CN112198887A - Multi-rotor unmanned aerial vehicle onboard computer performance evaluation system method - Google Patents
Multi-rotor unmanned aerial vehicle onboard computer performance evaluation system method Download PDFInfo
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Abstract
The invention discloses a system and a method for evaluating the performance of an on-board computer of a multi-rotor unmanned aerial vehicle, wherein the on-board computer of the multi-rotor unmanned aerial vehicle comprises the following steps: the method comprises the steps of respectively carrying out normalization processing on test data of performance evaluation indexes of the performance of the computer control system, the performance of the sensing and positioning system, the performance evaluation of the visual system, the performance of the data transmission system and the performance of the power supply power system, determining the weight of each performance index of each system, carrying out weighted summation on each performance index of each system to obtain a comprehensive evaluation result of the system, determining the weight of each system, and carrying out weighted summation on the systems to obtain the overall performance evaluation result of the onboard computer. The importance of each index can be sequenced according to different task requirements, different weight coefficients can be obtained, and the most suitable onboard computer or the system can be selected for different requirements.
Description
Technical Field
The invention relates to a performance evaluation method, in particular to a system and method for evaluating performance of an airborne computer of a multi-rotor unmanned aerial vehicle.
Background
With the development of multi-rotor unmanned aerial vehicle technology, the airborne computer system of the multi-rotor unmanned aerial vehicle is also rapidly developed, the types and the performances of the multi-rotor unmanned aerial vehicle are different, but an airborne computer performance evaluation scheme of the system is lacked at present. Most of the existing evaluation systems focus evaluation objects on a certain item, such as control effect, positioning accuracy and the like, but cannot evaluate the overall performance macroscopically.
Because the performance evaluation system of the current on-board computer can only evaluate a certain performance and neglects the overall performance, the performance is over emphasized during optimization to cause other performances to be too low. If only the index of the control effect of the computer system is evaluated and optimized, a complex control algorithm is adopted, the control effect is improved, the computational load of the computer is increased, and the operation performance of other algorithms is occupied, so that the overall system performance is poor.
Disclosure of Invention
In order to overcome the defects of the prior art, the inventor of the present invention has conducted intensive research, and found that the performance of each aspect of each system of the onboard computer is evaluated, and the performance evaluation result of the whole system is given according to the weight of each system, so as to conveniently screen a proper configuration system scheme of the onboard computer or screen a proper onboard computer as required, thereby completing the present invention.
The invention provides a method of a performance evaluation system of an airborne computer of a multi-rotor unmanned aerial vehicle, wherein the airborne computer of the multi-rotor unmanned aerial vehicle comprises the following steps: computer control system, sensing and positioning system, vision system, and digital transmission system and power supply power system.
The method comprises the steps of respectively carrying out normalization processing on test data of performance evaluation indexes of the performance of a computer control system, the performance of a sensing and positioning system, the performance evaluation of a visual system, the performance of a data transmission system and the performance of a power supply power system, determining the weight of each performance index of each system, carrying out weighted summation on each performance index of each system to obtain a comprehensive evaluation result of each system, determining the weight of each system, and carrying out weighted summation on each system to obtain an overall performance evaluation result of the airborne computer.
In the invention, the multifunctional airborne computer system obtained by effectively combining all system modules is comprehensively evaluated:
(1) and comprehensively evaluating multiple performances of each constituent system of the airborne computer, and adopting different normalization methods aiming at systems with different evaluation standards, wherein two normalization methods are used for classifying parameters which are better and better if the parameters are larger and better if the parameters are smaller.
(2) Finally, the overall performance evaluation result of the system can be obtained, and the overall performance evaluation result is used for carrying out unified evaluation and selection on different systems.
(3) The importance of each index can be sequenced according to different task requirements, different weight coefficients can be obtained, and the most suitable airborne computer system can be selected for different requirements.
Drawings
Fig. 1 shows a flow chart of a preferred embodiment of the evaluation method of the present invention.
Detailed Description
The features and advantages of the present invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
About computer control systems
The computer control system has the main function of making complex decisions and controls, so that the factors such as the operation speed, the control effect and the like of the computer control system are concerned.
In the present invention, regarding the evaluation of the performance of the computer control system, it is preferable that the floating point computing power is used as an index for evaluating the computing speed of the system, and particularly, most of the host computers of the on-board computer system are high-computing-power computers, the core floating point computing power is used as the system computing power, the floating point computing power is the number of floating point operations executed by the computer per second, the unit is FLOPS, and the larger the number is, the stronger the floating point computing power is.
In the present invention, the control rise time and the maximum overshoot (overshoot) are preferable as the indexes for evaluating the control effect.
The control rising time refers to the time required for the unit step response to rise from 10% to 90% of the final value, and the unit is second, and the smaller the value is, the faster the response speed of the control system is, and the better the control effect is.
The maximum overshoot refers to the corresponding maximum offset h (t)p) The percentage of the ratio of the difference from the final value h (∞) to the final value h (∞) is as follows,
maximum overshoot σp% is a dimensionless quantity, and the smaller the numerical value is, the better the following effect of the control system in the response process is, and the better the control effect is.
With respect to sensing and positioning systems
The sensing and positioning system has the main function of providing self attitude and position information for an airborne computer system, and the position estimation accuracy and the inertial sensor accuracy of the sensing and positioning system are concerned.
In the present invention, it is preferable that the circular calculation error is used as an index for estimating the accuracy of the position estimation in the estimation of the sensing and positioning system. In particular, the position estimation accuracy of the differential GPS is generally much higher than that of other positioning modules, and the circular calculation error of the differential GPS is used as the circular calculation error of the sensing and positioning system.
The circular calculation error is that a circle is drawn by taking the actual position as the center of the circle, if the probability that the positioning system is positioned in the circle is at least half, the radius of the circle is the circular calculation error, the unit is meter, and the smaller the value is, the higher the position estimation accuracy is.
In the present invention, the accuracy grade is preferable as an index for evaluating the accuracy of the inertial sensor. Definition of the accuracy class as the maximum measurement error ΔmaxAnd the measuring range A of the instrumentmaxThe ratio of (A) to (B) is as follows
The precision grade delta is a dimensionless quantity, and the smaller the numerical value is, the smaller the instrument error is, and the higher the precision of the inertial sensor is.
Relating to vision systems
The main function of the vision system is to identify the tracked target, and the imaging quality and the image processing speed are concerned.
In the present invention, it is preferable that the evaluation of the performance of the visual system is performed by using the image resolution, the maximum detectable distance, and the angle of view as indices for evaluating the imaging quality.
The image resolution refers to how many pixel points are in each inch of the image, the unit of the resolution is Pixel Per Inch (PPI), and the larger the value is, the larger the amount of information stored in the image is, the better the imaging quality is.
The maximum detectable distance refers to the maximum distance in meters at which the target is found, and the larger the number, the better the imaging quality.
The field angle refers to the field angle of the imaging field in the vertical and horizontal directions, and is expressed in degrees, and the larger the value, the larger the field range, the better the imaging quality.
In the present invention, as for the evaluation of the performance of the visual system, it is preferable to use the video stream frame rate as an index for evaluating the image processing speed.
The frame rate refers to the frequency of continuous appearance of bitmap images on the display in units of frames, which are referred to as hertz, and the larger the value, the higher the refresh rate of the output after image processing, and the better the image processing speed.
Data transmission system
The main function of the data transmission system is to transmit data between the onboard computer system and the ground station, and the transmission distance and the data transmission quality are concerned.
In the present invention, regarding the evaluation of the performance of the data transfer system, it is preferable to evaluate the index of the transmission distance in terms of the maximum transmission distance.
The maximum transmission distance is the maximum distance for stable transmission between the airborne end and the ground end, and the unit is meter, and the larger the value is, the better the transmission distance performance is.
In the present invention, regarding the evaluation of the data transmission system performance, the data transmission frequency and the data transmission delay are preferable as indexes for evaluating the data transmission quality.
The data transmission frequency is the number of data transmission between the airborne terminal and the ground terminal in unit time, and the larger the value is, the better the data transmission quality is.
The data transmission delay is the time delay time caused by the data transmission link, the unit is second, the smaller the value is, the better the real-time performance of the data is, and the higher the data transmission quality is.
About power supply power system
The main function of power driving system is for the power supply of airborne electronic equipment provides flight power for many rotor unmanned aerial vehicle, and system length of use and flight quality receive attention.
In the present invention, as for the evaluation of the power supply dynamic system, the endurance time is preferably used as an index for evaluating the service life of the system.
The endurance time is the hovering time of the multi-rotor unmanned aerial vehicle in a windless environment, and is expressed in minutes, and the larger the value is, the longer the system is used.
In the present invention, for evaluation of the power supply power system, it is preferable that the maximum flying weight and the maximum overload capacity are indexes for evaluating the flight quality.
The maximum takeoff weight refers to the maximum weight allowed when the aircraft can take off due to design or operation limitation, the unit is kilogram, and the larger the numerical value is, the stronger the load capacity of the multi-rotor unmanned aerial vehicle is, and the better the flight quality is.
The maximum overload capacity refers to the ratio of resultant force acting on the aircraft except gravity to the aircraft gravity, the unit is a dimensionless quantity, the larger the numerical value is, the larger the acceleration which can be achieved when the multi-rotor unmanned aerial vehicle flies is, the stronger the flight maneuverability is, and the better the flight quality is.
In the invention, because each index evaluation standard and unit are different, each index needs to be normalized, each index evaluation result of each module adopts nonlinear S function normalization, and compared with a maximum and minimum normalization method and a Z-score normalization method, the nonlinear S function normalization method has the advantage of still having better normalization effect on scenes with larger data differentiation.
In a preferred embodiment of the invention, the normalization criterion is as follows:
(1) for indexes with better values, such as floating point arithmetic calculation power, image resolution, maximum detectable distance, field angle, video stream frame rate, maximum transmission distance, data transmission frequency, endurance time, maximum takeoff weight and maximum overload capacity, the following formula is adopted for normalization:
wherein: xiTo normalize the resulting value, xiFor performance index data, namely the value of a certain performance index in the ith scheme, the value acquisition generally comprises two methods, one method is to carry out actual measurement under a system standard use environment and take an average value, and the other method is to obtain the index data according to the component manufacturer; x is the number ofmaxFor indexing data x in all schemesiMaximum value of (1), xminIs index data xiMinimum value of (1), a ═ 2tan-1(ln9)， 
(2) For indexes with better values, such as control rise time, maximum overshoot, circular calculation error, precision level, data transmission delay and the like, normalization is performed by adopting the following formula two:
wherein: xiTo normalize the resulting value, xiFor performance index data, namely the value of a certain performance index in the ith scheme, the value acquisition generally comprises two methods, one method is to carry out actual measurement under a system standard use environment and take an average value, and the other method is to obtain the index data according to the component manufacturer; x is the number ofmaxFor indexing data x in all schemesiMaximum value of (1), xminFor index data x in all schemesiMinimum value of (1), a ═ 2tan-1(ln9)，
In the evaluation method, importance comparison is carried out according to the normalization results of all performance indexes in the composition systems, subjective importance comparison is preferably adopted, the weight of each performance index is determined according to a sequence diagram, and then each performance index in the composition system is weighted and calculated to obtain the weighted evaluation result of the composition system.
For the whole airborne computer, after obtaining the weighted evaluation results of all the constituent systems, the importance of all the constituent systems is compared, preferably, subjective importance comparison is adopted, the weights of all the subsystems are determined according to the sequence diagram, and then the weighted evaluation results of all the constituent systems are weighted and calculated to obtain the weighted evaluation results of the airborne computer.
The priority map method is to compare every two systems and each index according to the specific requirements of the system, and finally determine the importance degree of the system indexes and the order of the engineering scheme so as to evaluate the system or prioritize the decision of the engineering scheme. The method has the advantages that the importance of each index can be sequenced according to different task requirements, different weight coefficients are obtained through the method, and the most suitable airborne computer system can be selected for different requirements.
The specific implementation method of the sequence diagram is as follows, if necessary, the system index X is subjected to1、X2、……XnSorting importance, putting the indexes to be compared into the first column and the first row of the weight table, comparing every two indexes according to the system requirement, and if the index X is the index XiRatio XjImportantly, then XiCounting for 1 min; if the importance is equal, the score is 0.5; if the index X isjRatio XiImportantly, then XiAnd (5) counting for 0 point. The indices are summed up laterally to obtain the final score and normalized to obtain the final weight, as shown in the table below.
| X1 | X2 | …… | Xn | Index score | |
| X1 | a11 | a12 | a1n | ∑a1k | |
| X2 | a21 | a22 | a2n | ∑a2k | |
| …… | |||||
| Xn | an1 | an2 | ann | ∑ank |
The evaluation method can independently evaluate any composition system of the onboard computer and can also evaluate the whole onboard computer, thereby being beneficial to selecting a corresponding computer composition scheme according to actual requirements.
Embodiment 1 evaluation and screening of computer control system of airborne computer of multi-rotor unmanned aerial vehicle with autonomous landing of maneuvering platform
At present, five schemes exist for a computer control system of a multi-rotor unmanned aerial vehicle airborne computer system for autonomous landing of a maneuvering platform. The five preferred protocols were evaluated using the methods of the present patent application and the more preferred protocol was selected.
The five preferred systems are actually tested or the parameters of the components are consulted to obtain data of each evaluation index, and the original data are shown in the following table 1.
TABLE 1
| Scheme 1 | Scheme 2 | Scheme 3 | Scheme 4 | Scheme 5 | |
| Computing power (GFLOPS) | 1500 | 326 | 512 | 1300 | 704 |
| Rise time(s) | 0.12 | 0.08 | 0.197 | 0.08 | 0.278 |
| Overshoot (%) | 5 | 5 | 7 | 2 | 0 |
The normalization method of the patent is used, wherein the calculation force is the better evaluation index when the calculation force is larger, the normalization method shown in the formula I is used, the rise time and the overshoot are the better evaluation indexes when the calculation force is smaller, and the normalization result is shown in the following table 2 when the normalization method of the formula II is used.
TABLE 2
| Scheme 1 | Scheme 2 | Scheme 3 | Scheme 4 | Scheme 5 | |
| Computing power | 0.9 | 0.1 | 0.2706 | 0.7189 | 0.3938 |
| Rise time(s) | 0.6924 | 0.9 | 0.4474 | 0.9 | 0.1 |
| Overshoot (%) | 0.3697 | 0.3697 | 0.1 | 0.6303 | 0.9 |
For the task requirement of autonomous landing of the maneuvering platform, the identification of the mobile platform is a key link, and in order to ensure that the operation speed of the identification algorithm can meet the requirement, the calculation force is taken as the primary standard when a computer system is evaluated and controlled. Second, the rise time is a secondary criterion because it ensures that the system can respond quickly to control commands. While overshoot is one of the indicators for evaluating the control effect, overshoot represents the accuracy of the control system relative to the rise time, which represents the rapidity. The task requires the control algorithm to correct errors in real time, so the accuracy of single operation of the control system is not very important, and the overshoot is taken as the most important standard. In summary, the evaluation criteria priority is: force > rise time > overshoot. The weight calculation method according to this patent results in a sequence diagram, as shown in table 3 below.
TABLE 3
| Computing power | Rise time | Overshoot | Sum of scores | Normalized weight | |
| Computing power | 0.5 | 1 | 1 | 2.5 | 0.56 |
| Rise time | 0 | 0.5 | 1 | 1.5 | 0.33 |
| Overshoot | 0 | 0 | 0.5 | 0.5 | 0.11 |
The normalized evaluation criteria were subjected to weighted summation based on the obtained weights to obtain the final evaluation results, as shown in table 4 below.
TABLE 4
| Scheme 1 | Scheme 2 | Scheme 3 | Scheme 4 | Scheme 5 | |
| Calculated force 0.56 | 0.504 | 0.056 | 0.151536 | 0.402584 | 0.220528 |
| Rise time(s) × 0.33 | 0.228492 | 0.297 | 0.147642 | 0.297 | 0.033 |
| Overshoot (%). 0.11 | 0.040667 | 0.040667 | 0.011 | 0.069333 | 0.099 |
| Evaluation results | 0.773159 | 0.393667 | 0.310178 | 0.768917 | 0.352528 |
As can be seen from the evaluation results in Table 4 above, scheme 1 is the optimal scheme for the computer control system. Comparing scheme 1 with scheme 4 in table 4 above, although scheme 1 is superior in calculation power as the primary criterion, resulting in the final evaluation result being superior to scheme 1, scheme 4 is superior to scheme 1 in both rise time and overshoot, so the evaluation results of the final two schemes do not differ much. Comparing scheme 2 with scheme 5, while scheme 5 outperforms scheme 2 in terms of both computational power and overshoot, scheme 5 has an excessively poor rise time index resulting in inferior final evaluation results as compared to scheme 2. Therefore, the evaluation method provided by the patent can comprehensively and objectively reflect the good and bad relation among different system schemes.
Embodiment 2 optimization of multi-rotor unmanned aerial vehicle airborne computer system with autonomous landing of mobile platform under different requirements
At present, a multi-rotor unmanned aerial vehicle airborne computer system with an autonomous landing maneuvering platform has two schemes. Aiming at two different demand priorities, the two optimal schemes are respectively evaluated by using the method disclosed by the patent, and a better scheme under the corresponding demand priority is selected.
The computer control system (evaluation priority: computing power > rise time > overshoot), the sensing system and the positioning system (evaluation priority: circular arithmetic error > accuracy grade), the visual system (evaluation priority: video stream frame rate > maximum detectable distance > image resolution > field angle), the data transmission system (evaluation priority: data transmission delay > maximum transmission distance > data transmission frequency), the power supply power system (evaluation priority: endurance > maximum overload capability > maximum takeoff weight) were evaluated separately, and the results are shown in table 11 below.
TABLE 11
| Scheme 1 | Scheme 2 | |
| Computer control system | 0.81 | 0.44 |
| Sensing and positioning system | 0.43 | 0.55 |
| Vision system | 0.76 | 0.8 |
| Data transmission system | 0.31 | 0.28 |
| Power supply power system | 0.47 | 0.63 |
(1) For demand 1, the evaluation criteria priority is: the computer control system, the vision system, the sensing positioning system, the power system and the data transmission system. The sequence obtained according to the weight calculation method of the present patent is shown in table 12.
TABLE 12
The two schemes were weighted and summed according to the obtained weights to obtain the evaluation results, as shown in table 13.
Watch 13
| Scheme 1 | Scheme 2 | |
| Computer control system 0.36 | 0.2916 | 0.1584 |
| Sensing and positioning system 0.2 | 0.086 | 0.11 |
| Visual system 0.28 | 0.2128 | 0.224 |
| Data transmission system 0.04 | 0.0124 | 0.0112 |
| Power supply power system 0.12 | 0.0564 | 0.0756 |
| Evaluation results | 0.6592 | 0.5792 |
(2) For demand 2, the evaluation criteria priority is: the power supply power system, the sensing positioning system, the data transmission system, the vision system and the computer control system. The weight calculation method according to this patent results in a priority map as shown in table 14.
TABLE 14
The two schemes were weighted and summed according to the obtained weights to obtain the evaluation results, as shown in table 15.
Watch 15
| Scheme 1 | Scheme 2 | |
| Computer control system 0.36 | 0.0324 | 0.0176 |
| Sensing and positioning system 0.2 | 0.1204 | 0.154 |
| Visual system 0.28 | 0.0912 | 0.096 |
| Data transmission system 0.04 | 0.062 | 0.056 |
| Power supply power system 0.12 | 0.1692 | 0.2268 |
| Evaluation results | 0.4752 | 0.5504 |
From tables 13 and 15 above, for demand 1, solution 1 is the computer control system optimal solution. For demand 2, solution 2 is a computer control system optimal solution.
Analyzing table 11, the scheme 1 has better indexes in the aspects of computer control system and data transmission system, so the evaluation result is better in the demand 1 with the highest demand priority for the computer control system. The scheme 2 has better indexes in the aspects of a sensing positioning system, a vision system and a power supply power system, so that the evaluation result is better in the requirement 2 with the highest priority for the power supply power system.
Therefore, the method for calculating the weight according to the priorities of different requirements and performing weighted evaluation analysis on the system can calculate the corresponding optimal scheme according to different requirements.
Although the present invention has been described in detail with reference to the foregoing illustrative embodiments, the present invention should not be construed as limited to the foregoing embodiments, and those skilled in the art will appreciate that various modifications, substitutions and alterations can be made to the technical solution and embodiments without departing from the spirit and scope of the present invention.
Claims (10)
1. A multi-rotor drone airborne computer performance evaluation system method, the multi-rotor drone airborne computer comprising: a computer control system, a sensing and positioning system, a vision system, a data transmission system and a power supply power system,
the method comprises the steps of respectively carrying out normalization processing on test data of performance evaluation indexes of the performance of a computer control system, the performance of a sensing and positioning system, the performance evaluation of a visual system, the performance of a data transmission system and the performance of a power supply power system, determining the weight of each performance index of each system, carrying out weighted summation on each performance index of the system to obtain a comprehensive evaluation result of the system, determining the weight of the systems, and carrying out weighted summation on the systems to obtain an overall performance evaluation result of the onboard computer.
2. The method of claim 1, wherein the performance of the computerized control system is evaluated from the performance of operational speed and control effect,
the floating point calculation power is used as an index for evaluating the operation speed of the system;
and adopting the control rising time and the maximum overshoot as indexes for evaluating the control effect.
3. The multi-rotor drone airborne computer performance evaluation system method of claim 1, evaluating said sensing and positioning system performance from position estimation accuracy and inertial sensor accuracy of the sensing and positioning system,
adopting a circular common calculation error as an index for evaluating the position estimation accuracy;
and adopting the precision grade as an index for evaluating the precision of the inertial sensor.
4. The multi-rotor drone airborne computer performance evaluation system method of claim 1, evaluating from imaging quality performance and image processing speed performance for the vision system performance,
adopting the image resolution, the maximum detectable distance and the field angle as indexes for evaluating the imaging quality;
and adopting the video stream frame rate as an index for evaluating the image processing speed.
5. The multi-rotor drone airborne computer performance evaluation system method of claim 1, evaluating from transmission distance and data transmission quality for the data transfer system performance,
evaluating an index of the transmission distance by adopting the maximum transmission distance;
the data transmission frequency and the data transmission delay are used as indexes for evaluating the data transmission quality.
6. The multi-rotor drone airborne computer performance evaluation system method of claim 1, evaluating said power supply power system performance from system age and flight quality,
the endurance time is used as an index for evaluating the service life of the system;
and the maximum takeoff weight and the maximum overload capacity are used as indexes for evaluating the flight quality.
7. The method according to claim 1, wherein the indexes are better as the numerical values are larger, such as floating point calculation power, image resolution, maximum detectable distance, field angle, video stream frame rate, maximum transmission distance, data transmission frequency, endurance time, maximum takeoff weight and maximum overload capacity, and are normalized by the following formula:
wherein: xiTo normalize the resulting value, xiFor performance index data, namely the value of a certain performance index in the ith scheme, the value acquisition generally comprises two methods, one method is to carry out actual measurement under a system standard use environment and take an average value, and the other method is to obtain the index data according to the component manufacturer; x is the number ofmaxFor index data x in all schemesiMaximum value of (1), xminFor index data x in all schemesiMinimum value of (1), a ═ 2tan-1(ln9)，
8. The method of claim 1, wherein the smaller the number of the indicators that are better, such as control rise time, maximum overshoot, circular calculation error, accuracy level, data transmission delay, etc., the system is normalized by the following equation two:
wherein: xiTo normalize the resulting value, xiFor raw index data, i.e. for a performance index in the ith schemeThe numerical value is generally obtained by two methods, one method is to carry out actual measurement under a system standard use environment to obtain an average value, and the other method is to obtain index data according to the component manufacturer; x is the number ofmaxFor index data x in all schemesiMaximum value of (1), xminFor index data x in all schemesiMinimum value of (1), a ═ 2tan-1(ln9)，
9. The method of claim 1, wherein for any component system, the weights of the evaluation indexes are determined according to a priority chart, and then the weighted evaluation results of the system are obtained by performing weighted calculation on the normalization indexes of the subsystems.
10. The method according to claim 1, wherein after the system evaluation values are obtained, the system weights are determined according to a sequence chart, and the system evaluation values are weighted and summed to obtain the overall performance evaluation result of the airborne computer.
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