CN112947508A - Fault reason determining method and device - Google Patents

Fault reason determining method and device Download PDF

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Publication number
CN112947508A
CN112947508A CN201911260517.3A CN201911260517A CN112947508A CN 112947508 A CN112947508 A CN 112947508A CN 201911260517 A CN201911260517 A CN 201911260517A CN 112947508 A CN112947508 A CN 112947508A
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speed
horizontal
vertical
velocity
determining
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CN112947508B (en
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赵智博
王辉武
吴国易
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Guangzhou Xaircraft Technology Co Ltd
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Guangzhou Xaircraft Technology Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Abstract

The application discloses a fault cause determining method and device. Wherein, the method comprises the following steps: acquiring a fusion speed, a GPS speed and a reference speed of a flight device, wherein the fusion speed is determined based on the GPS speed, course information and IMU speed, and the reference speed is calculated according to a first position of the flight device at a first moment, a second position of the flight device at a second moment and a time length consumed by the flight device from the first position to the second position in a flight log; and when the first difference value between the GPS speed and the fusion speed is greater than a first preset threshold value, judging whether a second difference value between the GPS speed and the reference speed is less than a second preset threshold value, and determining the reason of the fault according to the judgment result. The problem of carry out the affirmation of the reason of unmanned aerial vehicle trouble through manual analysis, confirm the lower technical problem of efficiency is solved in this application.

Description

Fault reason determining method and device
Technical Field
The application relates to the field of unmanned aerial vehicles, in particular to a fault cause determining method and device.
Background
Among the prior art, when unmanned aerial vehicle takes place flight fault, in the guarantee list that the customer submitted, contain the flight log, the unmanned aerial vehicle trouble time environment photo just needs the flight log just can judge unmanned aerial vehicle trouble reason to most flight fault, and few small part flight faults still need differentiate in combination with unmanned aerial vehicle trouble environment photo and customer feedback description.
At present, an unmanned aerial vehicle flight accident analysis method is characterized in that flight control logs are subjected to data analysis manually through software and are distinguished by combining with unmanned aerial vehicle fault environment photos and descriptions, the analysis method has high requirements on knowledge and skills of analysts and is low in analysis timeliness, seven-eighty or nearly hundreds of flight accident data often appear in busy seasons of farming and need manual analysis and processing, on one hand, the analysis method is large in task amount for the analysts, on the other hand, the unmanned aerial vehicle accident causes cannot be analyzed timely and rapidly for clients, and the operation efficiency of the clients is greatly influenced. In view of the above problems, no effective solution has been proposed.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the application provides a fault reason determining method and device, and the technical problem that the determining efficiency is low is solved at least by determining the reason of the fault of an unmanned aerial vehicle through manual analysis.
According to an aspect of an embodiment of the present application, there is provided a method for determining a cause of a fault, including: acquiring a fusion speed, a GPS speed and a reference speed of a flight device, wherein the fusion speed is determined based on the GPS speed, course information and IMU speed, and the reference speed is calculated according to a first position of the flight device at a first moment, a second position of the flight device at a second moment and a time length consumed by the flight device from the first position to the second position in a flight log; and when the first difference value between the GPS speed and the fusion speed is greater than a first preset threshold value, judging whether a second difference value between the GPS speed and the reference speed is less than a second preset threshold value, and determining the reason of the fault according to the judgment result.
Optionally, the GPS velocity is obtained by calculating a received satellite signal according to a doppler effect, the IMU velocity is obtained by measurement of an IMU in a flight device, and the IMU velocity direction is determined using the flight device itself as a coordinate system.
Optionally, the GPS speed comprises a first vertical speed and a first horizontal speed, the IMU speed comprises a second vertical speed and a second horizontal speed, the fused speed comprises a fused vertical speed and a fused horizontal speed, the fused vertical speed is determined based on the first vertical speed and the second vertical speed, and the fused horizontal speed is determined based on the first horizontal speed, the heading information, and the second horizontal speed; the first difference value includes a first horizontal difference value and a first vertical difference value, the second difference value includes a second horizontal difference value and a second vertical difference value, and the reference speed includes a reference horizontal speed and a reference vertical speed, wherein the first horizontal difference value is a difference between the first horizontal speed and the fusion horizontal speed, the second horizontal difference value is a difference between the first horizontal speed and the reference horizontal speed, the first vertical difference value is a difference between the first vertical speed and the fusion vertical speed, and the second vertical difference value is a difference between the first vertical speed and the reference vertical speed.
Optionally, the second preset threshold includes a horizontal preset threshold and a vertical preset threshold, and determining the cause of the fault according to the determination result includes: and if the second vertical difference is smaller than the vertical preset threshold, determining that the second vertical speed is abnormal as one of the reasons causing the fault, and if the second horizontal difference is smaller than the horizontal preset threshold, determining that the second horizontal speed is abnormal as one of the reasons causing the fault.
Optionally, after determining that the second vertical velocity anomaly is one of the causes of the fault, the method further comprises: determining a cause of the second vertical velocity anomaly based on an acceleration detected by an accelerometer disposed in the IMU.
Optionally, determining the cause of the second vertical velocity anomaly from an acceleration detected by an accelerometer disposed in the IMU comprises: and judging whether the accelerometer is abnormal or not, if so, determining that the second vertical speed is abnormal due to the failure of the accelerometer, if not, judging whether the value of the acceleration is continuously greater than a third preset threshold value within a first preset time period, if so, detecting that an angular speed value detected by a gyroscope arranged in the IMU is continuously greater than a fourth preset threshold value within a second preset time period, and determining that the second vertical speed is abnormal due to the excessive vibration of the body of the flight equipment.
Optionally, after determining that the second horizontal speed abnormality is one of the causes causing the malfunction, the method further includes: when the moment that the first horizontal difference value is larger than a fifth preset threshold value does not exist in a third preset time period, and the difference value between the prejudged course and the course information is larger than or equal to 45 degrees, determining that the course information is abnormal as one of the reasons of the fault, wherein the prejudged course is obtained by analyzing according to the first horizontal speed and the second horizontal speed.
Optionally, after determining that the second horizontal speed abnormality is one of the causes causing the malfunction, the method further includes: and when the moment that the first level difference value is larger than a fifth preset threshold value exists in a third preset time period, determining the reason of the second horizontal velocity abnormity according to the acceleration detected by the accelerometer arranged in the IMU.
Optionally, determining the cause of the second horizontal velocity anomaly from an acceleration detected by an accelerometer disposed in the IMU comprises: and judging whether the accelerometer is abnormal or not, if so, determining that the second horizontal velocity is abnormal due to the failure of the accelerometer, and if not, determining that the value of the acceleration is continuously greater than a sixth preset threshold value in a fourth preset time period, and detecting that an angular velocity value detected by a gyroscope arranged in the IMU is continuously greater than a seventh preset threshold value in a fifth preset time period, and determining that the second horizontal velocity is abnormal due to the excessive vibration of the body of the flight equipment.
According to an aspect of an embodiment of the present application, there is provided a fault alarm method, including: acquiring a fusion speed, a GPS speed and a reference speed of a flight device, wherein the fusion speed is determined based on the GPS speed, course information and IMU speed, and the reference speed is calculated according to a first position of the flight device at a first moment, a second position of the flight device at a second moment and a time length consumed by the flight device from the first position to the second position in a flight log; and when the first difference value between the GPS speed and the fusion speed is greater than a first preset threshold value, judging whether a second difference value between the GPS speed and the reference speed is less than a second preset threshold value, and if so, sending fault prompt information.
According to an aspect of an embodiment of the present application, there is provided a failure cause determination apparatus including: the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a fusion speed, a GPS speed and a reference speed of the flight equipment, the fusion speed is determined based on the GPS speed, course information and IMU speed, and the reference speed is calculated according to a first position of the flight equipment at a first moment, a second position of the flight equipment at a second moment and time length consumed by the flight equipment from the first position to the second position in a flight log; and the judging module is used for judging whether a second difference value between the GPS speed and the reference speed is smaller than a second preset threshold value or not when the first difference value between the GPS speed and the fusion speed is larger than the first preset threshold value, and determining the reason of the fault according to the judgment result.
According to an aspect of the embodiments of the present application, there is provided a storage medium, where the storage medium includes a stored program, and when the program runs, a device where the storage medium is located is controlled to execute the above fault cause determination method.
According to an aspect of the embodiments of the present application, there is provided a processor configured to execute a program, where the program executes the method for determining the cause of the failure.
According to an aspect of the embodiments of the present application, there is provided a computer device, including a memory and a processor, where the memory stores a computer program, and the processor executes the computer program to implement the method for determining a cause of a failure described above.
In the embodiment of the application, acquiring a fusion speed, a GPS speed and a reference speed of a flight device, wherein the fusion speed is determined based on the GPS speed, course information and IMU speed, and the reference speed is calculated according to a first position of the flight device at a first moment, a second position of the flight device at a second moment and a time length consumed by the flight device for flying from the first position to the second position in a flight log; when the first difference value between the GPS speed and the fusion speed is larger than a first preset threshold value, whether the second difference value between the GPS speed and the reference speed is smaller than a second preset threshold value or not is judged, and the fault reason is determined according to the judgment result, so that the technical effect of automatically confirming the fault reason of the flight equipment according to a plurality of speed sources is achieved, the technical problem that the unmanned aerial vehicle fault reason is confirmed through manual analysis and the confirming efficiency is low is solved.
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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 flow chart diagram illustrating an alternative failure cause determination method according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an alternative failure cause determination apparatus according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an alternative computer device 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.
First, some terms or terms appearing in the description of the embodiments of the present application are applicable to the following explanations:
IMU (Inertial measurement unit) is a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of an object.
In accordance with an embodiment of the present application, there is provided a method for determining a cause of a failure, where the steps illustrated in the flowchart of the figure may be performed in a computer system, such as a set of computer-executable instructions, and where a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than that illustrated.
Fig. 1 is a schematic flow chart of a fault cause determination method according to an embodiment of the present application, and as shown in fig. 1, the method at least includes the following steps:
step S102, acquiring a fusion speed, a GPS speed and a reference speed of the flight equipment, wherein the fusion speed is determined based on the GPS speed, the course information and the IMU speed, and the reference speed is calculated according to a first position of the flight equipment at a first moment, a second position of the flight equipment at a second moment and the time length consumed by the flight equipment for flying from the first position to the second position in a flight log;
in some optional embodiments of the present application, calculating the reference speed from the first position of the heeling apparatus at the first time, the second position at the second time, and the time elapsed for the heeling apparatus to heel from the first position to the second position in the logbook may be accomplished by: and taking the quotient of the distance from the first position to the second position and the duration of the first time from the second time as the reference speed. The first time, the second time, the first position and the second position can be recorded in the flight control log. When the reference speed is a horizontal speed, the first position and the second position are longitude and latitude positions, and when the reference speed is a vertical speed, the first position and the second position are vertical positions.
And step S104, when the first difference value between the GPS speed and the fusion speed is greater than a first preset threshold value, judging whether a second difference value between the GPS speed and the reference speed is less than a second preset threshold value, and determining the reason of the fault according to the judgment result. The first difference may also be an absolute value of the first difference, and the second difference may also be an absolute value of the second difference.
In some optional embodiments of the present application, the user may set the first preset threshold and the second preset threshold, where the first preset threshold may be 0.3m/s to 0.8m/s, and the second preset threshold may also be 0.3m/s to 0.8 m/s.
In some optional real-time examples of the present application, each time point corresponds to a GPS velocity, an IMU velocity, a fusion velocity, and a reference velocity. In some optional embodiments of the present application, a curve with time as an abscissa and a data value as an ordinate can be fitted according to the obtained data, such as GPS speed, IMU speed, fusion speed, and reference speed, so that an administrator can conveniently and visually check the speed, and can conveniently analyze the fitting degree of the curve.
Optionally, the determining of the cause of the fault according to the judgment result may be determining the fault caused by an abnormal speed of the IMU when the judgment result indicates that a second difference value between the GPS speed and the reference speed is smaller than a second preset threshold.
Optionally, the GPS velocity is obtained by calculating a received satellite signal according to a doppler effect, the IMU velocity is obtained by measurement of an IMU in a flight device, and the IMU velocity direction is determined using the flight device itself as a coordinate system.
Optionally, the GPS speed comprises a first vertical speed and a first horizontal speed, the IMU speed comprises a second vertical speed and a second horizontal speed, the fused speed comprises a fused vertical speed and a fused horizontal speed, the fused vertical speed is determined based on the first vertical speed and the second vertical speed, and the fused horizontal speed is determined based on the first horizontal speed, the heading information, and the second horizontal speed; the first difference value includes a first horizontal difference value and a first vertical difference value, the second difference value includes a second horizontal difference value and a second vertical difference value, and the reference speed includes a reference horizontal speed and a reference vertical speed, wherein the first horizontal difference value is a difference between the first horizontal speed and the fusion horizontal speed, the second horizontal difference value is a difference between the first horizontal speed and the reference horizontal speed, the first vertical difference value is a difference between the first vertical speed and the fusion vertical speed, and the second vertical difference value is a difference between the first vertical speed and the reference vertical speed.
In some optional embodiments of the present application, determining the fusion vertical velocity based on the first vertical velocity and the second vertical velocity may be performed by: taking an average value of the first vertical velocity and the second vertical velocity as the fusion vertical velocity, or taking a square root of the first vertical velocity and the second vertical velocity as the fusion vertical velocity.
Alternatively, the north and east values of the GPS velocity and IMU velocity may be averaged to obtain the north and east values of the fusion velocity.
Optionally, determining a fusion horizontal velocity based on the first horizontal velocity, the heading information, and the second horizontal velocity may be performed by: and converting the second horizontal speed based on the self coordinate system of the flight equipment into a target horizontal speed based on a geodetic coordinate system based on the course information and the second horizontal speed, and taking the average value of the first horizontal speed and the target horizontal speed as the fusion horizontal speed or taking the square root of the first horizontal speed and the target horizontal speed as the fusion horizontal speed.
Alternatively, regarding the square root of the first horizontal velocity and the target horizontal velocity as the fusion horizontal velocity may be implemented as follows: the first horizontal velocity is a, the target horizontal velocity is b, and the fusion horizontal velocity is c, then
Figure BDA0002311478030000061
Or
Figure BDA0002311478030000062
Optionally, the second preset threshold includes a horizontal preset threshold and a vertical preset threshold, and determining the cause of the fault according to the determination result may be implemented in the following manner: and if the second vertical difference is smaller than the vertical preset threshold, determining that the second vertical speed is abnormal as one of the reasons causing the fault, and if the second horizontal difference is smaller than the horizontal preset threshold, determining that the second horizontal speed is abnormal as one of the reasons causing the fault.
Optionally, after determining that the second vertical velocity anomaly is one of the causes of the failure, the method further needs to perform the following steps: determining a cause of the second vertical velocity anomaly based on an acceleration detected by an accelerometer disposed in the IMU.
Optionally, determining the cause of the second vertical velocity abnormality according to the acceleration detected by the accelerometer disposed in the IMU may be implemented by: and judging whether the accelerometer is abnormal or not, if so, determining that the second vertical speed is abnormal due to the failure of the accelerometer, if not, judging whether the value of the acceleration is continuously greater than a third preset threshold value within a first preset time period, if so, detecting that an angular speed value detected by a gyroscope arranged in the IMU is continuously greater than a fourth preset threshold value within a second preset time period, and determining that the second vertical speed is abnormal due to the excessive vibration of the body of the flight equipment. When the flight state of the flight device is vertical flight, the acceleration fault causes the second vertical speed abnormality to cause the height fluctuation of the flight device, and the flight device can be an unmanned aerial vehicle.
Alternatively, the specific values of the first preset time period and the third preset threshold may be set in advance, and the specific condition that the value of the acceleration is continuously greater than the third preset threshold in the first preset time period may be that the reading of the accelerometer is continuously greater in the first preset time period. Specific numerical values of the second preset time period and the fourth preset threshold value may also be set in advance, and that the angular velocity value is continuously greater than the fourth preset threshold value in the second preset time period may be represented as that the angular velocity value is continuously larger in the second preset time period.
Optionally, when the value of the acceleration is not continuously greater than the third preset threshold value within the first preset time period, it may be determined that the second vertical velocity is faulty to cause the height fluctuation of the unmanned aerial vehicle, and it should be noted that the fault cause needs to be further analyzed manually to ensure complete correctness.
Optionally, after determining that the second horizontal speed abnormality is one of the causes of the failure, the method further needs to perform the following steps: when the moment that the first horizontal difference value is larger than a fifth preset threshold value does not exist in a third preset time period, and the difference value between the prejudged course and the course information is larger than or equal to 45 degrees, determining that the course information is abnormal as one of the reasons of the fault, wherein the prejudged course is obtained by analyzing according to the first horizontal speed and the second horizontal speed. The difference value between the pre-judged course and the course information can be an angle difference value between the pre-judged course and the course information or an absolute value of a difference value between angles corresponding to the pre-judged course and the course information.
In some optional embodiments of the present application, the first preset threshold includes a first horizontal preset threshold and a first vertical preset threshold, and the second preset threshold includes a second horizontal preset threshold and a second vertical preset threshold, when the first horizontal difference is greater than the first horizontal preset threshold and the second horizontal difference is less than the second horizontal preset threshold, it may be directly determined whether the accelerometer is abnormal, if so, it is determined that the accelerometer is abnormal in speed at the second horizontal, or it may be directly determined whether the difference between the predicted heading and the heading information is greater than or equal to 45 degrees, and if so, it is determined that the heading is abnormal in speed at the second horizontal.
In some optional embodiments of the present application, the presence of a time at which the first level difference is greater than the fifth preset threshold value within the third preset time period may refer to a time at which the first horizontal velocity and the fusion horizontal velocity exhibit sharp separation.
Optionally, after determining that the second horizontal speed abnormality is one of the causes of the failure, the method further needs to perform the following steps: and when the moment that the first level difference value is larger than a fifth preset threshold value exists in a third preset time period, determining the reason of the second horizontal velocity abnormity according to the acceleration detected by the accelerometer arranged in the IMU.
Optionally, determining the cause of the second horizontal velocity abnormality according to the acceleration detected by the accelerometer disposed in the IMU may be implemented by: and judging whether the accelerometer is abnormal or not, if so, determining that the second horizontal velocity is abnormal due to the failure of the accelerometer, and if not, determining that the value of the acceleration is continuously greater than a sixth preset threshold value in a fourth preset time period, and detecting that an angular velocity value detected by a gyroscope arranged in the IMU is continuously greater than a seventh preset threshold value in a fifth preset time period, and determining that the second horizontal velocity is abnormal due to the excessive vibration of the body of the flight equipment.
Optionally, if it is not detected that the value of the acceleration is continuously greater than the sixth preset threshold value within the fourth preset time period, and it is also not detected that the value of the angular velocity is continuously greater than the seventh preset threshold value within the fifth preset time period, it may be determined that the accelerometer is misdetected to cause the second horizontal velocity abnormality.
In the embodiment of the application, acquiring a fusion speed, a GPS speed and a reference speed of a flight device, wherein the fusion speed is determined based on the GPS speed, course information and IMU speed, and the reference speed is calculated according to a first position of the flight device at a first moment, a second position of the flight device at a second moment and a time length consumed by the flight device for flying from the first position to the second position in a flight log; when the first difference value between the GPS speed and the fusion speed is larger than a first preset threshold value, whether the second difference value between the GPS speed and the reference speed is smaller than a second preset threshold value or not is judged, and the fault reason is determined according to the judgment result, so that the technical effect of automatically confirming the fault reason of the flight equipment according to a plurality of speed sources is achieved, the technical problem that the unmanned aerial vehicle fault reason is confirmed through manual analysis and the confirming efficiency is low is solved.
According to an aspect of an embodiment of the present application, there is provided a fault alarm method, including at least the following steps:
step S202, acquiring a fusion speed, a GPS speed and a reference speed of the flight equipment, wherein the fusion speed is determined based on the GPS speed, the course information and the IMU speed, and the reference speed is calculated according to a first position of the flight equipment at a first moment, a second position of the flight equipment at a second moment and the time length consumed by the flight equipment for flying from the first position to the second position in a flight log;
in some optional embodiments of the present application, calculating the reference speed from the first position of the heeling apparatus at the first time, the second position at the second time, and the time elapsed for the heeling apparatus to heel from the first position to the second position in the logbook may be accomplished by: and taking the quotient of the distance from the first position to the second position and the duration of the first time from the second time as the reference speed. The first time, the second time, the first position and the second position can be recorded in the flight control log. When the reference speed is a horizontal speed, the first position and the second position are longitude and latitude positions, and when the reference speed is a vertical speed, the first position and the second position are vertical positions.
Step S204, when the first difference value between the GPS speed and the fusion speed is greater than a first preset threshold value, whether a second difference value between the GPS speed and the reference speed is smaller than a second preset threshold value is judged, and if the second difference value is smaller than the second preset threshold value, fault prompt information is sent. And the fault prompt information is used for prompting the IMU speed abnormity as the cause of the fault of the flight equipment.
In some optional embodiments of the present application, the user may set the first preset threshold and the second preset threshold, where the first preset threshold may be 0.3m/s to 0.8m/s, and the second preset threshold may also be 0.3m/s to 0.8 m/s.
In some optional real-time examples of the present application, each time point corresponds to a GPS velocity, an IMU velocity, a fusion velocity, and a reference velocity. In some optional embodiments of the present application, a curve with time as an abscissa and a data value as an ordinate can be fitted according to the obtained data, such as GPS speed, IMU speed, fusion speed, and reference speed, so that an administrator can conveniently and visually check the speed, and can conveniently analyze the fitting degree of the curve.
Optionally, the determining of the cause of the fault according to the judgment result may be determining the fault caused by an abnormal speed of the IMU when the judgment result indicates that a second difference value between the GPS speed and the reference speed is smaller than a second preset threshold.
Optionally, the GPS velocity is obtained by calculating a received satellite signal according to a doppler effect, the IMU velocity is obtained by measurement of an IMU in a flight device, and the IMU velocity direction is determined using the flight device itself as a coordinate system.
Optionally, the GPS speed comprises a first vertical speed and a first horizontal speed, the IMU speed comprises a second vertical speed and a second horizontal speed, the fused speed comprises a fused vertical speed and a fused horizontal speed, the fused vertical speed is determined based on the first vertical speed and the second vertical speed, and the fused horizontal speed is determined based on the first horizontal speed, the heading information, and the second horizontal speed; the first difference value includes a first horizontal difference value and a first vertical difference value, the second difference value includes a second horizontal difference value and a second vertical difference value, and the reference speed includes a reference horizontal speed and a reference vertical speed, wherein the first horizontal difference value is a difference between the first horizontal speed and the fusion horizontal speed, the second horizontal difference value is a difference between the first horizontal speed and the reference horizontal speed, the first vertical difference value is a difference between the first vertical speed and the fusion vertical speed, and the second vertical difference value is a difference between the first vertical speed and the reference vertical speed.
In some optional embodiments of the present application, determining the fusion vertical velocity based on the first vertical velocity and the second vertical velocity may be performed by: taking an average value of the first vertical velocity and the second vertical velocity as the fusion vertical velocity, or taking a square root of the first vertical velocity and the second vertical velocity as the fusion vertical velocity.
Alternatively, the north and east values of the GPS velocity and IMU velocity may be averaged to obtain the north and east values of the fusion velocity.
Optionally, determining a fusion horizontal velocity based on the first horizontal velocity, the heading information, and the second horizontal velocity may be performed by: and converting the second horizontal speed based on the self coordinate system of the flight equipment into a target horizontal speed based on a geodetic coordinate system based on the course information and the second horizontal speed, and taking the average value of the first horizontal speed and the target horizontal speed as the fusion horizontal speed or taking the square root of the first horizontal speed and the target horizontal speed as the fusion horizontal speed.
Optionally, the second preset threshold includes a horizontal preset threshold and a vertical preset threshold, and determining the cause of the fault according to the determination result may be implemented in the following manner: and if the second vertical difference is smaller than the vertical preset threshold, determining that the second vertical speed is abnormal as one of the reasons causing the fault, and if the second horizontal difference is smaller than the horizontal preset threshold, determining that the second horizontal speed is abnormal as one of the reasons causing the fault.
Optionally, after determining that the second vertical velocity anomaly is one of the causes of the failure, the method further needs to perform the following steps: determining a cause of the second vertical velocity anomaly based on an acceleration detected by an accelerometer disposed in the IMU.
Optionally, determining the cause of the second vertical velocity abnormality according to the acceleration detected by the accelerometer disposed in the IMU may be implemented by: and judging whether the accelerometer is abnormal or not, if so, determining that the second vertical speed is abnormal due to the failure of the accelerometer, if not, judging whether the value of the acceleration is continuously greater than a third preset threshold value within a first preset time period, if so, detecting that an angular speed value detected by a gyroscope arranged in the IMU is continuously greater than a fourth preset threshold value within a second preset time period, and determining that the second vertical speed is abnormal due to the excessive vibration of the body of the flight equipment. When the flight state of the flight device is vertical flight, the acceleration fault causes the second vertical speed abnormality to cause the height fluctuation of the flight device, and the flight device can be an unmanned aerial vehicle.
Alternatively, the specific values of the first preset time period and the third preset threshold may be set in advance, and the specific condition that the value of the acceleration is continuously greater than the third preset threshold in the first preset time period may be that the reading of the accelerometer is continuously greater in the first preset time period. Specific numerical values of the second preset time period and the fourth preset threshold value may also be set in advance, and that the angular velocity value is continuously greater than the fourth preset threshold value in the second preset time period may be represented as that the angular velocity value is continuously larger in the second preset time period.
Optionally, when the value of the acceleration is not continuously greater than the third preset threshold value within the first preset time period, it may be determined that the second vertical velocity is faulty to cause the height fluctuation of the unmanned aerial vehicle, and it should be noted that the fault cause needs to be further analyzed manually to ensure complete correctness.
Optionally, after determining that the second horizontal speed abnormality is one of the causes of the failure, the method further needs to perform the following steps: when the moment that the first horizontal difference value is larger than a fifth preset threshold value does not exist in a third preset time period, and the difference value between the prejudged course and the course information is larger than or equal to 45 degrees, determining that the course information is abnormal as one of the reasons of the fault, wherein the prejudged course is obtained by analyzing according to the first horizontal speed and the second horizontal speed.
In some optional embodiments of the present application, the first preset threshold includes a first horizontal preset threshold and a first vertical preset threshold, and the second preset threshold includes a second horizontal preset threshold and a second vertical preset threshold, when the first horizontal difference is greater than the first horizontal preset threshold and the second horizontal difference is less than the second horizontal preset threshold, it may be directly determined whether the accelerometer is abnormal, if so, it is determined that the accelerometer is abnormal in speed at the second horizontal, or it may be directly determined whether the difference between the predicted heading and the heading information is greater than or equal to 45 degrees, and if so, it is determined that the heading is abnormal in speed at the second horizontal.
In some optional embodiments of the present application, the presence of a time at which the first level difference is greater than the fifth preset threshold value within the third preset time period may refer to a time at which the first horizontal velocity and the fusion horizontal velocity exhibit sharp separation.
Optionally, after determining that the second horizontal speed abnormality is one of the causes of the failure, the method further needs to perform the following steps: and when the moment that the first level difference value is larger than a fifth preset threshold value exists in a third preset time period, determining the reason of the second horizontal velocity abnormity according to the acceleration detected by the accelerometer arranged in the IMU.
Optionally, determining the cause of the second horizontal velocity abnormality according to the acceleration detected by the accelerometer disposed in the IMU may be implemented by: and judging whether the accelerometer is abnormal or not, if so, determining that the second horizontal velocity is abnormal due to the failure of the accelerometer, and if not, determining that the value of the acceleration is continuously greater than a sixth preset threshold value in a fourth preset time period, and detecting that an angular velocity value detected by a gyroscope arranged in the IMU is continuously greater than a seventh preset threshold value in a fifth preset time period, and determining that the second horizontal velocity is abnormal due to the excessive vibration of the body of the flight equipment.
Optionally, if it is not detected that the value of the acceleration is continuously greater than the sixth preset threshold value within the fourth preset time period, and it is also not detected that the value of the angular velocity is continuously greater than the seventh preset threshold value within the fifth preset time period, it may be determined that the accelerometer is misdetected to cause the second horizontal velocity abnormality.
According to an embodiment of the present application, there is also provided a failure cause determining apparatus for implementing the failure cause determining method, as shown in fig. 2, the apparatus includes: an acquisition module 22 and a judgment module 24; wherein:
the acquiring module 22 is configured to acquire a fusion speed, a GPS speed, and a reference speed of the flying apparatus, where the fusion speed is determined based on the GPS speed, the heading information, and the IMU speed, and the reference speed is calculated according to a first position of the flying apparatus at a first time, a second position of the flying apparatus at a second time, and a time length consumed by the flying apparatus to fly from the first position to the second position in a flight log;
the judging module 24 is configured to, when a first difference between the GPS speed and the fusion speed is greater than a first preset threshold, judge whether a second difference between the GPS speed and the reference speed is smaller than a second preset threshold, and determine a cause of the fault according to a judgment result.
Optionally, the GPS velocity is obtained by calculating a received satellite signal according to a doppler effect, the IMU velocity is obtained by measurement of an IMU in a flight device, and the IMU velocity direction is determined using the flight device itself as a coordinate system.
Optionally, the GPS speed comprises a first vertical speed and a first horizontal speed, the IMU speed comprises a second vertical speed and a second horizontal speed, the fused speed comprises a fused vertical speed and a fused horizontal speed, the fused vertical speed is determined based on the first vertical speed and the second vertical speed, and the fused horizontal speed is determined based on the first horizontal speed, the heading information, and the second horizontal speed; the first difference value includes a first horizontal difference value and a first vertical difference value, the second difference value includes a second horizontal difference value and a second vertical difference value, and the reference speed includes a reference horizontal speed and a reference vertical speed, wherein the first horizontal difference value is a difference between the first horizontal speed and the fusion horizontal speed, the second horizontal difference value is a difference between the first horizontal speed and the reference horizontal speed, the first vertical difference value is a difference between the first vertical speed and the fusion vertical speed, and the second vertical difference value is a difference between the first vertical speed and the reference vertical speed.
Optionally, the second preset threshold includes a horizontal preset threshold and a vertical preset threshold, and the determining module 24 includes a determining sub-module, configured to determine that the second vertical speed is abnormal as one of the reasons causing the fault if the second vertical difference is smaller than the vertical preset threshold, and determine that the second horizontal speed is abnormal as one of the reasons causing the fault if the second horizontal difference is smaller than the horizontal preset threshold.
Optionally, the apparatus further includes a first determining module, configured to determine, after the determining sub-module determines that the second vertical velocity anomaly is one of the causes causing the fault, a cause of the second vertical velocity anomaly according to an acceleration detected by an accelerometer disposed in the IMU.
The first determining module comprises a first determining submodule and is used for judging whether the accelerometer is abnormal or not, if so, determining that the second vertical speed is abnormal due to the fact that the accelerometer is failed, if not, determining whether the value of the acceleration is continuously larger than a third preset threshold value within a first preset time period or not, if so, detecting that the angular speed value detected by a gyroscope arranged in the IMU is continuously larger than a fourth preset threshold value within a second preset time period, and determining that the second vertical speed is abnormal due to the fact that the body of the flight equipment shakes excessively.
The device further comprises a second determining module, configured to determine, after the determining module determines that the second horizontal speed is abnormal and is one of the causes of the fault, that the heading information is abnormal and is one of the causes of the fault when the time when the first horizontal difference is greater than a fifth preset threshold does not exist within a third preset time period and a difference between a pre-determined heading and heading information is greater than or equal to 45 degrees, where the pre-determined heading is obtained through analysis according to the first horizontal speed and the second horizontal speed.
The apparatus further includes a third determining module, configured to determine, after the determining module determines that the second horizontal velocity is abnormal and is one of the causes causing the fault, the cause of the second horizontal velocity according to an acceleration detected by an accelerometer disposed in the IMU when a time at which the first horizontal difference is greater than a fifth preset threshold exists within a third preset time period.
The third determining module comprises a second determining submodule and is used for judging whether the accelerometer is abnormal or not, if so, determining that the second horizontal velocity is abnormal due to the fact that the accelerometer is failed, and if not, determining that the value of the acceleration is continuously larger than a sixth preset threshold value in a fourth preset time period and detecting that an angular velocity value detected by a gyroscope arranged in the IMU is continuously larger than a seventh preset threshold value in a fifth preset time period, determining that the second horizontal velocity is abnormal due to the fact that the body vibration of the flight equipment is overlarge.
It should be noted that, reference may be made to the description related to the embodiment shown in fig. 1 for a preferred implementation of the embodiment shown in fig. 2, and details are not described here again.
Fig. 3 is a block diagram of a computer apparatus according to an embodiment of the present invention. As shown in fig. 3, the computer device 300 may include: one or more processors 302 (only one shown), a memory 304, and a radio frequency module, an audio module, and a display screen.
The memory 304 stores a computer program; the processor 302 implements the above failure cause determination method when executing the computer program.
According to another aspect of the embodiments of the present application, there is also provided a storage medium including a stored program, optionally in this embodiment, the storage medium is configured to store program code for performing the following steps:
acquiring a fusion speed, a GPS speed and a reference speed of a flight device, wherein the fusion speed is determined based on the GPS speed, course information and IMU speed, and the reference speed is calculated according to a first position of the flight device at a first moment, a second position of the flight device at a second moment and a time length consumed by the flight device from the first position to the second position in a flight log; and when the first difference value between the GPS speed and the fusion speed is greater than a first preset threshold value, judging whether a second difference value between the GPS speed and the reference speed is less than a second preset threshold value, and determining the reason of the fault according to the judgment result.
According to another aspect of the embodiments of the present application, there is also provided a processor, configured to execute a program, where the program may execute program code for performing the following steps in a failure cause determination method for an application program when the program runs:
acquiring a fusion speed, a GPS speed and a reference speed of a flight device, wherein the fusion speed is determined based on the GPS speed, course information and IMU speed, and the reference speed is calculated according to a first position of the flight device at a first moment, a second position of the flight device at a second moment and a time length consumed by the flight device from the first position to the second position in a flight log; and when the first difference value between the GPS speed and the fusion speed is greater than a first preset threshold value, judging whether a second difference value between the GPS speed and the reference speed is less than a second preset threshold value, and determining the reason of the fault according to the judgment result.
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, a division of a unit may be a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be 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 of 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 (14)

1. A method for determining a cause of a fault, comprising:
acquiring a fusion speed, a GPS speed and a reference speed of a flight device, wherein the fusion speed is determined based on the GPS speed, course information and IMU speed, and the reference speed is calculated according to a first position of the flight device at a first moment, a second position of the flight device at a second moment and a time length consumed by the flight device from the first position to the second position in a flight log;
when a first difference value between the GPS speed and the fusion speed is greater than a first preset threshold value,
and judging whether a second difference value between the GPS speed and the reference speed is smaller than a second preset threshold value or not, and determining the reason of the fault according to the judgment result.
2. The method of claim 1, wherein the GPS velocity is computed from received satellite signals based on doppler, wherein the magnitude of the IMU velocity is measured by an IMU in the flying apparatus, and wherein the direction of the IMU velocity is determined using the flying apparatus itself as a coordinate system.
3. The method of claim 2, wherein the GPS velocity comprises a first vertical velocity and a first horizontal velocity, the IMU velocity comprises a second vertical velocity and a second horizontal velocity, the fused velocity comprises a fused vertical velocity and a fused horizontal velocity, the fused vertical velocity is determined based on the first vertical velocity and the second vertical velocity, the fused horizontal velocity is determined based on the first horizontal velocity, the heading information, and the second horizontal velocity; the first difference value includes a first horizontal difference value and a first vertical difference value, the second difference value includes a second horizontal difference value and a second vertical difference value, and the reference speed includes a reference horizontal speed and a reference vertical speed, wherein the first horizontal difference value is a difference between the first horizontal speed and the fusion horizontal speed, the second horizontal difference value is a difference between the first horizontal speed and the reference horizontal speed, the first vertical difference value is a difference between the first vertical speed and the fusion vertical speed, and the second vertical difference value is a difference between the first vertical speed and the reference vertical speed.
4. The method according to claim 3, wherein the second preset threshold comprises a horizontal preset threshold and a vertical preset threshold, and determining the cause of the fault according to the determination result comprises:
and if the second vertical difference is smaller than the vertical preset threshold, determining that the second vertical speed is abnormal as one of the reasons causing the fault, and if the second horizontal difference is smaller than the horizontal preset threshold, determining that the second horizontal speed is abnormal as one of the reasons causing the fault.
5. The method of claim 4, wherein after determining that the second vertical velocity anomaly is one of the causes of the fault, the method further comprises:
determining a cause of the second vertical velocity anomaly based on an acceleration detected by an accelerometer disposed in the IMU.
6. The method of claim 5, wherein determining the cause of the second vertical velocity anomaly from an acceleration detected by an accelerometer disposed in the IMU comprises:
and judging whether the accelerometer is abnormal or not, if so, determining that the second vertical speed is abnormal due to the failure of the accelerometer, if not, judging whether the value of the acceleration is continuously greater than a third preset threshold value within a first preset time period, if so, detecting that an angular speed value detected by a gyroscope arranged in the IMU is continuously greater than a fourth preset threshold value within a second preset time period, and determining that the second vertical speed is abnormal due to the excessive vibration of the body of the flight equipment.
7. The method of claim 4, wherein after determining that the second horizontal velocity anomaly is one of the causes for the fault, the method further comprises:
when the moment that the first horizontal difference value is larger than a fifth preset threshold value does not exist in a third preset time period, and the difference value between the prejudged course and the course information is larger than or equal to 45 degrees, determining that the course information is abnormal as one of the reasons of the fault, wherein the prejudged course is obtained by analyzing according to the first horizontal speed and the second horizontal speed.
8. The method of claim 4, wherein after determining that the second horizontal velocity anomaly is one of the causes for the fault, the method further comprises:
and when the moment that the first level difference value is larger than a fifth preset threshold value exists in a third preset time period, determining the reason of the second horizontal velocity abnormity according to the acceleration detected by the accelerometer arranged in the IMU.
9. The method of claim 8, wherein determining the cause of the second horizontal velocity anomaly from accelerations detected by an accelerometer disposed in the IMU comprises:
and judging whether the accelerometer is abnormal or not, if so, determining that the second horizontal velocity is abnormal due to the failure of the accelerometer, and if not, determining that the value of the acceleration is continuously greater than a sixth preset threshold value in a fourth preset time period, and detecting that an angular velocity value detected by a gyroscope arranged in the IMU is continuously greater than a seventh preset threshold value in a fifth preset time period, and determining that the second horizontal velocity is abnormal due to the excessive vibration of the body of the flight equipment.
10. A method of fault alerting, comprising:
acquiring a fusion speed, a GPS speed and a reference speed of a flight device, wherein the fusion speed is determined based on the GPS speed, course information and IMU speed, and the reference speed is calculated according to a first position of the flight device at a first moment, a second position of the flight device at a second moment and a time length consumed by the flight device from the first position to the second position in a flight log;
when a first difference value between the GPS speed and the fusion speed is greater than a first preset threshold value,
and judging whether a second difference value between the GPS speed and the reference speed is smaller than a second preset threshold value, and if so, sending fault prompt information.
11. A failure cause determination device, comprising:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a fusion speed, a GPS speed and a reference speed of the flight equipment, the fusion speed is determined based on the GPS speed, course information and IMU speed, and the reference speed is calculated according to a first position of the flight equipment at a first moment, a second position of the flight equipment at a second moment and time length consumed by the flight equipment from the first position to the second position in a flight log;
and the judging module is used for judging whether a second difference value between the GPS speed and the reference speed is smaller than a second preset threshold value or not when the first difference value between the GPS speed and the fusion speed is larger than the first preset threshold value, and determining the reason of the fault according to the judgment result.
12. 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 fault cause determination method according to any one of claims 1 to 9.
13. A processor configured to execute a program, wherein the program executes to perform the method for determining the cause of the failure according to any one of claims 1 to 9.
14. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor, when executing the computer program, implements execution of the method for determining a cause of a failure according to any one of claims 1 to 9.
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