CN113110553A - Unmanned aerial vehicle and navigation safety detection method thereof - Google Patents
Unmanned aerial vehicle and navigation safety detection method thereof Download PDFInfo
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Abstract
The application provides an unmanned aerial vehicle and a navigation safety detection method thereof. Acquiring navigation action parameters of the unmanned aerial vehicle, wherein the navigation action parameters are parameters corresponding to navigation control signals sent by a ground station; carrying out safety comparison operation on the navigation action parameter and a preset action parameter to obtain an action legal safety value; detecting whether the action legal safety value is matched with a preset safety value or not; and when the action legal safety value is not matched with the preset safety value, sending an uploading prohibition signal to a control system of the unmanned aerial vehicle so as to prohibit the execution of the navigation action corresponding to the navigation action parameter. Through the comparison with the preset security value, when the comparison result of the current navigation action parameter and the preset security value is not matched, the navigation action corresponding to the current navigation action parameter is determined to be an illegal navigation action, and the uploading prohibition signal is sent, so that the navigation action parameter sent by the ground station cannot pass through, and the security of the unmanned aerial vehicle navigation action is improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle and a navigation safety detection method thereof.
Background
With the high-speed development of the unmanned aerial vehicle technology, the unmanned aerial vehicle investigation is gradually replacing manual investigation, so that the labor cost is reduced, and the investigation efficiency is improved. Traditional unmanned aerial vehicle can be through receiving the waypoint task that ground satellite station sent at the navigation in-process to control unmanned aerial vehicle's navigation state.
However, when the control signal of the ground station end is a forged waypoint task signal, for example, an illegal signal sent by an electromagnetic countermeasure machine, it is easy to cause the unmanned aerial vehicle to directly execute an error instruction after receiving the signal, so that the unmanned aerial vehicle breaks down or crashes.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an unmanned aerial vehicle for improving the execution safety of navigation actions and a navigation safety detection method thereof.
The purpose of the invention is realized by the following technical scheme:
a method for detecting flight safety of an unmanned aerial vehicle, the method comprising:
acquiring navigation action parameters of the unmanned aerial vehicle, wherein the navigation action parameters are parameters corresponding to navigation control signals sent by a ground station;
carrying out safety comparison operation on the navigation action parameter and a preset action parameter to obtain an action legal safety value;
detecting whether the action legal safety value is matched with a preset safety value or not;
and when the action legal safety value is not matched with the preset safety value, sending an uploading prohibition signal to a control system of the unmanned aerial vehicle so as to prohibit the execution of the navigation action corresponding to the navigation action parameter.
In one embodiment, the acquiring the navigation action parameters of the unmanned aerial vehicle includes: acquiring attitude state parameters of the unmanned aerial vehicle; the operation of comparing the navigation action parameter with the preset action parameter to obtain the legal action safety value comprises the following steps: and carrying out attitude safety comparison operation on the attitude state parameters and preset attitude parameters to obtain an attitude legal safety value.
In one embodiment, the obtaining the attitude state parameter of the drone includes: acquiring a pitch axis deflection angle of the unmanned aerial vehicle; and performing attitude safety comparison operation on the attitude state parameter and a preset attitude parameter to obtain an attitude legal safety value, wherein the attitude safety value comprises the following steps: carrying out first deflection safety ratio operation on the deflection angle of the pitching shaft and a first preset deflection angle to obtain a course deflection safety value; the detecting whether the action legal safety value is matched with a preset safety value includes: detecting whether the pitching deflection safety value is matched with a preset course safety value or not; when the action legal safety value is not matched with the preset safety value, sending an uploading prohibition signal to a control system of the unmanned aerial vehicle to prohibit the execution of the navigation action corresponding to the navigation action parameter, including: and when the pitching deflection safety value is not matched with the preset pitching safety value, sending a signal for forbidding uploading of a pitching axis to the control system so as to forbid the pitching deflection of the unmanned aerial vehicle.
In one embodiment, the obtaining the attitude state parameter of the drone includes: acquiring a roll axis deflection angle of the unmanned aerial vehicle; and performing attitude safety comparison operation on the attitude state parameter and a preset attitude parameter to obtain an attitude legal safety value, wherein the attitude safety value comprises the following steps: carrying out second deflection safety ratio operation on the roll shaft deflection angle and a second preset deflection angle to obtain a roll deflection safety value; the detecting whether the action legal safety value is matched with a preset safety value includes: detecting whether the roll deflection safety value is matched with a preset roll closing safety value or not; when the action legal safety value is not matched with the preset safety value, sending an uploading prohibition signal to a control system of the unmanned aerial vehicle to prohibit the execution of the navigation action corresponding to the navigation action parameter, including: and when the roll deflection safety value is not matched with the preset roll closing safety value, sending a roll shaft uploading prohibition signal to the control system so as to prohibit roll overturning of the unmanned aerial vehicle.
In one embodiment, the acquiring the navigation action parameters of the unmanned aerial vehicle includes: acquiring a navigational speed state parameter of the unmanned aerial vehicle; the operation of comparing the navigation action parameter with the preset action parameter to obtain the legal action safety value comprises the following steps: and carrying out speed safety ratio operation on the speed state parameter and a preset speed parameter to obtain a legal speed safety value.
In one embodiment, the obtaining the speed state parameter of the drone includes: acquiring the cruising speed per hour of the unmanned aerial vehicle; the speed safety ratio operation is carried out on the speed state parameter and the preset speed parameter to obtain a legal speed safety value, and the method comprises the following steps: carrying out speed-per-hour safety ratio operation on the cruising speed per hour and a preset cruising speed per hour to obtain a speed-per-hour legal safety value; the detecting whether the action legal safety value is matched with a preset safety value includes: detecting whether the speed-per-hour legal safety value is matched with a preset speed-per-hour safety value or not; when the action legal safety value is not matched with the preset safety value, sending an uploading prohibition signal to a control system of the unmanned aerial vehicle to prohibit the execution of the navigation action corresponding to the navigation action parameter, including: and when the legal speed per hour safety value is not matched with the preset speed per hour safety value, sending a signal for forbidding uploading cruise speed per hour to a control system of the unmanned aerial vehicle so as to forbid the speed per hour adjustment of the unmanned aerial vehicle.
In one embodiment, the obtaining the speed state parameter of the drone includes: acquiring the cruising acceleration of the unmanned aerial vehicle; the speed safety ratio operation is carried out on the speed state parameter and the preset speed parameter to obtain a legal speed safety value, and the method comprises the following steps: performing an acceleration safety ratio operation on the cruise acceleration and a preset cruise acceleration to obtain an acceleration legal safety value; the detecting whether the action legal safety value is matched with a preset safety value includes: detecting whether the acceleration legal safety value is matched with a preset acceleration safety value or not; when the action legal safety value is not matched with the preset safety value, sending an uploading prohibition signal to a control system of the unmanned aerial vehicle to prohibit the execution of the navigation action corresponding to the navigation action parameter, including: and when the acceleration legal safety value is not matched with the preset acceleration safety value, sending a signal for forbidding uploading of the cruising acceleration to a control system of the unmanned aerial vehicle so as to forbid the acceleration adjustment of the unmanned aerial vehicle.
In one embodiment, the acquiring the navigation action parameters of the unmanned aerial vehicle includes: acquiring a mobile positioning coordinate of the unmanned aerial vehicle; the operation of comparing the navigation action parameter with the preset action parameter to obtain the legal action safety value comprises the following steps: and carrying out boundary safety comparison operation on the mobile positioning coordinates and preset positioning coordinates to obtain a positioning legal safety value.
In one embodiment, the detecting whether the action legal security value matches a preset security value further includes: and when the action legal safety value is matched with the preset safety value, adjusting the navigation state of the unmanned aerial vehicle according to the navigation action parameter.
An unmanned aerial vehicle can realize the navigation safety detection method of any one of the embodiments when in operation, and comprises a machine body, a control mainboard and a navigation action collector, wherein the control mainboard and the navigation action collector are both connected with the machine body, the output end of the navigation action collector is also connected with the input end of the control mainboard, and the navigation action collector is used for acquiring navigation action parameters of the unmanned aerial vehicle; the control mainboard is used for carrying out safety comparison operation on the navigation action parameter and a preset action parameter to obtain an action legal safety value; the control main board is also used for detecting whether the action legal safety value is matched with a preset safety value or not; and the control main board is further used for sending an uploading prohibition signal to a control system of the unmanned aerial vehicle when the action legal safety value is not matched with the preset safety value so as to prohibit the execution of the navigation action corresponding to the navigation action parameter.
Compared with the prior art, the invention has at least the following advantages:
through the analysis of the navigation action parameters sent by the ground station, a corresponding action legal safety value is obtained, and through comparison with a preset safety value, when the comparison results of the two are not matched, the navigation action corresponding to the current navigation action parameters is determined to be an illegal navigation action, and the uploading prohibition signal is sent, so that the navigation action parameters sent by the ground station cannot pass, namely, the unmanned aerial vehicle does not need to receive the illegal signal, and the navigation action execution safety of the unmanned aerial vehicle is improved.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart of a flight safety detection method of an unmanned aerial vehicle in an embodiment.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The invention relates to a navigation safety detection method of an unmanned aerial vehicle. In one embodiment, the method for detecting the navigation safety of the unmanned aerial vehicle comprises the steps of obtaining a navigation action parameter of the unmanned aerial vehicle, wherein the navigation action parameter is a parameter corresponding to a navigation control signal sent by a ground station; carrying out safety comparison operation on the navigation action parameter and a preset action parameter to obtain an action legal safety value; detecting whether the action legal safety value is matched with a preset safety value or not; and when the action legal safety value is not matched with the preset safety value, sending an uploading prohibition signal to a control system of the unmanned aerial vehicle so as to prohibit the execution of the navigation action corresponding to the navigation action parameter. Through the analysis of the navigation action parameters sent by the ground station, a corresponding action legal safety value is obtained, and through comparison with a preset safety value, when the comparison results of the two are not matched, the navigation action corresponding to the current navigation action parameters is determined to be an illegal navigation action, and the uploading prohibition signal is sent, so that the navigation action parameters sent by the ground station cannot pass, namely, the unmanned aerial vehicle does not need to receive the illegal signal, and the navigation action execution safety of the unmanned aerial vehicle is improved.
Please refer to fig. 1, which is a flowchart illustrating a method for detecting flight safety of an unmanned aerial vehicle according to an embodiment of the present invention. The navigation safety detection method comprises part or all of the following steps.
S100: and acquiring navigation action parameters of the unmanned aerial vehicle, wherein the navigation action parameters are parameters corresponding to navigation control signals sent by the ground station.
In this embodiment, the navigation action parameter is a parameter received by the unmanned aerial vehicle, that is, the unmanned aerial vehicle receives the navigation action parameter sent by the ground station, that is, the ground station sends the navigation action parameter to the unmanned aerial vehicle, and the navigation action parameter contains various navigation control parameters and is used for adjusting and controlling the current navigation state of the unmanned aerial vehicle.
S200: and carrying out safety comparison operation on the navigation action parameter and a preset action parameter to obtain an action legal safety value.
In this embodiment, it is in to predetermine the action parameter and be the navigation action parameter that corresponds when unmanned aerial vehicle's safe navigation, promptly unmanned aerial vehicle according to when the navigation action that predetermines the action parameter and correspond flies, unmanned aerial vehicle's navigation state is normal and safe state, makes unmanned aerial vehicle is in the state of normal navigation. And performing safety comparison operation on the navigation action parameter and the preset action parameter to obtain an action legal safety value, namely a comparison value of the action corresponding to the course action parameter, wherein the action legal safety value is used for reflecting the difference between the navigation action parameter and the navigation action parameter corresponding to the normal navigation state, so that whether the action of the course action parameter is legal and safe navigation action or not is conveniently determined subsequently.
S300: and detecting whether the action legal safety value is matched with a preset safety value or not.
In this embodiment, the preset security combination value is a value range of the action legal security value, and the preset security combination value is equivalent to a standard value or a standard range of the action legal security value, and the action legal security value is matched with the preset security combination value, so as to determine whether the action legal security value is equivalent to the preset security combination value, so as to determine a size relationship between the action legal security value and the preset security combination value, and thereby determine whether a navigation action corresponding to the current navigation action parameter is a safe and legal navigation action.
S400: and when the action legal safety value is not matched with the preset safety value, sending an uploading prohibition signal to a control system of the unmanned aerial vehicle so as to prohibit the execution of the navigation action corresponding to the navigation action parameter.
In this embodiment, the action legal safety value is not matched with the preset security value, which indicates that the action legal safety value exceeds the preset security value, that is, the navigation action parameter corresponds to an illegal and unsafe navigation action, and the crash of the unmanned aerial vehicle is easily caused. In order to reduce the above situation, an uploading prohibition signal is sent to the control system of the unmanned aerial vehicle, so that the navigation action parameters are not uploaded to the control system of the unmanned aerial vehicle, the unmanned aerial vehicle is prohibited from receiving the current navigation action parameters, the unmanned aerial vehicle is not allowed to execute the navigation action corresponding to the navigation action parameters sent by the ground station, and the security of the navigation action execution of the unmanned aerial vehicle is improved.
In one embodiment, the acquiring the navigation action parameters of the unmanned aerial vehicle includes: acquiring attitude state parameters of the unmanned aerial vehicle; the operation of comparing the navigation action parameter with the preset action parameter to obtain the legal action safety value comprises the following steps: and carrying out attitude safety comparison operation on the attitude state parameters and preset attitude parameters to obtain an attitude legal safety value. In this embodiment, the attitude state parameter is a parameter of an attitude in a navigation state, and is used for reflecting a navigation attitude sent by the ground station to the unmanned aerial vehicle. The attitude state parameters are parameters corresponding to attitude control signals sent by the ground station to the unmanned aerial vehicle, and are used for adjusting the navigation attitude of the unmanned aerial vehicle. The preset attitude parameter is an attitude parameter corresponding to the legal and safe navigation state of the unmanned aerial vehicle, namely the preset attitude parameter is a parameter corresponding to the legal and safe navigation state of the unmanned aerial vehicle, after the attitude safety comparison operation is carried out on the preset attitude parameter, the attitude state sent by the ground station is conveniently compared with the legal and safe navigation state of the unmanned aerial vehicle, the obtained legal attitude safety value is a comparison result of the two attitude states, and the legal attitude safety value is used for reflecting the difference between the attitude state parameter and the preset attitude parameter, namely the legal attitude safety value is used for reflecting the difference between the navigation state sent by the ground station and the legal and safe navigation state.
Further, the obtaining the attitude state parameter of the unmanned aerial vehicle includes: acquiring a pitch axis deflection angle of the unmanned aerial vehicle; and performing attitude safety comparison operation on the attitude state parameter and a preset attitude parameter to obtain an attitude legal safety value, wherein the attitude safety value comprises the following steps: carrying out first deflection safety ratio operation on the pitch axis deflection angle and a first preset deflection angle to obtain a pitch deflection safety value; the detecting whether the action legal safety value is matched with a preset safety value includes: detecting whether the pitching deflection safety value is matched with a preset pitching safety value or not; when the action legal safety value is not matched with the preset safety value, sending an uploading prohibition signal to a control system of the unmanned aerial vehicle to prohibit the execution of the navigation action corresponding to the navigation action parameter, including: and when the pitching deflection safety value is not matched with the preset pitching safety value, sending a signal for forbidding uploading of a pitching axis to the control system so as to forbid the pitching deflection of the unmanned aerial vehicle. In this embodiment, the attitude state parameters include the pitch axis deflection angle, and the pitch axis deflection angle is a deflection angle on a pitch axis perpendicular to the unmanned aerial vehicle in the navigation state, that is, the pitch axis deflection angle is used to show an included angle between the aircraft nose direction of the unmanned aerial vehicle and the horizontal navigation track, so as to embody the pitch deflection angle of the unmanned aerial vehicle. The first preset deflection angle is a legal safe deflection angle of the unmanned aerial vehicle on a pitch axis, the first deflection and safety ratio operation is carried out on the pitch axis deflection angle, a difference angle between the pitch axis deflection angle and the first preset deflection angle is obtained, the difference angle is used for reflecting the difference between the pitch axis deflection angle sent by a ground station and the legal safe pitch axis deflection angle, and the difference value between the two deflection angles is convenient to obtain, namely, the pitch deflection safe value. Therefore, after the difference value between the pitch axis deflection angle and the first preset deflection angle is obtained, the difference value is compared with the preset pitch safety value, the preset pitch safety value is a judgment standard for the difference degree of the deflection angle, when the pitch deflection safety value is not matched with the preset pitch safety value, the current pitch axis deflection angle exceeds the legal and safe pitch axis deflection angle, and the pitch axis deflection angle sent by the ground station is an illegal deflection angle. In order to avoid crash caused by overlarge pitching angle of the unmanned aerial vehicle, a signal forbidding uploading of the pitching axis is sent to the control system, so that the pitching axis deflection angle sent by the ground station is forbidden to be uploaded to the control system of the unmanned aerial vehicle, the unmanned aerial vehicle is prevented from receiving illegal pitching angle adjusting signals, and the navigation action execution safety of the unmanned aerial vehicle is further improved.
Still further, the obtaining the attitude state parameter of the drone includes: acquiring a roll axis deflection angle of the unmanned aerial vehicle; and performing attitude safety comparison operation on the attitude state parameter and a preset attitude parameter to obtain an attitude legal safety value, wherein the attitude safety value comprises the following steps: carrying out second deflection safety ratio operation on the roll shaft deflection angle and a second preset deflection angle to obtain a roll deflection safety value; the detecting whether the action legal safety value is matched with a preset safety value includes: detecting whether the roll deflection safety value is matched with a preset roll closing safety value or not; when the action legal safety value is not matched with the preset safety value, sending an uploading prohibition signal to a control system of the unmanned aerial vehicle to prohibit the execution of the navigation action corresponding to the navigation action parameter, including: and when the roll deflection safety value is not matched with the preset roll closing safety value, sending a roll shaft uploading prohibition signal to the control system so as to prohibit roll overturning of the unmanned aerial vehicle. In this embodiment, the attitude state parameters further include a roll deflection angle, where the roll deflection angle is a deflection angle on a roll perpendicular to the unmanned aerial vehicle in a navigation state, that is, the roll deflection angle is used to show a rotation angle of the unmanned aerial vehicle along a nose direction, so as to embody the roll deflection angle of the unmanned aerial vehicle. The second preset deflection angle is a legal safe deflection angle of the unmanned aerial vehicle on a roll shaft, the roll shaft deflection angle is subjected to the second deflection safety-in-safety ratio operation, a difference angle between the roll shaft deflection angle and the second preset deflection angle is obtained, the difference angle is used for reflecting the difference between the roll shaft deflection angle sent by the ground station and the legal safe roll shaft deflection angle, and the difference value between the two deflection angles is convenient to obtain, namely, the roll deflection safety value. Thus, after the difference value between the roll deflection angle and the second preset deflection angle is obtained, the difference value is compared with the preset roll closing safety value, the preset roll closing safety value is a judgment standard for the difference degree of the deflection angle, when the roll deflection safety value is not matched with the preset roll closing safety value, the current roll deflection angle is shown to exceed a legal and safe roll deflection angle, and the roll deflection angle sent by the ground station is an illegal deflection angle. In order to avoid crash caused by overlarge roll angle of the unmanned aerial vehicle, a roll axis uploading prohibition signal is sent to the control system, so that a roll axis deflection angle sent by a ground station is prohibited from being uploaded to the control system of the unmanned aerial vehicle, the unmanned aerial vehicle is prevented from receiving an illegal roll angle adjustment signal, and the safety of navigation action execution of the unmanned aerial vehicle is further improved.
In one embodiment, the acquiring the navigation action parameters of the unmanned aerial vehicle includes: acquiring a navigational speed state parameter of the unmanned aerial vehicle; the operation of comparing the navigation action parameter with the preset action parameter to obtain the legal action safety value comprises the following steps: and carrying out speed safety ratio operation on the speed state parameter and a preset speed parameter to obtain a legal speed safety value. In this embodiment, the cruise status parameter is an embodiment of the cruise speed of the unmanned aerial vehicle, and is used for showing the operation moving state of the unmanned aerial vehicle in the flight state. The preset navigational speed parameter is the navigational speed corresponding to the legal and safe navigational state of the unmanned aerial vehicle, namely the preset navigational speed parameter is a standard navigational speed state parameter and is used as a reference for comparing the navigational speed of the unmanned aerial vehicle, so that whether the navigational speed state parameter sent by the ground station is the legal navigational speed state parameter or not is conveniently determined.
Further, the acquiring the navigational speed state parameter of the unmanned aerial vehicle includes: acquiring the cruising speed per hour of the unmanned aerial vehicle; the speed safety ratio operation is carried out on the speed state parameter and the preset speed parameter to obtain a legal speed safety value, and the method comprises the following steps: carrying out speed-per-hour safety ratio operation on the cruising speed per hour and a preset cruising speed per hour to obtain a speed-per-hour legal safety value; the detecting whether the action legal safety value is matched with a preset safety value includes: detecting whether the speed-per-hour legal safety value is matched with a preset speed-per-hour safety value or not; when the action legal safety value is not matched with the preset safety value, sending an uploading prohibition signal to a control system of the unmanned aerial vehicle to prohibit the execution of the navigation action corresponding to the navigation action parameter, including: and when the legal speed per hour safety value is not matched with the preset speed per hour safety value, sending a signal for forbidding uploading cruise speed per hour to a control system of the unmanned aerial vehicle so as to forbid the speed per hour adjustment of the unmanned aerial vehicle. In this embodiment, the cruise state parameters include the cruise hourly speed, which is used to show the moving speed of the unmanned aerial vehicle, that is, the cruise hourly speed is used to embody the moving speed of the unmanned aerial vehicle on the navigation track. The preset cruising speed is the speed of the unmanned aerial vehicle in a safe and legal course state, the preset cruising speed is used as the standard speed of the unmanned aerial vehicle in the safe and legal course state, the cruising speed and the preset cruising speed are subjected to the safety comparison operation, namely the speed sent by a ground station is compared with the standard speed, the obtained speed legal safety value is the difference value between the cruising speed and the standard speed, and the speed legal safety value is used for displaying the difference degree between the cruising speed and the preset cruising speed. And detecting whether the speed-per-hour legal safety value is matched with a preset speed-per-hour safety value or not, wherein the detection is used for determining the difference degree of the navigational speeds sent by the ground station. The legal safety value of speed per hour with it is unmatched to predetermine the speed per hour and closes ampere value, has shown that the speed per hour that cruises that the ground station sent is unmatched with the standard speed per hour that cruises, and the speed per hour that cruises that the ground station sent is illegal speed of a ship promptly, through at this moment to unmanned aerial vehicle's control system sends forbids to upload the speed per hour signal of crusing, prevents the speed per hour that cruises that the ground station sent to be received by unmanned aerial vehicle's control system to avoid unmanned aerial vehicle to receive illegal speed of a ship signal effectively, further improved unmanned aerial vehicle's navigation action and executed the security.
Still further, the acquiring the navigational speed status parameter of the drone includes: acquiring the cruising acceleration of the unmanned aerial vehicle; the speed safety ratio operation is carried out on the speed state parameter and the preset speed parameter to obtain a legal speed safety value, and the method comprises the following steps: performing an acceleration safety ratio operation on the cruise acceleration and a preset cruise acceleration to obtain an acceleration legal safety value; the detecting whether the action legal safety value is matched with a preset safety value includes: detecting whether the acceleration legal safety value is matched with a preset acceleration safety value or not; when the action legal safety value is not matched with the preset safety value, sending an uploading prohibition signal to a control system of the unmanned aerial vehicle to prohibit the execution of the navigation action corresponding to the navigation action parameter, including: and when the acceleration legal safety value is not matched with the preset acceleration safety value, sending a signal for forbidding uploading of the cruising acceleration to a control system of the unmanned aerial vehicle so as to forbid the acceleration adjustment of the unmanned aerial vehicle. In this embodiment, the cruise state parameters further include the cruise acceleration, and the cruise acceleration is used for showing the speed of change of the unmanned aerial vehicle, that is, the cruise acceleration is used for reflecting the change degree of the moving speed of the unmanned aerial vehicle on the navigation track. The method comprises the steps that the preset cruising acceleration is the cruising acceleration of the unmanned aerial vehicle in a safe and legal course state, the preset cruising acceleration is used as the standard cruising acceleration of the unmanned aerial vehicle in the safe and legal course state, the cruising acceleration and the preset cruising acceleration are subjected to acceleration and safety comparison operation, namely the cruising acceleration sent by a ground station is compared with the standard cruising acceleration, the obtained acceleration legal safety value is the difference value between the cruising acceleration and the standard cruising acceleration, and the acceleration legal safety value is used for displaying the difference degree between the cruising acceleration and the preset cruising acceleration. And detecting whether the acceleration legal safety value is matched with a preset acceleration safety value or not, wherein the detection is the determination of the difference degree of the cruising acceleration sent by the ground station. The legal safety value of accelerating with it is unmatched to predetermine with higher speed and closes ampere value, has shown that the cruising acceleration that the ground station sent is unmatched with the cruising acceleration of standard, and the cruising acceleration that the ground station sent is illegal cruising acceleration promptly, through this moment to unmanned aerial vehicle's control system sends and forbids to upload the cruising acceleration signal, prevents the cruising acceleration that the ground station sent and is received by unmanned aerial vehicle's control system to avoid unmanned aerial vehicle to receive illegal cruising acceleration signal effectively, further improved unmanned aerial vehicle's navigation action execution security.
In one embodiment, the acquiring the navigation action parameters of the unmanned aerial vehicle includes: acquiring a mobile positioning coordinate of the unmanned aerial vehicle; the operation of comparing the navigation action parameter with the preset action parameter to obtain the legal action safety value comprises the following steps: and carrying out boundary safety comparison operation on the mobile positioning coordinates and preset positioning coordinates to obtain a positioning legal safety value. In this embodiment, the navigation action parameter includes a mobile positioning coordinate, the mobile positioning coordinate is a flight coordinate of the unmanned aerial vehicle, and the mobile positioning coordinate is used for showing a geographic position coordinate of the unmanned aerial vehicle when navigating. The preset action parameter is the boundary coordinate of the allowable flight area, namely, each coordinate of the boundary of the allowable flight area is the preset action parameter, the preset action parameter is formed with the boundary of the allowable flight area, the mobile positioning coordinate is compared with the preset positioning coordinate, namely, the boundary is operated in a safety-comparison mode, so that the mobile positioning coordinate sent by the ground station is compared with the coordinate corresponding to the boundary of the allowable flight area, the no-flight area of the unmanned aerial vehicle is convenient to determine, the flight probability of the unmanned aerial vehicle in the no-flight area is reduced, and the navigation action execution safety of the unmanned aerial vehicle is improved.
In one embodiment, the detecting whether the action legal security value matches a preset security value further includes: and when the action legal safety value is matched with the preset safety value, adjusting the navigation state of the unmanned aerial vehicle according to the navigation action parameter. In this embodiment, the action legal safety value is matched with the preset security value, which indicates that the action legal safety value reaches the preset security value, that is, that the navigation action parameter sent by the ground station is a legal and safe navigation action parameter, that is, that the navigation action corresponding to the navigation action parameter sent by the ground station is a legal and safe navigation action. At this moment, the navigation action parameters sent to the unmanned aerial vehicle by the ground station can be used as navigation tasks, so that the navigation state of the unmanned aerial vehicle can be conveniently adjusted, namely, the navigation state of the unmanned aerial vehicle is adjusted under legal and safe actions.
It can be understood, at the actual navigation in-process of unmanned aerial vehicle, when some slight damage appears in unmanned aerial vehicle's screw, unmanned aerial vehicle moves on the track of sailing, will lead to the rising power that the screw provided to change, and unmanned aerial vehicle's rising power is less than self gravity promptly to lead to unmanned aerial vehicle to descend slowly under the condition that is difficult to perceive, and then lead to unmanned aerial vehicle and the great building of subaerial height or number wood collision easily.
In order to facilitate timely finding out the slow descending condition of the unmanned aerial vehicle, the method for acquiring the navigation action parameters of the unmanned aerial vehicle further comprises the following steps:
acquiring first flying air pressure and second flying air pressure of the unmanned aerial vehicle at any two adjacent moments;
respectively acquiring the first flying height and the second flying height according to the first flying air pressure and the second flying air pressure;
performing height difference operation on the first flying height and the second flying height to obtain a height difference value;
detecting whether the height differential value is matched with a preset differential value;
and when the height difference value is matched with the preset difference value, sending a return signal to a control system of the unmanned aerial vehicle.
In this embodiment, the damage of unmanned aerial vehicle's screw probably is that long-term flight becomes the formation of gasification in high altitude, also can be with the sand grain collision in the air and lead to, in a word, when unmanned aerial vehicle's screw has the damage, unmanned aerial vehicle's lifting force will be less than self gravity. Through the atmospheric pressure that acquires two adjacent moments correspondences, promptly first flight atmospheric pressure and second flight atmospheric pressure is convenient for detect the atmospheric pressure at the continuous moment of unmanned aerial vehicle's flight in-process. And then calculating the corresponding height according to the two flight altitudes, wherein the corresponding atmospheric pressure is different for different flight altitudes, so that the corresponding flight altitudes, namely the first flight altitude and the second flight altitude, can be conveniently obtained according to the flight atmospheric pressure. The altitude of two adjacent navigation moments has been obtained, carries out these two altitudes difference operation is convenient for acquire first altitude with altitude difference degree between the second altitude, promptly height difference value is right again height difference value carry out with predetermine the comparison of difference value to in the current navigation in-process altitude variation condition of unmanned aerial vehicle is confirmed in the convenience. Like this, the difference value of height with predetermine the difference value matching, it is different to have demonstrated the flying height between two adjacent navigation moments of unmanned aerial vehicle, moreover, predetermine the altitude variation speed that the difference value corresponds and be the slow change, the difference of the flying height change of two adjacent navigation moments with predetermine the difference value and be equivalent, belong to the condition of slow change, be convenient for confirm that unmanned aerial vehicle is currently in the state of slowly descending, this moment to unmanned aerial vehicle's control system sends the signal of returning a voyage to make unmanned aerial vehicle can in time return to the ground station.
Further, after unmanned aerial vehicle received the signal of returning the journey, unmanned aerial vehicle usually can follow the reverse navigation of former navigation orbit, realizes returning the ground satellite station smoothly, but, when unmanned aerial vehicle's flight height was not enough to support it to return along former way, if directly return the ground satellite station along the straight line direction, easy in the navigation with some tall and big buildings or several wooden collisions, in order to make unmanned aerial vehicle can return the journey smoothly, to unmanned aerial vehicle's control system sends the signal of returning the journey, later still includes following step:
acquiring the height of a navigation starting point of the unmanned aerial vehicle;
performing first high-ratio operation on the height of the navigation starting point and the second flight height to obtain a first navigation height feedback value;
and carrying out second high-change-ratio operation on the second flight altitude and the preset altitude to obtain a second navigation altitude feedback value
Detecting whether the second navigation height feedback value is greater than or equal to the first navigation height feedback value;
and when the second navigation height feedback value is greater than or equal to the first navigation height feedback value, reversely flying along the navigation track of the unmanned aerial vehicle.
In this embodiment, the height of the flight starting point is the height of the flight starting position of the unmanned aerial vehicle, and may also be considered as the height of the unmanned aerial vehicle at the position of the ground station, the second flying height is the height when the unmanned aerial vehicle is detected to have a slow descent condition, the height of the flight starting point is compared with the second flying height, and the obtained difference is the height difference from the starting point to the position where the second flying height is located when the unmanned aerial vehicle flies from the starting point. And the preset height is the minimum flying height of the unmanned aerial vehicle, namely the preset height is the minimum height of the safe flying height of the unmanned aerial vehicle, the second flying height is compared with the preset height, the height of the unmanned aerial vehicle at the return flight starting point is compared with the minimum safe flying height, and the obtained difference is the maximum flying descent height difference in the follow-up flying process of the unmanned aerial vehicle. The second navigation height feedback value is larger than or equal to the first navigation height feedback value, and the descending height of the unmanned aerial vehicle returning from the position of the second navigation height is larger, so that the unmanned aerial vehicle can return according to the original navigation track. Therefore, the return track of the unmanned aerial vehicle is the same as the track of the position coming to the second flight altitude, and the unmanned aerial vehicle can sail from the flying starting point to the position of the second flight altitude, so that fewer obstacles are shown on the original sailing track, and the probability of collision with a building or a log is lower than that of returning to the flying starting point along a straight line, and the safe return of the unmanned aerial vehicle is ensured.
In another embodiment, the detecting whether the second flight height feedback value is greater than or equal to the first flight height feedback value further comprises:
and when the second navigation height feedback value is smaller than the first navigation height feedback value, sending a climbing signal to a control system of the unmanned aerial vehicle so as to increase the flying height of the unmanned aerial vehicle.
In this embodiment, when unmanned aerial vehicle's decline height is not enough, through suitably improving unmanned aerial vehicle's flying height, the unmanned aerial vehicle of being convenient for can return voyage at sufficient height and time. Furthermore, the fly-back in the straight direction can be selected at this time to reduce the flight time.
The application also provides an unmanned aerial vehicle which is realized by adopting the navigation safety detection method in any embodiment. In one embodiment, the unmanned aerial vehicle has functional modules corresponding to the steps of the navigation safety detection method. The unmanned aerial vehicle can realize the navigation safety detection method of any one of the embodiments when in operation, and the method comprises a machine body, a control mainboard and a navigation action collector, wherein the control mainboard and the navigation action collector are both connected with the machine body, the output end of the navigation action collector is also connected with the input end of the control mainboard, and the navigation action collector is used for acquiring navigation action parameters of the unmanned aerial vehicle; the control mainboard is used for carrying out safety comparison operation on the navigation action parameter and a preset action parameter to obtain an action legal safety value; the control main board is also used for detecting whether the action legal safety value is matched with a preset safety value or not; and the control main board is further used for sending an uploading prohibition signal to a control system of the unmanned aerial vehicle when the action legal safety value is not matched with the preset safety value so as to prohibit the execution of the navigation action corresponding to the navigation action parameter. In this embodiment, through the analysis of the navigation action parameter that sends to the ground station, obtain the legal safe value of corresponding action, through the comparison with preset ann's value again, when the comparison result between them mismatches, it is illegal navigation action to have confirmed that the navigation action that current navigation action parameter corresponds, through sending forbid upload signal for the navigation action parameter that the ground station sent can't pass through, unmanned aerial vehicle need not to receive above-mentioned illegal signal promptly, has improved the navigation action execution security to unmanned aerial vehicle.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for detecting the navigation safety of an unmanned aerial vehicle is characterized by comprising the following steps:
acquiring navigation action parameters of the unmanned aerial vehicle, wherein the navigation action parameters are parameters corresponding to navigation control signals sent by a ground station;
carrying out safety comparison operation on the navigation action parameter and a preset action parameter to obtain an action legal safety value;
detecting whether the action legal safety value is matched with a preset safety value or not;
and when the action legal safety value is not matched with the preset safety value, sending an uploading prohibition signal to a control system of the unmanned aerial vehicle so as to prohibit the execution of the navigation action corresponding to the navigation action parameter.
2. The navigation safety detection method according to claim 1, wherein the obtaining of the navigation action parameters of the unmanned aerial vehicle comprises:
acquiring attitude state parameters of the unmanned aerial vehicle;
the operation of comparing the navigation action parameter with the preset action parameter to obtain the legal action safety value comprises the following steps:
and carrying out attitude safety comparison operation on the attitude state parameters and preset attitude parameters to obtain an attitude legal safety value.
3. The voyage safety detection method according to claim 2, wherein the obtaining of the attitude state parameter of the unmanned aerial vehicle comprises:
acquiring a pitch axis deflection angle of the unmanned aerial vehicle;
and performing attitude safety comparison operation on the attitude state parameter and a preset attitude parameter to obtain an attitude legal safety value, wherein the attitude safety value comprises the following steps:
carrying out first deflection safety ratio operation on the deflection angle of the pitching shaft and a first preset deflection angle to obtain a course deflection safety value;
the detecting whether the action legal safety value is matched with a preset safety value includes:
detecting whether the pitching deflection safety value is matched with a preset course safety value or not;
when the action legal safety value is not matched with the preset safety value, sending an uploading prohibition signal to a control system of the unmanned aerial vehicle to prohibit the execution of the navigation action corresponding to the navigation action parameter, including:
and when the pitching deflection safety value is not matched with the preset pitching safety value, sending a signal for forbidding uploading of a pitching axis to the control system so as to forbid the pitching deflection of the unmanned aerial vehicle.
4. The voyage safety detection method according to claim 2, wherein the obtaining of the attitude state parameter of the unmanned aerial vehicle comprises:
acquiring a roll axis deflection angle of the unmanned aerial vehicle;
and performing attitude safety comparison operation on the attitude state parameter and a preset attitude parameter to obtain an attitude legal safety value, wherein the attitude safety value comprises the following steps:
carrying out second deflection safety ratio operation on the roll shaft deflection angle and a second preset deflection angle to obtain a roll deflection safety value;
the detecting whether the action legal safety value is matched with a preset safety value includes:
detecting whether the roll deflection safety value is matched with a preset roll closing safety value or not;
when the action legal safety value is not matched with the preset safety value, sending an uploading prohibition signal to a control system of the unmanned aerial vehicle to prohibit the execution of the navigation action corresponding to the navigation action parameter, including:
and when the roll deflection safety value is not matched with the preset roll closing safety value, sending a roll shaft uploading prohibition signal to the control system so as to prohibit roll overturning of the unmanned aerial vehicle.
5. The navigation safety detection method according to claim 1, wherein the obtaining of the navigation action parameters of the unmanned aerial vehicle comprises:
acquiring a navigational speed state parameter of the unmanned aerial vehicle;
the operation of comparing the navigation action parameter with the preset action parameter to obtain the legal action safety value comprises the following steps:
and carrying out speed safety ratio operation on the speed state parameter and a preset speed parameter to obtain a legal speed safety value.
6. The voyage safety detection method according to claim 5, wherein the obtaining of the speed state parameter of the unmanned aerial vehicle comprises:
acquiring the cruising speed per hour of the unmanned aerial vehicle;
the speed safety ratio operation is carried out on the speed state parameter and the preset speed parameter to obtain a legal speed safety value, and the method comprises the following steps:
carrying out speed-per-hour safety ratio operation on the cruising speed per hour and a preset cruising speed per hour to obtain a speed-per-hour legal safety value;
the detecting whether the action legal safety value is matched with a preset safety value includes:
detecting whether the speed-per-hour legal safety value is matched with a preset speed-per-hour safety value or not;
when the action legal safety value is not matched with the preset safety value, sending an uploading prohibition signal to a control system of the unmanned aerial vehicle to prohibit the execution of the navigation action corresponding to the navigation action parameter, including:
and when the legal speed per hour safety value is not matched with the preset speed per hour safety value, sending a signal for forbidding uploading cruise speed per hour to a control system of the unmanned aerial vehicle so as to forbid the speed per hour adjustment of the unmanned aerial vehicle.
7. The voyage safety detection method according to claim 5, wherein the obtaining of the speed state parameter of the unmanned aerial vehicle comprises:
acquiring the cruising acceleration of the unmanned aerial vehicle;
the speed safety ratio operation is carried out on the speed state parameter and the preset speed parameter to obtain a legal speed safety value, and the method comprises the following steps:
performing an acceleration safety ratio operation on the cruise acceleration and a preset cruise acceleration to obtain an acceleration legal safety value;
the detecting whether the action legal safety value is matched with a preset safety value includes:
detecting whether the acceleration legal safety value is matched with a preset acceleration safety value or not;
when the action legal safety value is not matched with the preset safety value, sending an uploading prohibition signal to a control system of the unmanned aerial vehicle to prohibit the execution of the navigation action corresponding to the navigation action parameter, including:
and when the acceleration legal safety value is not matched with the preset acceleration safety value, sending a signal for forbidding uploading of the cruising acceleration to a control system of the unmanned aerial vehicle so as to forbid the acceleration adjustment of the unmanned aerial vehicle.
8. The navigation safety detection method according to claim 1, wherein the obtaining of the navigation action parameters of the unmanned aerial vehicle comprises:
acquiring a mobile positioning coordinate of the unmanned aerial vehicle;
the operation of comparing the navigation action parameter with the preset action parameter to obtain the legal action safety value comprises the following steps:
and carrying out boundary safety comparison operation on the mobile positioning coordinates and preset positioning coordinates to obtain a positioning legal safety value.
9. The navigation safety detection method according to any one of claims 1 to 8, wherein the detecting whether the action legal safety value matches a preset safety value further comprises:
and when the action legal safety value is matched with the preset safety value, adjusting the navigation state of the unmanned aerial vehicle according to the navigation action parameter.
10. An unmanned aerial vehicle, characterized in that, when in operation, the method for detecting the navigation safety according to any one of claims 1 to 9 can be realized, the unmanned aerial vehicle comprises a body, a control mainboard and a navigation action collector, wherein the control mainboard and the navigation action collector are both connected with the body, the output end of the navigation action collector is also connected with the input end of the control mainboard, and the navigation action collector is used for acquiring the navigation action parameters of the unmanned aerial vehicle; the control mainboard is used for carrying out safety comparison operation on the navigation action parameter and a preset action parameter to obtain an action legal safety value; the control main board is also used for detecting whether the action legal safety value is matched with a preset safety value or not; and the control main board is further used for sending an uploading prohibition signal to a control system of the unmanned aerial vehicle when the action legal safety value is not matched with the preset safety value so as to prohibit the execution of the navigation action corresponding to the navigation action parameter.
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