may be replaced with the following steps 202-204:
202, when the unmanned aerial vehicle is in a first operation state, creating an observation folder according to the current date;
in the embodiment of the invention, the unmanned aerial vehicle can be judged to be in the first operation STATE by taking the MAV_STATE STATE in the MAvlink protocol as the identifier, and an observation folder can be newly built in a storage unit of the unmanned aerial vehicle, such as an SD memory card, by a data recording module in the GNSS component according to the current date so as to place an original observation file generated by a mapping plan of the unmanned aerial vehicle on the current day.
In a specific implementation, for ease of identification, the observation folder may be named "year, month, day", for example 20200812, as embodiments of the invention are not limited in this regard.
Step 203, newly creating an original observation file in the observation folder according to the current moment;
after the current observation folder is created, in order to record the starting time of the current mapping plan, an original observation file can be newly created according to the current time, and GNSS original observation data collected by the unmanned aerial vehicle can be recorded in the original observation file.
Wherein, the original observation file can be named in the form of 'four times after machine number + year product day + hour + minute', such as 0123+111+09+20. And may be named in other unique forms, to which embodiments of the invention are not limited.
Step 204, recording the GNSS raw observation data of the unmanned aerial vehicle in the raw observation file.
Because the electric quantity of the unmanned aerial vehicle influences, the unmanned aerial vehicle may be required to fly for a plurality of times in the operation process, and in order to ensure that a plurality of original observation files cannot be generated in the same mapping plan, the acquired GNSS original observation data are recorded in the original observation files in real time.
Step 205, when the unmanned aerial vehicle is in a non-first operation state, recording GNSS original observation data of the unmanned aerial vehicle in the original observation file;
in an alternative embodiment of the present invention, the step 205 may comprise the sub-steps of:
when the unmanned aerial vehicle is in a non-first operation state, detecting whether the original observation file exists in the observation folder;
and if the original observation file exists in the observation folder, recording GNSS original observation data of the unmanned aerial vehicle in the original observation file.
In a specific implementation, the original observation file is lost in the observation folder possibly due to user needs or misoperation, so that after the unmanned aerial vehicle is in a non-first operation state, that is to say, the unmanned aerial vehicle is powered on again by replacing a battery, whether the original observation file exists in the observation folder is detected; if the original observation file exists, after the unmanned aerial vehicle is started, the GNSS original observation data of the unmanned aerial vehicle are directly recorded in the original observation file, so that the technical purpose of recording a plurality of sets of GNSS original observation data of the same surveying and mapping plan in the same original observation file is achieved.
Further, if the original observation file does not exist in the observation folder, an original observation file is newly built in the observation folder according to the current moment, and GNSS original observation data of the unmanned aerial vehicle are recorded in the original observation file.
In the embodiment of the invention, if the original observation file in the observation folder is lost, the GNSS component creates the original observation file again in the observation folder according to the current moment so as to record GNSS original observation data of the unmanned aerial vehicle.
And 206, stopping recording GNSS original observation data of the unmanned aerial vehicle when the unmanned aerial vehicle stops working.
In another example of the present invention, the step 206 may include the sub-steps of:
and when the unmanned aerial vehicle stops working, stopping recording the GNSS original observation data of the unmanned aerial vehicle, and setting an end mark at the last of the GNSS original observation data of the unmanned aerial vehicle.
In a specific implementation, if the unmanned aerial vehicle is in a stop operation state, for example, the unmanned aerial vehicle is in a landing state or a stop operation state set by a user, the GNSS component stops recording the GNSS raw observation data of the unmanned aerial vehicle, and in order to characterize the end of the current frame, after stopping recording the GNSS raw observation data of the unmanned aerial vehicle, an end flag is set at the end of the GNSS raw observation data.
For example, after the first operation of the unmanned plane, the unmanned plane drops to replace the battery, which indicates that the current frame time is finished, and the GNSS original observation data recorded in the created original observation file is finally provided with an ending mark; and after the unmanned aerial vehicle is restarted, entering a non-first operation state, continuously recording new original GNSS observation data of the frame in the original observation file, and setting an ending mark at the last recorded original GNSS observation data after the unmanned aerial vehicle falls down again.
It should be noted that the end mark is used for identifying that the process of recording the GNSS raw observation data of the unmanned aerial vehicle of the current frame of the unmanned aerial vehicle by the GNSS module is ended, and is used for distinguishing the GNSS raw observation data recorded by the unmanned aerial vehicle at different frames.
For example, the end MARK may include a data header, an identifier, and a data check bit, where the data header may be of a type $psic, the identifier may be of a MARK identifier, and the data check bit may be of a type CRC check bit, as follows:
| data head | Identifier(s) | Data check bit |
In the embodiment of the invention, the GNSS component and the flight control component of the unmanned aerial vehicle are connected through the serial port, and the feedback signal of the unmanned aerial vehicle is analyzed according to a preset communication protocol so as to monitor the operation state of the unmanned aerial vehicle in real time; when the unmanned aerial vehicle is in a first operation state, creating an observation folder according to the current date, creating an original observation file under the observation folder according to the current time, and writing GNSS original observation data of the unmanned aerial vehicle into the original observation file; if the unmanned aerial vehicle is in a non-first operation state, in order to ensure the smooth writing of data, detecting whether an original observation file exists under the observation folder, if so, directly writing GNSS original observation data in the created original observation file; if not, creating an original observation file and rewriting GNSS original observation data; and when the unmanned aerial vehicle is in a stop operation state, stopping recording GNSS original observation data of the unmanned aerial vehicle, and setting an end mark at the last of the GNSS original observation data so as to terminate the data recording process of the unmanned aerial vehicle in the frame. Therefore, the technical problems that in the prior art, as a plurality of original observation data files are generated by each replacement battery of the mapping unmanned aerial vehicle, the data processing efficiency of the internal settlement process is low and the data accuracy is reduced are solved, only one original observation file is created in the multi-frame data recording process of the unmanned aerial vehicle, the existence of an empty file or an invalid file is not required to be detected in the internal settlement process, and the data processing efficiency and the data accuracy of the internal settlement process are further improved.
Referring to fig. 3, fig. 3 is a block diagram illustrating a GNSS raw observation data recording apparatus of an unmanned aerial vehicle according to an embodiment of the present invention.
The embodiment of the invention also provides a GNSS original observation data recording device of the unmanned aerial vehicle, which is applied to a GNSS component of the unmanned aerial vehicle and comprises the following components:
the operation state monitoring module 301 is configured to monitor an operation state of the unmanned aerial vehicle in real time;
the first operation processing module 302 is configured to create an original observation file according to a current time when the unmanned aerial vehicle is in a first operation state, and record GNSS original observation data of the unmanned aerial vehicle in the original observation file;
a non-first operation processing module 303, configured to record GNSS raw observation data of the unmanned aerial vehicle in the raw observation file when the unmanned aerial vehicle is in a non-first operation state;
and the stopping operation processing module 304 is configured to stop recording GNSS raw observation data of the unmanned aerial vehicle when the unmanned aerial vehicle stops operating.
Optionally, the unmanned aerial vehicle further comprises a flight control assembly, and the GNSS assembly is connected with the flight control assembly through a serial port; the job status monitoring module 301 includes:
the feedback signal acquisition sub-module is used for acquiring feedback signals of the flight control assembly in response to a preset control instruction in real time through the serial port;
and the operation state determining sub-module is used for analyzing the feedback signal according to a preset communication protocol of the flight control assembly and determining the operation state of the unmanned aerial vehicle.
Optionally, the first job processing module 302 includes:
the observation folder creation sub-module is used for creating an observation folder according to the current date when the unmanned aerial vehicle is in a first operation state;
the original observation file new building sub-module is used for building an original observation file in the observation folder according to the current moment;
and the GNSS original observation data recording sub-module of the first unmanned aerial vehicle is used for recording the GNSS original observation data of the unmanned aerial vehicle in the original observation file.
Optionally, the non-first job processing module 303 includes:
the original observation file detection submodule is used for detecting whether the original observation file exists in the observation folder or not when the unmanned aerial vehicle is in a non-first operation state;
and the second unmanned aerial vehicle GNSS original observation data recording submodule is used for recording GNSS original observation data of the unmanned aerial vehicle in the original observation file if the original observation file exists in the observation folder.
Optionally, the non-first job processing module 303 further includes:
and a GNSS original observation data recording sub-module of the third unmanned aerial vehicle, if the original observation file does not exist in the observation folder, a new original observation file is built in the observation folder according to the current moment, and the GNSS original observation data of the unmanned aerial vehicle is recorded in the original observation file.
Optionally, the stop job processing module 304 includes:
the GNSS original observation data stopping recording sub-module is used for stopping recording the GNSS original observation data of the unmanned aerial vehicle when the unmanned aerial vehicle stops working, and setting an ending mark at the last of the GNSS original observation data of the unmanned aerial vehicle;
the end mark is used for identifying that the GNSS component is finished in the GNSS original observation data recording process of the unmanned aerial vehicle of the current frame of the unmanned aerial vehicle, and distinguishing the GNSS original observation data recorded by the unmanned aerial vehicle in different frames.
It will be clear to those skilled in the art that, for convenience and brevity of description, reference may be made to the corresponding process in the foregoing method embodiment for the specific working process of the apparatus described above, which is not described herein again.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A method for recording raw observation data of a GNSS of an unmanned aerial vehicle, applied to a GNSS module of the unmanned aerial vehicle, the method comprising:
monitoring the operation state of the unmanned aerial vehicle in real time;
when the unmanned aerial vehicle is in a first operation state, creating an original observation file according to the current moment, and recording GNSS original observation data of the unmanned aerial vehicle in the original observation file;
when the unmanned aerial vehicle is in a non-first operation state, recording GNSS original observation data of the unmanned aerial vehicle in the original observation file;
when the unmanned aerial vehicle stops working, stopping recording GNSS original observation data of the unmanned aerial vehicle, and comprising:
when the unmanned aerial vehicle stops working, stopping recording GNSS original observation data of the unmanned aerial vehicle, and setting an end mark at the last of the GNSS original observation data of the unmanned aerial vehicle;
the end mark is used for identifying that the GNSS component is finished in the GNSS original observation data recording process of the unmanned aerial vehicle of the current frame of the unmanned aerial vehicle, and distinguishing the GNSS original observation data recorded by the unmanned aerial vehicle in different frames.
2. The method of claim 1, wherein the drone further comprises a flight control assembly, the GNSS assembly being connected to the flight control assembly through a serial port; the step of monitoring the operation state of the unmanned aerial vehicle in real time comprises the following steps:
acquiring a feedback signal of the flight control component in response to a preset control instruction in real time through the serial port;
and analyzing the feedback signal according to a preset communication protocol of the flight control assembly, and determining the operation state of the unmanned aerial vehicle.
3. The method according to claim 1, wherein the step of creating an original observation file according to the current time when the unmanned aerial vehicle is in the first operation state, and recording GNSS original observation data of the unmanned aerial vehicle in the original observation file comprises:
when the unmanned aerial vehicle is in a first operation state, creating an observation folder according to the current date;
creating an original observation file in the observation folder according to the current moment;
and recording GNSS original observation data of the unmanned aerial vehicle in the original observation file.
4. A method according to claim 3, wherein the step of recording GNSS raw observations of the drone in the raw observations file when the drone is in a non-first operational state, comprises:
when the unmanned aerial vehicle is in a non-first operation state, detecting whether the original observation file exists in the observation folder;
and if the original observation file exists in the observation folder, recording GNSS original observation data of the unmanned aerial vehicle in the original observation file.
5. The method according to claim 4, wherein the method further comprises:
if the original observation file does not exist in the observation folder, an original observation file is newly built in the observation folder according to the current moment, and GNSS original observation data of the unmanned aerial vehicle are recorded in the original observation file.
6. A device for recording raw observation data of a GNSS of an unmanned aerial vehicle, applied to a GNSS module of the unmanned aerial vehicle, the device comprising:
the operation state monitoring module is used for monitoring the operation state of the unmanned aerial vehicle in real time;
the first operation processing module is used for creating an original observation file according to the current moment when the unmanned aerial vehicle is in a first operation state, and recording GNSS original observation data of the unmanned aerial vehicle in the original observation file;
the non-first operation processing module is used for recording GNSS original observation data of the unmanned aerial vehicle in the original observation file when the unmanned aerial vehicle is in a non-first operation state;
the stopping operation processing module is used for stopping recording GNSS original observation data of the unmanned aerial vehicle when the unmanned aerial vehicle stops operating, and is specifically used for:
when the unmanned aerial vehicle stops working, stopping recording GNSS original observation data of the unmanned aerial vehicle, and setting an end mark at the last of the GNSS original observation data of the unmanned aerial vehicle;
the end mark is used for identifying that the GNSS component is finished in the GNSS original observation data recording process of the unmanned aerial vehicle of the current frame of the unmanned aerial vehicle, and distinguishing the GNSS original observation data recorded by the unmanned aerial vehicle in different frames.
7. The apparatus of claim 6, wherein the drone further comprises a flight control assembly, the GNSS assembly being connected to the flight control assembly through a serial port; the job status monitoring module includes:
the feedback signal acquisition sub-module is used for acquiring feedback signals of the flight control assembly in response to a preset control instruction in real time through the serial port;
and the operation state determining sub-module is used for analyzing the feedback signal according to a preset communication protocol of the flight control assembly and determining the operation state of the unmanned aerial vehicle.
8. The apparatus of claim 6, wherein the first job processing module comprises:
the observation folder creation sub-module is used for creating an observation folder according to the current date when the unmanned aerial vehicle is in a first operation state;
the original observation file new building sub-module is used for building an original observation file in the observation folder according to the current moment;
and the GNSS original observation data recording sub-module of the first unmanned aerial vehicle is used for recording the GNSS original observation data of the unmanned aerial vehicle in the original observation file.
9. The apparatus of claim 8, wherein the non-first job processing module comprises:
the original observation file detection submodule is used for detecting whether the original observation file exists in the observation folder or not when the unmanned aerial vehicle is in a non-first operation state;
and the second unmanned aerial vehicle GNSS original observation data recording submodule is used for recording GNSS original observation data of the unmanned aerial vehicle in the original observation file if the original observation file exists in the observation folder.
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