CN112141363A - Unmanned aerial vehicle hovering precision testing system and method - Google Patents
Unmanned aerial vehicle hovering precision testing system and method Download PDFInfo
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Abstract
The invention relates to a hovering precision testing system and a hovering precision testing method for an unmanned aerial vehicle, wherein the system comprises an unmanned aerial vehicle body, a camera and a vertical height tester which are arranged on the unmanned aerial vehicle body, and a horizontal hovering precision testing board which is arranged on a ground testing point; the vertical height tester is used for measuring height change when the unmanned aerial vehicle suspends, the horizontal hovering precision test board is used for identifying horizontal displacement change when the unmanned aerial vehicle suspends, the camera collects horizontal displacement change information of the horizontal hovering precision test board, the controller collects vertical height information of the vertical height tester and information collected by the camera, horizontal coordinate information on the horizontal hovering precision test board is extracted, and hovering precision of the unmanned aerial vehicle is calculated based on the vertical height information and the horizontal coordinate information. The method of the invention can meet the requirements of DL/T1578-2016.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a hovering precision testing system and method for an unmanned aerial vehicle.
Background
When the unmanned helicopter (comprising multiple suspension wings) is used for overhead line inspection in power inspection, the performance of the unmanned helicopter must meet the requirements of DL/T1578-2016 (unmanned helicopter inspection system for overhead transmission lines). Therefore, the unmanned aerial vehicle for power line inspection has to perform relevant performance tests, wherein the hovering control deviation test is that the DL/T1578-2016 standard stipulates that a test item should be performed.
Although the DL/T1578-2016 standard specifies the measurement requirement of the hovering control deviation of the unmanned aerial vehicle, the measurement is still inconvenient, and the measurement procedure is not simple.
How to conveniently and accurately measure the hovering deviation of the unmanned aerial vehicle and fully meet the requirements of the DL/T1578-2016 standard is worthy of study.
Disclosure of Invention
In order to solve the problems, the invention provides the hovering precision testing system and the hovering precision testing method for the unmanned aerial vehicle, which are simple and reliable, and the whole testing system is low in cost and convenient to use.
The technical scheme of the invention is as follows:
an unmanned aerial vehicle hovering precision test system comprises an unmanned aerial vehicle body, a camera and a vertical height tester which are arranged on the unmanned aerial vehicle body, and a horizontal hovering precision test board which is arranged on a ground test point; the vertical height tester is used for measuring height change when the unmanned aerial vehicle suspends, the horizontal hovering precision test board is used for identifying horizontal displacement change when the unmanned aerial vehicle suspends, the camera collects horizontal displacement change information of the horizontal hovering precision test board, the controller collects vertical height information of the vertical height tester and information collected by the camera, horizontal coordinate information on the horizontal hovering precision test board is extracted, and hovering precision of the unmanned aerial vehicle is calculated based on the vertical height information and the horizontal coordinate information.
Further, the hover precision includes a horizontal hover deviation uciVertical hover bias vciHorizontal standard deviation σUcVertical standard deviation σVcThe method comprises the following steps:
vci＝|zi-z01,2, ·, n; formula (2)
In formulae 1-4:
i-represents the sequential number of the unmanned aerial vehicle hovering degree measurement, namely the measurement of the number of times; the value is 1 to n;
Xithe horizontal coordinate value of the hovering horizontal position of the unmanned aerial vehicle obtained by the ith measurement;
X0the initial value of the abscissa of the hovering horizontal position of the unmanned aerial vehicle is measured according to the hovering precision of the unmanned aerial vehicle;
Yithe vertical coordinate value of the hovering horizontal position of the unmanned aerial vehicle obtained by the ith measurement;
Y0the initial value of the vertical coordinate of the hovering horizontal position of the unmanned aerial vehicle is measured according to the hovering precision of the unmanned aerial vehicle;
Zi-the hovering vertical height value of the unmanned aerial vehicle obtained from the ith measurement;
Z0an initial value of the hovering vertical height of the unmanned aerial vehicle measured by the hovering precision of the unmanned aerial vehicle;
n-the total number of times of the unmanned aerial vehicle hover precision measurement. Is defined as 360 according to DL/T1578-2016.
Furthermore, the horizontal hovering precision test board comprises a plurality of units, the units form a circular plate through connecting pieces, two mutually perpendicular straight lines taking the center as a circular point are arranged on the circular plate and serve as an X axis and a Y axis, scales are arranged on a coordinate axis, and a plurality of concentric circles with the same interval are arranged on the circular plate and take the origin of coordinates as the circle center.
Furthermore, one end of each block unit is conical, the other end of each block unit is arc-shaped, the included angle is 60 degrees, a plurality of buckles are arranged on the side face of one end of each arc-shaped unit, and the block units are buckled through the buckles.
Furthermore, the vertical height tester is a laser range finder capable of continuously recording measurement data, the minimum measurement interval is not more than 0.5 second, and the range is not less than 50 meters.
Further, the camera is located unmanned aerial vehicle through increasing steady cloud platform on, perpendicularly downwards, carries out the continuous shooting that is not more than 0.5 second interval.
Further, the system also comprises a wind speed testing unit which continuously measures the ambient wind speed at the height of 2 meters from the ground of the test site for 5 minutes, and the wind speed is not more than 3m/s during testing.
Further, the vertical height tester measures the vertical height at intervals of 0.5 second, and simultaneously starts the camera to vertically downwards shoot pictures at intervals of 0.5 second; the operation is continued for 3 minutes; the vertical height tester measures and obtains 360 altitude values, and 360 vertically downward photos are shot to the camera, include the horizontal coordinate information of unmanned aerial vehicle on the precision test board is hovered to the level in the photo.
The invention also relates to an unmanned aerial vehicle hovering precision testing method based on the system, which comprises the following steps:
step (1), site selection
Step (2), paving the horizontal hovering precision test board on the selected measuring point, wherein the side with scales faces the sky; fixing the vertical height tester and the camera on a stability augmentation tripod head of the unmanned aerial vehicle, and adjusting the directions of the vertical height tester and the camera to be vertically downward;
step (3), the unmanned aerial vehicle is lifted to 10-40 meters in a fully autonomous flight mode, and the camera is aligned to the center of the horizontal hovering precision test board as far as possible, namely the center of the picture is aligned to the center of the horizontal hovering precision test board on a monitoring picture of the controller;
step (4), after the unmanned aerial vehicle flies stably, starting a vertical height tester to measure the vertical height at intervals of 0.5 second, and simultaneously starting a camera to vertically downwards shoot photos at intervals of 0.5 second; the height measurement and photo taking were continued for 3 minutes; the vertical height tester measures 360 height values, and the camera shoots 360 vertically downward pictures;
and (5) measuring the vertical height change of the unmanned aerial vehicle by the vertical height tester, storing the vertical height change in the vertical height tester in a time sequence, and performing the horizontal coordinate of the unmanned aerial vehicle according to the following steps:
5.1, recording coordinates of the unmanned aerial vehicle when measuring the zero position by diagonal lines, wherein the intersection point of the diagonal lines is the circle center, namely the coordinates (x) when measuring the zero position0，y0)＝(0，0)；
5.2, recording the coordinates of the unmanned aerial vehicle at the point at a certain moment i, namely the position of the diagonal intersection point,
i.e., (xi, yi); by analogy, coordinate values of all photos are measured;
step (6), all measured (x, y, z) values are substituted into formula 1-formula 4 for calculation, and the horizontal hovering deviation u of the unmanned aerial vehicle can be obtainedciVertical hover bias vciHorizontal standard deviation σUcVertical standard deviation σVc(ii) a Step (7), if one or two values in the test are larger than 1500mm, calculating the coordinate value at the moment according to the sheet proportion;
step (8), repeating the steps to finish the measurement work of the rest test points;
step (9), according to the horizontal hovering deviation u of each test pointciVertical hover bias vciHorizontal standard deviation σUcAnd, vertical standard deviation σVcThe value is used for judging whether the hovering precision of the unmanned aerial vehicle meets the requirement. DL/T1578-2016 specify uciNo more than 1.5 m, vciNot more than 3m, sigmaUcNot more than 0.75 m, sigmaVcNot more than 1.5 meters.
Further, in the step (1), the following steps are specifically carried out:
firstly, selecting an outdoor open test site and determining three test points of the test according to the requirements of DL/T1578-2016 standard, wherein the distance of each point is not less than 20 meters; selecting a relatively flat field; continuously measuring the ambient wind speed at the 2 m height from the ground of the test site for 5 minutes, and carrying out the test when the wind speed is not more than 3 m/s; the measurement of the ambient wind speed should be continued during the test, the test should be stopped if the instantaneous wind speed is greater than 3m/s, and the test should be performed again when the wind speed is not greater than 3 m/s.
Compared with the prior art, the invention has the following beneficial effects:
(1) the horizontal hovering precision test board comprises 6 block units, wherein the 6 block units form a circular plate through a connecting piece, two mutually perpendicular straight lines taking the center as a circular point are arranged on the circular plate and are used as an X axis and a Y axis, and scales are arranged on coordinate axes. And 15 concentric circles are drawn with the origin of coordinates as the center of the circle at 100mm intervals of radius. The plate is made of stainless steel which is not easy to be subjected to temperature change, so that the measurement precision is improved. The concentric circles are drawn for convenience in measurement and guarantee measurement accuracy. The splicing is simple, and the transportation and storage of the are convenient.
(2) The method can meet the requirements of DL/T1578-2016 unmanned helicopter inspection system for overhead transmission lines.
(3) By utilizing the system and the method for measuring the hovering precision of the unmanned aerial vehicle, the measurement of the hovering precision of the unmanned aerial vehicle can be conveniently finished, and the unmanned aerial vehicle hovering precision measuring system and the method have higher precision. The whole system is simple and reliable, has very high practicability, and is very suitable for the field test of the hovering precision of the unmanned aerial vehicle.
Drawings
Fig. 1 is a schematic structural diagram of the unmanned aerial vehicle hovering precision test. The dotted line in the figure indicates the orientation of the unmanned aerial vehicle camera (3), and the dotted line indicates the orientation of the vertical height tester (1).
FIG. 2 is a schematic structural diagram of a horizontal precision test board according to the present invention;
fig. 3 is a photograph of the drone of the present invention when measuring zero position;
fig. 4 is a photograph of the drone of the present invention at a second moment.
Detailed Description
The technical solutions in the embodiments will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the examples without making any creative effort, shall fall within the protection scope of the present invention.
Unless otherwise defined, technical or scientific terms used in the embodiments of the present application should have the ordinary meaning as understood by those having ordinary skill in the art. The use of "first," "second," and similar terms in the present embodiments does not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. "mounted," "connected," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, detachably coupled, or integrally coupled; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. "Upper," "lower," "left," "right," "lateral," "vertical," and the like are used solely in relation to the orientation of the components in the figures, and these directional terms are relative terms that are used for descriptive and clarity purposes and that can vary accordingly depending on the orientation in which the components in the figures are placed.
As shown in fig. 1, the unmanned aerial vehicle hovering precision testing system of the embodiment includes an unmanned aerial vehicle body, a camera 3 and a vertical height tester 1 which are arranged on the unmanned aerial vehicle body, and a horizontal hovering precision testing board 2 which is arranged on a first ground testing point.
The height tester 1 is used for measuring the height change when the unmanned aerial vehicle suspends, the horizontal displacement change when the precision testing board 2 is used for marking the unmanned aerial vehicle suspends, the camera 3 collects the horizontal displacement change information of the precision testing board that horizontally suspends, the controller collects the vertical height information of the height tester 1 and the information collected by the camera 3, the horizontal coordinate information on the precision testing board 2 that horizontally suspends is extracted, and the hovering precision of the unmanned aerial vehicle is calculated based on the vertical height information and the horizontal coordinate information.
The hover precision includes a horizontal hover deviation uciVertical hover bias vciHorizontal standard deviation σUcVertical standard deviation σVcThe method comprises the following steps:
vci＝|zi- z 01,2, ·, n; formula (2)
i-represents the sequential number of the unmanned aerial vehicle hovering degree measurement, namely the measurement of the number of times; the value is 1 to n;
Xithe horizontal coordinate value of the hovering horizontal position of the unmanned aerial vehicle obtained by the ith measurement;
X0the initial value of the abscissa of the hovering horizontal position of the unmanned aerial vehicle is measured according to the hovering precision of the unmanned aerial vehicle;
Yithe vertical coordinate value of the hovering horizontal position of the unmanned aerial vehicle obtained by the ith measurement;
Y0the initial value of the vertical coordinate of the hovering horizontal position of the unmanned aerial vehicle is measured according to the hovering precision of the unmanned aerial vehicle;
Zi-the hovering vertical height value of the unmanned aerial vehicle obtained from the ith measurement;
Z0an initial value of the hovering vertical height of the unmanned aerial vehicle measured by the hovering precision of the unmanned aerial vehicle;
n-the total number of times of the unmanned aerial vehicle hover precision measurement. Is defined as 360 according to DL/T1578-2016.
As shown in fig. 2, the horizontal hovering precision test board 2 includes 6 block units, the 6 block units form a circular plate through a connecting member, two mutually perpendicular straight lines with a center as a circular point are arranged on the circular plate and serve as an X axis and a Y axis, and scales are arranged on coordinate axes. Block unit one end is the toper, and the other end is the arc, and the contained angle is 60, and arc one end side is equipped with a plurality of buckles, through the buckle lock between the block unit, for the ease of transportation and use. The horizontal precision test board 2 is detachable, and the whole horizontal precision test board 2 is formed by splicing the 6 small blocks (the whole circular plate is equally divided at 60 degrees). 4 buckles are manufactured on each small plate, so that the adjacent small plates can be mutually fixed and spliced.
That is, the horizontal precision test plate 2 is a circular flat plate with concentric circle scale and cross scale, and has a diameter of 3 m. The plate is made of stainless steel which is not easy to be subjected to temperature change, so that the measurement precision is improved. The horizontal precision test plate 2 is formed by drawing two mutually perpendicular straight lines as an X axis and a Y axis (red for distinguishing the X axis and blue for distinguishing the Y axis) with the center as the origin, and drawing 15 concentric circles with a radius of 100mm interval with the origin of coordinates as the center of a circle. In order to ensure that the splicing of the plates is not staggered, the back of each small plate is marked with a sequence number, and the small plates are connected in sequence during splicing.
The vertical height tester is a laser range finder capable of continuously recording measurement data, the minimum measurement interval is not more than 0.5 second, and the range is not less than 50 meters. The camera is located unmanned aerial vehicle through increasing steady cloud platform on, perpendicularly downwards, carries out the continuous shooting that is not more than 0.5 second interval.
The system also comprises a wind speed testing unit which continuously measures the ambient wind speed at the height of 2 m from the ground in the test field for 5 minutes, and the wind speed is not more than 3m/s during testing.
The vertical height tester measures the vertical height at intervals of 0.5 second, and simultaneously starts the camera to vertically downwards shoot pictures at intervals of 0.5 second; the operation is continued for 3 minutes; the vertical height tester measures and obtains 360 altitude values, and 360 vertically downward photos are shot to the camera, include the horizontal coordinate information of unmanned aerial vehicle on the precision test board is hovered to the level in the photo.
The vertical height tester 1 of the present embodiment is a high-precision laser distance measuring instrument, and the measurement precision thereof can reach a millimeter level. Vertical height tester 1 is fixed to unmanned aerial vehicle's bottom, and the measuring direction is perpendicular downwards, gathers unmanned aerial vehicle's vertical height value z in succession with the time interval of interval 0.5 seconds to save in distancer's inside storage card. In order to guarantee the accuracy of measurement, vertical height tester 1 can be installed in the lump with unmanned aerial vehicle camera 3 and increase on steady cloud platform.
The unmanned aerial vehicle camera 3 of this embodiment can be that unmanned aerial vehicle is from taking, also can install additional on unmanned aerial vehicle. Unmanned aerial vehicle camera 3 can carry out the continuous shooting that is not more than 0.5 second interval to possess and increase steady cloud platform. When measuring, with unmanned aerial vehicle camera 3's camera vertically downwards to aim at the center of horizontal precision test board 2, take the photo in succession at 0.5 second interval. The effect of increasing steady cloud platform guarantees that the camera lens is perpendicular downwards all the time when unmanned aerial vehicle inclines, does not take place to incline along with unmanned aerial vehicle's fuselage. The photo shot by the camera of the unmanned aerial vehicle is processed, so that the horizontal position change value of the unmanned aerial vehicle, namely the numerical values of x and y, can be obtained.
The hovering precision of the unmanned aerial vehicle can be calculated by substituting the measured x, y and z values into the following formula, wherein the hovering precision comprises a horizontal hovering deviation uciVertical hover bias vciHorizontal standard deviation σUcVertical standard deviation σVc。
vci＝|zi-z 01, (i ═ 1, 2., n) formula (2);
based on the system of the embodiment, the method for testing the hovering precision of the unmanned aerial vehicle of the embodiment comprises the following steps:
1. firstly, according to the requirements of DL/T1578-2016 standard, an outdoor open-air test site is selected and three measuring points (the distance of each point is not less than 20 meters) of the test are determined. And selecting a relatively flat field as much as possible. And continuously measuring the ambient wind speed at the test site 2 m high from the ground for 5 minutes, and carrying out the test when the wind speed is not more than 3 m/s. The measurement of the ambient wind speed should be continued during the test, the test should be stopped if the instantaneous wind speed is greater than 3m/s, and the test should be performed again when the wind speed is not greater than 3 m/s.
2. And (3) flatly laying the horizontal hovering precision test board plate 2 on the selected measuring point 1, wherein the graduated side faces the sky. Fix vertical height tester 1 and unmanned aerial vehicle camera 3 to unmanned aerial vehicle's the steady cloud platform that increases, the direction of adjustment vertical height tester 1 and unmanned aerial vehicle camera 3 is perpendicular downwards. And electrifying the unmanned aerial vehicle to complete self-checking and confirm that the satellite navigation (GPS or Beidou) function of the unmanned aerial vehicle is effective.
3. The unmanned aerial vehicle is lifted to a test height (10 meters to 40 meters) in a fully autonomous flight mode, and the camera is aligned to the center of the horizontal hovering precision test plate 2 as far as possible, namely, the center of the image is aligned to the center of the horizontal hovering precision test plate 2 on a monitoring image.
4. After the unmanned aerial vehicle flies stably, the vertical height tester 1 is started to measure the vertical height at intervals of 0.5 second, and meanwhile, the unmanned aerial vehicle camera 3 is started to vertically downwards shoot photos at intervals of 0.5 second. The height measurement and photograph taking were continued for 3 minutes. The vertical height tester 1 will measure and obtain 360 height values, and 360 vertically downward photos will also be shot to the unmanned aerial vehicle camera 3 that corresponds to it.
5. The vertical height variation value z of the drone is a value measured by the vertical height tester 1, and is stored in the memory file of the vertical height tester 1 in time series. The horizontal position numbers (i.e., x, y values) of the drones are measured as shown in fig. 2.
5.1 to the photo that unmanned aerial vehicle shot, measure on the computer. Firstly, drawing two diagonal lines on a photo, wherein the intersection point of the diagonal lines is the horizontal position of the unmanned aerial vehicle. Fig. 3 is a schematic diagram of the drone in measuring zero position. At this time (x)0，y0)＝(0，0)。
5.2 at a certain moment i, the horizontal position of the drone is measured according to figure 4. At this time, (x) of the diagonal intersection of the photographi，yi) (-660, 230). All the photos are analogized in the same way,the (x, y) values of all the photographs were measured.
6. Substituting all measured (x, y, z) values into the formula 1-4 for calculation to obtain the horizontal hovering deviation u of the unmanned aerial vehicleciVertical hover bias vciHorizontal standard deviation σUcVertical standard deviation σVc。
The measured (x, y, z) values can be imported into an Excel table, and the formula is also solidified into the table, so that automatic calculation is realized.
If the initial horizontal measurement position of the unmanned aerial vehicle is not aligned with the center of the horizontal hovering precision test plate 2, the measurement accuracy is not affected. Only initially (x)0，y0) Not equal to (0, 0). Because of the size of the precision testing board (2) hovers horizontally is limited, the camera of the unmanned aerial vehicle should be aligned to the center of the precision testing board (2) to hover horizontally to avoid the horizontal position of the unmanned aerial vehicle exceeding the range of the precision testing board (2) to hover horizontally.
7. If in the test (x)i，yi) One or both values are greater than 1500mm, then (x) at that time is calculated according to the slice ratioi，yi) The value is obtained.
8. And repeating the steps to finish the measurement work of the test point 2 and the test point 3.
9. According to the horizontal hovering deviation u of each test pointciVertical hover bias vciHorizontal standard deviation σUcAnd, vertical standard deviation σVcThe value is used for judging whether the hovering precision of the unmanned aerial vehicle meets the requirement.
The above description is only exemplary of the invention and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made without departing from the spirit and principle of the invention should fall within the protection scope of the invention.
Claims (10)
1. The utility model provides an unmanned aerial vehicle precision test system that hovers which characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a camera and a vertical height tester which are arranged on the unmanned aerial vehicle body, and a horizontal hovering precision test board which is arranged on a ground test point; the vertical height tester is used for measuring height change when the unmanned aerial vehicle suspends, the horizontal hovering precision test board is used for identifying horizontal displacement change when the unmanned aerial vehicle suspends, the camera collects horizontal displacement change information of the horizontal hovering precision test board, the controller collects vertical height information of the vertical height tester and information collected by the camera, horizontal coordinate information on the horizontal hovering precision test board is extracted, and hovering precision of the unmanned aerial vehicle is calculated based on the vertical height information and the horizontal coordinate information.
2. The unmanned aerial vehicle precision test system that hovers of claim 1, characterized in that: the hover precision includes a horizontal hover deviation uciVertical hover bias vciHorizontal standard deviation σUcVertical standard deviation σVcThe method comprises the following steps:
vci＝|zi-z01,2, ·, n; formula (2)
In formulae 1-4:
i-represents the sequential number of the unmanned aerial vehicle hovering degree measurement, namely the measurement of the number of times; the value is 1 to n;
Xithe horizontal coordinate value of the hovering horizontal position of the unmanned aerial vehicle obtained by the ith measurement;
X0the initial value of the abscissa of the hovering horizontal position of the unmanned aerial vehicle is measured according to the hovering precision of the unmanned aerial vehicle;
Yithe vertical coordinate value of the hovering horizontal position of the unmanned aerial vehicle obtained by the ith measurement;
Y0the initial value of the vertical coordinate of the hovering horizontal position of the unmanned aerial vehicle is measured according to the hovering precision of the unmanned aerial vehicle;
Zi-the hovering vertical height value of the unmanned aerial vehicle obtained from the ith measurement;
Z0an initial value of the hovering vertical height of the unmanned aerial vehicle measured by the hovering precision of the unmanned aerial vehicle;
n-the total number of times of the unmanned aerial vehicle hover precision measurement.
3. The unmanned aerial vehicle precision test system that hovers of claim 1, characterized in that: the horizontal hovering precision test board comprises a plurality of units, wherein the units form a circular plate through connecting pieces, two mutually perpendicular straight lines which take the center as a circular point are arranged on the circular plate and serve as an X axis and a Y axis, scales are arranged on a coordinate axis, and a plurality of concentric circles with the same interval are arranged on the circular plate and take the origin of coordinates as the circle center.
4. The unmanned aerial vehicle precision test system that hovers of claim 3, characterized in that: one end of each block unit is conical, the other end of each block unit is arc-shaped, the included angle is 60 degrees, a plurality of buckles are arranged on the side face of one end of each arc-shaped unit, and the block units are buckled through the buckles.
5. The unmanned aerial vehicle precision test system that hovers of claim 1, characterized in that: the vertical height tester is a laser range finder capable of continuously recording measurement data, the minimum measurement interval is not more than 0.5 second, and the range is not less than 50 meters.
6. The unmanned aerial vehicle precision test system that hovers of claim 1, characterized in that: the camera is located unmanned aerial vehicle through increasing steady cloud platform on, perpendicularly downwards, carries out the continuous shooting that is not more than 0.5 second interval.
7. The unmanned aerial vehicle precision test system that hovers of claim 1, characterized in that: the system also comprises a wind speed testing unit which continuously measures the ambient wind speed at the height of 2 m from the ground in the test field for 5 minutes, and the wind speed is not more than 3m/s during testing.
8. The unmanned aerial vehicle precision test system that hovers of claim 1, characterized in that: the vertical height tester measures the vertical height at intervals of 0.5 second, and simultaneously starts the camera to vertically downwards shoot pictures at intervals of 0.5 second; the operation is continued for 3 minutes; the vertical height tester measures and obtains 360 altitude values, and 360 vertically downward photos are shot to the camera, include the horizontal coordinate information of unmanned aerial vehicle on the precision test board is hovered to the level in the photo.
9. Unmanned aerial vehicle hovering precision testing method based on the system of one of claims 1 to 8, characterized in that: the method comprises the following steps:
step (1), site selection
Step (2), paving the horizontal hovering precision test board on the selected measuring point, wherein the side with scales faces the sky; fixing the vertical height tester and the camera on a stability augmentation tripod head of the unmanned aerial vehicle, and adjusting the directions of the vertical height tester and the camera to be vertically downward;
step (3), the unmanned aerial vehicle is lifted to 10-40 meters in a fully autonomous flight mode, and the camera is aligned to the center of the horizontal hovering precision test board as far as possible, namely the center of the picture is aligned to the center of the horizontal hovering precision test board on a monitoring picture of the controller;
step (4), after the unmanned aerial vehicle flies stably, starting a vertical height tester to measure the vertical height at intervals of 0.5 second, and simultaneously starting a camera to vertically downwards shoot photos at intervals of 0.5 second; the height measurement and photo taking were continued for 3 minutes; the vertical height tester measures 360 height values, and the camera shoots 360 vertically downward pictures;
and (5) measuring the vertical height change of the unmanned aerial vehicle by the vertical height tester, storing the vertical height change in the vertical height tester in a time sequence, and performing the horizontal coordinate of the unmanned aerial vehicle according to the following steps:
5.1, recording coordinates of the unmanned aerial vehicle when measuring the zero position by diagonal lines, wherein the intersection point of the diagonal lines is the circle center, namely the coordinates (x) when measuring the zero position0，y0)＝(0，0)；
5.2, recording the coordinates of the unmanned aerial vehicle at the point at a certain moment i, namely the position of the diagonal intersection point, namely (xi, yi); by analogy, coordinate values of all photos are measured;
step (6), all measured (x, y, z) values are substituted into the formula 1-4 for calculation, and the horizontal hovering deviation u of the unmanned aerial vehicle can be obtainedciVertical hover bias vciHorizontal standard deviation σUcVertical standard deviation σVc；
Step (7), if one or two values in the test are larger than 1500mm, calculating the coordinate value at the moment according to the sheet proportion;
step (8), repeating the steps to finish the measurement work of the rest test points;
step (9), according to the horizontal hovering deviation u of each test pointciVertical hover bias vciHorizontal standard deviation σUcAnd, vertical standard deviation σVcJudging whether the hovering precision of the unmanned aerial vehicle meets the requirement or not by the value;
DL/T1578-2016 specify uciNo more than 1.5 m, vciNot more than 3m, sigmaUcNot more than 0.75 m, sigmaVcNot more than 1.5 meters.
10. The method of claim 9, wherein: in the step (1), the method specifically comprises the following steps: firstly, selecting an outdoor open test site and determining three test points of the test according to the requirements of DL/T1578-2016 standard, wherein the distance of each point is not less than 20 meters; selecting a relatively flat field; continuously measuring the ambient wind speed at the 2 m height from the ground of the test site for 5 minutes, and carrying out the test when the wind speed is not more than 3 m/s; the measurement of the ambient wind speed should be continued during the test, the test should be stopped if the instantaneous wind speed is greater than 3m/s, and the test should be performed again when the wind speed is not greater than 3 m/s.
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| CN114577180A (en) * | 2022-05-06 | 2022-06-03 | 成都纵横通达信息工程有限公司 | Geographic information mapping device, system and method based on unmanned aerial vehicle |
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