CN112937911A - Unmanned aerial vehicle fault detection method and device, storage medium and processor - Google Patents
Unmanned aerial vehicle fault detection method and device, storage medium and processor Download PDFInfo
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Abstract
The application discloses a fault detection method and device for an unmanned aerial vehicle, a storage medium and a processor. Wherein, the method comprises the following steps: acquiring the ground-imitating flight state of the unmanned aerial vehicle from a flight log of the unmanned aerial vehicle; determining whether a terrain module of the unmanned aerial vehicle is abnormal or not according to the ground-imitating flight state of the unmanned aerial vehicle; when determining that the terrain module is abnormal, determining that the reason for the unmanned aerial vehicle to break down is the abnormality of the terrain module. The method and the device solve the technical problem that no analysis scheme aiming at the reason of fault generation in the ground-imitating flight exists in the related technology.
Description
Technical Field
The application relates to the field of unmanned aerial vehicle fault detection, in particular to a fault detection method and device for an unmanned aerial vehicle, a storage medium and a processor.
Background
In the prior art, a conventional unmanned aerial vehicle flight accident analysis method is to manually analyze various data in a flight log through software to analyze the data and judge the data by combining with a picture and an explanation of an environment of a fryer, but the analysis method needs a large amount of analyzed data, and when the ground-imitating flight is carried out, because the terrain in some special regions is complex, the phenomenon of the fryer is easy to occur when the flight height is climbed or reduced, but the reasons for causing the phenomenon of the fryer are various, so that the reason for determining the fault (such as the fryer) during the ground-imitating flight is determined, and an effective solution is not available at present.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the application provides a fault detection method and device of an unmanned aerial vehicle, a storage medium and a processor, and aims to at least solve the technical problem that no analysis scheme aiming at the reasons of fault generation in the ground-imitating flight exists in the related technology.
According to an aspect of the embodiments of the present application, there is provided a method for detecting a fault of an unmanned aerial vehicle, including: acquiring the ground-imitating flight state of the unmanned aerial vehicle from a flight log of the unmanned aerial vehicle; determining whether a terrain module of the unmanned aerial vehicle is abnormal or not according to the ground-imitating flight state of the unmanned aerial vehicle; when determining that the terrain module is abnormal, determining that the reason for the unmanned aerial vehicle to break down is the abnormality of the terrain module.
Optionally, determining whether the terrain module of the drone is abnormal according to the ground-imitating flight state of the drone includes: when the ground imitating height of the unmanned aerial vehicle in the ground imitating flying state is continuously zero in a preset time period or the time that the ground imitating height keeps unchanged exceeds a first threshold value, the terrain module is determined to be abnormal.
Optionally, when it is determined that the simulated ground altitude of the unmanned aerial vehicle in the simulated ground flight state is non-zero within a preset time period or the time during which the simulated ground altitude remains unchanged is less than a first threshold, the method further includes: judging whether the vertical speed change rate of the unmanned aerial vehicle is greater than a second threshold value or not; when the judgment result indicates that the vertical speed change rate of the unmanned aerial vehicle is greater than the second threshold value, whether the grade of the ground-imitating sensitivity of the unmanned aerial vehicle exceeds a preset grade or not is judged, and if the grade of the ground-imitating sensitivity of the unmanned aerial vehicle is greater than the preset grade, the unreasonable ground-imitating sensitivity setting of the unmanned aerial vehicle is determined.
Optionally, when the determination result indicates that the vertical speed change rate of the drone is less than the second threshold, the method further includes: whether the ground simulating height of the unmanned aerial vehicle is lower than the target ground simulating height or not is judged, whether the GPS vertical speed of the unmanned aerial vehicle is larger than zero or not is judged when the ground simulating height of the unmanned aerial vehicle is judged to be lower than the target ground simulating height, and whether the reason of the fault of the unmanned aerial vehicle is abnormal motor response or not is judged under the condition that the GPS vertical speed is smaller than zero.
Optionally, when the unmanned aerial vehicle is determined to be in the GPS altitude mode, determining a difference between the GPS altitude of the unmanned aerial vehicle and the target altitude, and comparing an absolute value of the difference with a preset threshold; and when the absolute value of the difference is smaller than a preset threshold value, triggering and determining that the time for which the ground imitating height of the unmanned aerial vehicle in the ground imitating flying state is continuously zero in a preset time period or the ground imitating height is kept unchanged exceeds a first threshold value.
Optionally, the method further comprises: when the absolute value of the difference is larger than a preset threshold value, judging whether the difference between the GPS height and the target height is larger than zero and larger than a preset height value; and when the judgment result is yes, triggering and determining whether the simulated ground height of the unmanned aerial vehicle in the simulated ground flight state is continuously zero in a preset time period or whether the time for which the simulated ground height is kept unchanged exceeds a first threshold value.
Optionally, when the ground imitating altitude of the unmanned aerial vehicle in the ground imitating flight state is continuously zero within a preset time period or the time for which the ground imitating altitude remains unchanged exceeds a first threshold, the method further includes: and judging whether a first difference value between the GPS height and the target GPS height is larger than a second difference value between the ground imitating height and a preset height value or not, and determining that the target height of the unmanned aerial vehicle is unreasonable when the first difference value is larger than the second difference value.
According to another aspect of the embodiment of the present application, a fault detection device for an unmanned aerial vehicle is provided, including: the acquisition module is used for acquiring the ground-imitating flight state of the unmanned aerial vehicle from the flight log of the unmanned aerial vehicle; the first determining module is used for determining whether a terrain module of the unmanned aerial vehicle is abnormal or not according to the ground-imitating flight state of the unmanned aerial vehicle; and the second determination module is used for determining that the reason for the failure of the unmanned aerial vehicle is the abnormality of the terrain module when the abnormality of the terrain module is determined.
Optionally, the first determining module is further configured to determine that the terrain module is abnormal when it is determined that the time during which the simulated ground altitude of the unmanned aerial vehicle in the simulated ground flight state is continuously zero within a preset time period or the simulated ground altitude remains unchanged exceeds a first threshold.
According to another aspect of the embodiments of the present application, there is provided a storage medium including a stored program, wherein when the program runs, a device on which the storage medium is located is controlled to execute the above method for detecting a fault of a drone.
According to another aspect of the embodiments of the present application, there is provided a processor for executing a program stored in a memory, wherein the program executes the above method for detecting a failure of a drone.
In the embodiment of the application, whether the terrain module is abnormal or not is determined according to the ground-imitating flight state of the unmanned aerial vehicle, and whether the terrain module of the unmanned aerial vehicle is abnormal or not is determined; when determining that the terrain module is abnormal, determining that the reason that the unmanned aerial vehicle breaks down is the mode that the terrain module is abnormal, by adopting the scheme, the reason that the unmanned aerial vehicle breaks down during ground imitating flight can be quickly detected, and further the technical problem that no analysis scheme is carried out on the reason that the fault occurs during ground imitating flight in the related technology is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flowchart of a method for detecting a fault of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a fault detection device of an unmanned aerial vehicle according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For a better understanding of the embodiments of the present application, technical terms referred to in the embodiments of the present application are explained below:
a terrain module: by imitating ground functional module and constituting to ground vision module two parts, imitate ground functional module and mainly assist unmanned aerial vehicle to fluctuate along the topography, when satellite positioning system signal shielding, interference etc. abnormal conditions appear, provide the assistance-localization real-time function for the aircraft to ground vision function, ensure flight safety.
Frying machine: the flying model airplane is abnormally dropped due to improper operation or machine failure and the like, and is called a fryer.
RTK (real-time kinematic) real-time dynamic carrier phase difference technique: the difference method for processing the observed quantity of the carrier phases of the two measuring stations in real time sends the carrier phases acquired by the reference station to a user receiver to calculate the difference and settle the coordinates.
Aiming at the problem that the reason of the phenomenon of the explosion of the unmanned aerial vehicle during the ground imitating flight cannot be quickly and effectively determined in the prior art, the method adopts a means of determining the reason of the fault during the ground imitating flight by utilizing data such as the ground imitating height and/or the field image during the ground imitating flight, and the technical means comprehensively considers the data such as the ground imitating height and/or the field image, so that the technical problem can be solved, and the judgment of the reason of the fault during the ground imitating flight of the unmanned aerial vehicle is realized.
According to an embodiment of the present application, there is provided a method embodiment of a method for fault detection of a drone, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a schematic flowchart of a method for detecting a fault of an unmanned aerial vehicle according to an embodiment of the present application, and as shown in fig. 1, the method includes the following steps:
step S102, acquiring the ground-imitating flight state of the unmanned aerial vehicle from the flight log of the unmanned aerial vehicle;
step S104, determining whether a terrain module of the unmanned aerial vehicle is abnormal or not according to the ground-imitating flight state of the unmanned aerial vehicle;
and S106, when the abnormity of the terrain module is determined, determining that the reason of the fault of the unmanned aerial vehicle is the abnormity of the terrain module.
When judging whether the terrain module is abnormal or not, the judgment can be made by judging whether the ground simulating height of the unmanned aerial vehicle is consistent with the target ground simulating height, specifically, the following implementation process can be shown, but not limited thereto: determining the difference between the height of the simulated land and the height of the target simulated land; when the absolute value of the difference value between the simulated land height and the target simulated land height is determined to be smaller than the threshold value, determining that the two are consistent; otherwise, the two are determined to be inconsistent. For example, if the height of the simulated terrain is 5 meters (height relative to the ground), the height of the target simulated terrain is 9 meters, the allowable error is 2 meters, the difference between the height and the target simulated terrain is 4 meters and is greater than the threshold value by 2 meters, and the difference is greater than the threshold value, so that the simulated terrain and the target simulated terrain are determined to be inconsistent. On the contrary, if the height of the simulated terrain is 8 meters (height relative to the ground), the height of the target simulated terrain is 9 meters, and the allowable error is 2 meters, the difference between the height of the simulated terrain and the height of the target simulated terrain is 1 meter, namely, less than 2 meters, and the difference is less than the threshold, so that the simulated terrain and the target simulated terrain are determined to be consistent.
By adopting the scheme, the reason of the fault during the ground imitating flight can be quickly detected, and the technical problem that no analysis scheme aiming at the reason of the fault during the ground imitating flight exists in the related technology is solved.
In some embodiments of the present application, the implementation manner of step S104 is various, for example, whether the terrain module of the drone is abnormal may be determined by determining whether the relevant data of the terrain module of the drone is detected, and for example, whether the terrain module of the drone is abnormal may be determined by: when the ground imitating height of the unmanned aerial vehicle in the ground imitating flying state is continuously zero in a preset time period or the time that the ground imitating height keeps unchanged exceeds a first threshold value, the terrain module is determined to be abnormal.
When the ground imitating altitude of the unmanned aerial vehicle in the ground imitating flying state is determined to be nonzero in a preset time period or the time for keeping the ground imitating altitude unchanged is less than a first threshold value, the following steps can be further executed: judging whether the vertical speed change rate of the unmanned aerial vehicle is greater than a second threshold value or not; when the judgment result indicates that the vertical speed change rate of the unmanned aerial vehicle is greater than the second threshold value, whether the grade of the ground-imitating sensitivity of the unmanned aerial vehicle exceeds a preset grade or not is judged, and if the grade of the ground-imitating sensitivity of the unmanned aerial vehicle is greater than the preset grade, the unreasonable ground-imitating sensitivity setting of the unmanned aerial vehicle is determined.
Wherein, sensitivity sets up the higher, and unmanned aerial vehicle's reaction rate is faster, and consequently, unmanned aerial vehicle is higher to terrain variation sensitivity, and vertical speed adjusts also faster, so arouses the height fluctuation easily.
In other embodiments of this application, when the judgement result indicates that unmanned aerial vehicle's vertical velocity rate of change is less than the second threshold value, can also judge whether unmanned aerial vehicle's imitative ground height is less than target imitative ground height to when judging that unmanned aerial vehicle's imitative ground height is less than target imitative ground height, judge whether unmanned aerial vehicle's GPS vertical velocity is greater than zero, under the condition that GPS vertical velocity is less than zero, judge whether the reason of unmanned aerial vehicle trouble is motor response anomaly.
When the unmanned aerial vehicle is determined to be in the GPS height determining mode, determining a difference value between the GPS height of the unmanned aerial vehicle and the target height, and comparing an absolute value of the difference value with a preset threshold value; and when the absolute value of the difference is smaller than a preset threshold value, triggering and determining that the time for which the ground imitating height of the unmanned aerial vehicle in the ground imitating flying state is continuously zero in a preset time period or the ground imitating height is kept unchanged exceeds a first threshold value.
When the absolute value of the difference is larger than a preset threshold value, judging whether the difference between the GPS height and the target height is larger than zero and larger than a preset height value; and when the judgment result is yes, triggering and determining whether the simulated ground height of the unmanned aerial vehicle in the simulated ground flight state is continuously zero in a preset time period or whether the time for which the simulated ground height is kept unchanged exceeds a first threshold value.
When the ground simulating height of the unmanned aerial vehicle in the ground simulating flying state is continuously zero within a preset time period or the time for keeping the ground simulating height unchanged exceeds a first threshold value, whether a first difference value between the GPS height and the target GPS height is larger than a second difference value between the ground simulating height and a preset height value or not is judged, and when the first difference value is larger than the second difference value, the target height of the unmanned aerial vehicle is determined to be unreasonable.
When the unmanned aerial vehicle imitates the ground mode and flies, the unmanned aerial vehicle mainly adjusts the height through the height that the terrain module acquireed (through installing the ultrasonic module (main) or visual positioning module (camera) in the bottom of the unmanned aerial vehicle) in order to reach the target imitative ground height, therefore imitate ground mode down when unmanned aerial vehicle's terrain module breaks down, the unmanned aerial vehicle takes place the flight accident easily. When the ground simulating height of the airplane keeps a certain numerical value unchanged, the terrain module representing the unmanned aerial vehicle is abnormal, the current ground simulating height of the unmanned aerial vehicle is compared with the target ground simulating height, if the ground simulating height is smaller than the target ground simulating height, the unmanned aerial vehicle can climb up continuously, if the ground simulating height is larger than the target ground simulating height, the unmanned aerial vehicle can reduce the flying height continuously, and at the moment, the ground contacting machine is quite likely to be touched.
When the unmanned aerial vehicle flies in a simulated ground mode, the situation that the flying height fluctuates too much sometimes occurs, when the vertical speed change rate of the airplane is judged to be large, the airplane is judged to have large height fluctuation, the too large height fluctuation of the airplane in the simulated ground mode can possibly be unreasonable result of the unreasonable setting of the simulated ground sensitivity, and therefore whether the simulated ground sensitivity is set reasonably or not needs to be judged when the airplane in the simulated ground mode has the height fluctuation.
When unmanned aerial vehicle's imitative ground height is less than the imitative ground height of target, represent that unmanned aerial vehicle need climb in order to reach the imitative ground height of target, and if detect the GPS vertical speed of aircraft and continuously be less than 0, represent that unmanned aerial vehicle's height is descending the height, explain unmanned aerial vehicle has appeared the phenomenon of power not enough at the during operation, the possibility that leads to aircraft power not enough is many, it is unusual mainly to be the motor response, the battery voltage is low, altitude is high, consequently judge whether normal at the motor response of aircraft when the aircraft descends, whether battery voltage is low excessively, whether altitude is too high, and then judge out the reason that aircraft power is not enough.
In some embodiments of the present application, the unmanned aerial vehicle altitude mode of the unmanned aerial vehicle is divided into a GPS fixed altitude mode flight and a ground-imitated mode flight.
When the GPS is in fixed-height flight, the airplane is easy to have fixed-height touchdown, and the accident is mainly caused by the setting problem of a client.
An altitude trend of the unmanned aerial vehicle can be known by comparing the current altitude of the unmanned aerial vehicle with the target altitude of the unmanned aerial vehicle. At unmanned aerial vehicle motor ring, the gesture encircles, and on the speed ring all normal basis, when unmanned aerial vehicle's GPS highly equals unmanned aerial vehicle's target height, it is normal to represent unmanned aerial vehicle flight. At this time, in the case where the terrain module is working normally, if it is detected that the drone is too close to the ground (less than a safe distance to the ground, for example, 0.6m), it represents that there is a high probability that the drone will touch the ground fryer.
When unmanned aerial vehicle's GPS height is greater than the target altitude, represent that unmanned aerial vehicle need descend highly in order to reach the target GPS height, subtract the height K that the target GPS height then equals unmanned aerial vehicle needs reduce with GPS current altitude, under the normal condition of topography module, if the topography module detects out that the height K that highly is less than unmanned aerial vehicle needs reduce apart from the ground, then represent that unmanned aerial vehicle has the risk of touching ground, the aircraft is very big the probability can touch ground the fryer.
When unmanned aerial vehicle's GPS height is less than the target altitude, represent that unmanned aerial vehicle need climb in order to reach the target GPS height, and if detect the GPS vertical velocity of aircraft and continuously be less than 0, represent that unmanned aerial vehicle's height is descending the height, explain that unmanned aerial vehicle has appeared the phenomenon of power insufficiency at the during operation, it is many to lead to the not enough possibility of aircraft power, it is unusual mainly to be the motor response, the battery voltage is low, altitude is high, consequently judge whether the motor response of aircraft is normal when the aircraft descends the height, whether battery voltage is low excessively, altitude is too high, and then judge out the not enough reason of aircraft power.
When the unmanned aerial vehicle imitates the ground mode and flies, the unmanned aerial vehicle mainly adjusts the height through the height that the terrain module acquireed in order to reach the imitative ground height of target, therefore imitate ground mode down when unmanned aerial vehicle's terrain module breaks down, the easy emergence flight accident of unmanned aerial vehicle. When the ground simulating height of the airplane keeps a certain numerical value unchanged, the terrain module representing the unmanned aerial vehicle is abnormal, the current ground simulating height of the unmanned aerial vehicle is compared with the target ground simulating height, if the ground simulating height is smaller than the target ground simulating height, the unmanned aerial vehicle can climb up continuously, if the ground simulating height is larger than the target ground simulating height, the unmanned aerial vehicle can reduce the flying height continuously, and at the moment, the ground contacting machine is quite likely to be touched.
When the unmanned aerial vehicle flies in a simulated ground mode, the situation that the flying height fluctuates too much sometimes occurs, when the vertical speed change rate of the airplane is judged to be large, the airplane is judged to have large height fluctuation, the too large height fluctuation of the airplane in the simulated ground mode can possibly be unreasonable result of the unreasonable setting of the simulated ground sensitivity, and therefore whether the simulated ground sensitivity is set reasonably or not needs to be judged when the airplane in the simulated ground mode has the height fluctuation.
When unmanned aerial vehicle's imitative ground height is less than the imitative ground height of target, represent that unmanned aerial vehicle need climb in order to reach the imitative ground height of target, and if detect the GPS vertical speed of aircraft and continuously be less than 0, represent that unmanned aerial vehicle's height is descending the height, explain unmanned aerial vehicle has appeared the phenomenon of power not enough at the during operation, the possibility that leads to aircraft power not enough is many, it is unusual mainly to be the motor response, the battery voltage is low, altitude is high, consequently judge whether normal at the motor response of aircraft when the aircraft descends, whether battery voltage is low excessively, whether altitude is too high, and then judge out the reason that aircraft power is not enough.
Fig. 2 is a schematic structural diagram of a fault detection device of an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 2, the fault detection device of the unmanned aerial vehicle includes: the acquisition module 20 is used for acquiring the ground-imitating flight state of the unmanned aerial vehicle from the flight log of the unmanned aerial vehicle; the first determination module 22 is used for determining whether the terrain module of the unmanned aerial vehicle is abnormal according to the ground-imitating flight state of the unmanned aerial vehicle; and the second determining module 24 is configured to determine that the reason that the unmanned aerial vehicle has the fault is the abnormality of the terrain module when the abnormality of the terrain module is determined.
The first determination module 22 is further configured to determine that the terrain module is abnormal when it is determined that the time during which the simulated ground altitude of the unmanned aerial vehicle in the simulated ground flight state is continuously zero within a preset time period or the simulated ground altitude remains unchanged exceeds a first threshold.
In some embodiments of the application, the first determining module 22 is further configured to determine whether a vertical speed change rate of the unmanned aerial vehicle is greater than a second threshold value when the simulated ground altitude of the unmanned aerial vehicle in the simulated ground flight state is nonzero within a preset time period or the simulated ground altitude remains unchanged for a time period less than the first threshold value; when the judgment result indicates that the vertical speed change rate of the unmanned aerial vehicle is greater than the second threshold value, whether the grade of the ground-imitating sensitivity of the unmanned aerial vehicle exceeds a preset grade or not is judged, and if the grade of the ground-imitating sensitivity of the unmanned aerial vehicle is greater than the preset grade, the unreasonable ground-imitating sensitivity setting of the unmanned aerial vehicle is determined.
The first determining module 22 is further configured to determine whether the ground simulating height of the unmanned aerial vehicle is lower than the target ground simulating height when the determination result indicates that the vertical speed change rate of the unmanned aerial vehicle is smaller than the second threshold, determine whether the GPS vertical speed of the unmanned aerial vehicle is greater than zero when the ground simulating height of the unmanned aerial vehicle is lower than the target ground simulating height, and determine whether the cause of the fault of the unmanned aerial vehicle is abnormal in response to the motor when the GPS vertical speed is lower than zero.
In some optional embodiments of the present application, the apparatus is further configured to determine a difference between a GPS altitude of the drone and a target altitude when the drone is determined to be in the GPS altitude setting mode before determining that the time during which the ground imitating altitude of the drone in the ground imitating flight state continues to be zero for a preset time period or the ground imitating altitude remains unchanged exceeds a first threshold, and compare an absolute value of the difference with the preset threshold; and when the absolute value of the difference is smaller than a preset threshold value, triggering and determining that the time for which the ground imitating height of the unmanned aerial vehicle in the ground imitating flying state is continuously zero in a preset time period or the ground imitating height is kept unchanged exceeds a first threshold value. When the absolute value of the difference is larger than a preset threshold value, judging whether the difference between the GPS height and the target height is larger than zero and larger than a preset height value; and when the judgment result is yes, triggering and determining whether the simulated ground height of the unmanned aerial vehicle in the simulated ground flight state is continuously zero in a preset time period or whether the time for which the simulated ground height is kept unchanged exceeds a first threshold value. The above functions may also be implemented by a trigger module, which may be a software module or a hardware module.
The triggering module is further configured to determine whether the difference between the GPS height and the target height is greater than zero and greater than a preset height value when the absolute value of the difference between the GPS height and the target height is greater than a preset threshold; and when the judgment result is yes, triggering and determining whether the simulated ground height of the unmanned aerial vehicle in the simulated ground flight state is continuously zero in a preset time period or whether the time for which the simulated ground height is kept unchanged exceeds a first threshold value.
Optionally, the device for detecting the fault is further configured to, when the simulated ground altitude of the unmanned aerial vehicle in the simulated ground flight state is continuously zero within a preset time period or the time during which the simulated ground altitude remains unchanged exceeds a first threshold, determine whether a first difference between the GPS altitude and the target GPS altitude is greater than a second difference between the simulated ground altitude and a preset altitude value, and determine that the target altitude of the unmanned aerial vehicle is unreasonable when the first difference is greater than the second difference.
The embodiment of the application provides a storage medium, which comprises a stored program, wherein when the program runs, the device where the storage medium is located is controlled to execute the above fault detection method for the unmanned aerial vehicle. The program is for implementing instructions for performing the following functions: acquiring the ground-imitating flight state of the unmanned aerial vehicle from a flight log of the unmanned aerial vehicle; determining whether a terrain module of the unmanned aerial vehicle is abnormal or not according to the ground-imitating flight state of the unmanned aerial vehicle; when the terrain module is determined to be abnormal, judging whether the ground simulating height of the unmanned aerial vehicle is consistent with the target ground simulating height; and when the judgment result indicates inconsistency, determining that the reason for the unmanned aerial vehicle to break down is that the terrain module is abnormal.
According to another aspect of the embodiments of the present application, there is provided a processor for executing a program stored in a memory, wherein the program executes the above method for detecting a failure of a drone. The program is for implementing instructions for performing the following functions: acquiring the ground-imitating flight state of the unmanned aerial vehicle from a flight log of the unmanned aerial vehicle; determining whether a terrain module of the unmanned aerial vehicle is abnormal or not according to the ground-imitating flight state of the unmanned aerial vehicle; when the terrain module is determined to be abnormal, judging whether the ground simulating height of the unmanned aerial vehicle is consistent with the target ground simulating height; and when the judgment result indicates inconsistency, determining that the reason for the unmanned aerial vehicle to break down is that the terrain module is abnormal.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (10)
1. A fault detection method of an unmanned aerial vehicle is characterized by comprising the following steps:
acquiring the ground-imitating flight state of the unmanned aerial vehicle from a flight log of the unmanned aerial vehicle;
determining whether a terrain module of the unmanned aerial vehicle is abnormal according to the ground-imitating flight state of the unmanned aerial vehicle;
and when the terrain module is determined to be abnormal, determining that the reason for the unmanned aerial vehicle to break down is that the terrain module is abnormal.
2. The method of claim 1, wherein determining whether a terrain module of the drone is abnormal based on the geo-flight status of the drone comprises:
when it is determined that the ground imitating altitude of the unmanned aerial vehicle in the ground imitating flying state is continuously zero within a preset time period or the time when the ground imitating altitude keeps unchanged exceeds a first threshold value, it is determined that the terrain module is abnormal.
3. The method of claim 2, wherein when it is determined that the simulated terrain height of the drone in the simulated terrain flight state is non-zero for a preset period of time or the simulated terrain height remains unchanged for less than a first threshold, the method further comprises:
judging whether the vertical speed change rate of the unmanned aerial vehicle is greater than a second threshold value or not; when the judgment result indicates that the vertical speed change rate of the unmanned aerial vehicle is greater than the second threshold value, whether the grade of the ground-imitating sensitivity of the unmanned aerial vehicle exceeds a preset grade or not is judged, and if the grade of the ground-imitating sensitivity of the unmanned aerial vehicle is greater than the preset grade, the ground-imitating sensitivity of the unmanned aerial vehicle is unreasonable in setting.
4. The method of claim 3, wherein when the determination result indicates that the vertical speed change rate of the drone is less than the second threshold, the method further comprises:
and judging whether the ground imitating height of the unmanned aerial vehicle is lower than a target ground imitating height or not, judging whether the GPS vertical speed of the unmanned aerial vehicle is greater than zero or not when the ground imitating height of the unmanned aerial vehicle is lower than the target ground imitating height, and judging whether the reason of the fault of the unmanned aerial vehicle is abnormal motor response or not under the condition that the GPS vertical speed is less than zero.
5. The method of claim 2, wherein before determining that the simulated ground altitude of the drone in the simulated ground flight state continues to be zero for a preset period of time or that the simulated ground altitude remains unchanged for more than a first threshold, the method further comprises:
determining whether the drone is in a GPS leveling mode; and
when the unmanned aerial vehicle is determined to be in the GPS height determining mode, determining a difference value between the GPS height of the unmanned aerial vehicle and the target height, and comparing an absolute value of the difference value with a preset threshold value; and when the absolute value of the difference value is smaller than the preset threshold value, triggering and determining that the time for which the ground imitating height of the unmanned aerial vehicle in the ground imitating flying state is continuously zero in a preset time period or the time for which the ground imitating height is kept unchanged exceeds a first threshold value.
6. The method of claim 5, further comprising:
when the absolute value of the difference is larger than the preset threshold, judging whether the difference between the GPS height and the target height is larger than zero and larger than a preset height value; and when the judgment result is yes, triggering and determining whether the ground imitating height of the unmanned aerial vehicle in the ground imitating flying state is continuously zero in a preset time period or whether the time for which the ground imitating height is kept unchanged exceeds a first threshold value.
7. The utility model provides an unmanned aerial vehicle's fault detection device which characterized in that includes:
the acquisition module is used for acquiring the ground-imitating flight state of the unmanned aerial vehicle from a flight log of the unmanned aerial vehicle;
the first determination module is used for determining whether a terrain module of the unmanned aerial vehicle is abnormal or not according to the ground-imitating flight state of the unmanned aerial vehicle;
and the second determination module is used for determining that the reason of the unmanned aerial vehicle failure is the abnormality of the terrain module when the abnormality of the terrain module is determined.
8. The apparatus of claim 7, wherein the first determining module is further configured to determine that the terrain module is abnormal when it is determined that the simulated terrain altitude of the drone in the simulated terrain flight state is continuously zero for a preset time period or the simulated terrain altitude remains unchanged for a time period exceeding a first threshold.
9. A storage medium, characterized in that the storage medium includes a stored program, wherein when the program runs, a device in which the storage medium is located is controlled to execute the method for detecting a fault of a drone according to any one of claims 1 to 6.
10. A processor, characterized in that the processor is configured to run a program stored in a memory, wherein the program is configured to execute the method of fault detection of a drone according to any one of claims 1 to 6 when running.
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