CN113156991B - A flight evaluation system and method based on a small multi-rotor aircraft - Google Patents

Abstract

The embodiment of the invention discloses a flight evaluation system and a flight evaluation method based on a small multi-rotor aircraft, wherein the system comprises an importing module, a judging module and a judging module, wherein the importing module is used for importing initial data and initializing the system; the ground station module is used for displaying the flight environment data and the path plan of the aircraft; the data module is used for feeding back the detected flight data in real time; simultaneously performing data budgeting; the control module is used for automatically controlling and adjusting the aircraft according to the deviation generated by the data budget and the real-time flight environment data; the state module is used for monitoring, simulating and recording the state of the aircraft when the aircraft is in a stable state; the quality evaluation module is used for outputting and comparing data obtained by monitoring simulation with a preset evaluation index to obtain an evaluation result and displaying the evaluation result; the beneficial effects are as follows: aiming at the characteristics of small-sized multi-rotor aircrafts, a set of evaluation system is constructed, so that the design, development and test of the unmanned aerial vehicle are also referred.

Description

A flight evaluation system and method based on a small multi-rotor aircraft

technical field

The invention relates to the technical field of aircraft evaluation, in particular to a flight evaluation system and method based on a small multi-rotor aircraft.

Background technique

Flight quality is the most concerned issue for aircraft designers and operators, and it always plays an important role in the design, development, testing and use of aircraft. Good flight quality is an important guarantee to ensure the safe flight of the aircraft and the smooth completion of the scheduled flight tasks.

A multi-rotor UAV refers to an unmanned flying device that can be controlled by a remote control, or the machine itself can fly autonomously. Its rotors generally have an even number, such as 4-axis, 8-axis and other structures, mainly including "x" type and "+" type. The rotors are evenly distributed around the body, and the forward and reverse propellers are in pairs. By controlling the rotation speed of the motor, we can control its flying posture. Among them, because the four-rotor UAV is simple to make, small in size, easy to operate, and can adapt to various environments, especially compared with the same size single-rotor UAV, it has stronger load capacity and anti-interference ability. In recent years, it has gradually emerged in the field of drones and has become a popular research field.

In addition, quadrotor drones have been widely used in many industries due to their environmental protection, easy assembly, and low operating threshold. In the military field: UAVs can perform tasks such as military survey, military early warning, and military rescue; in the civilian field: UAVs can be used in disaster early warning, traffic control, pest control, aerial photography, etc. Just because of its wide applicability, many universities and enterprises have invested a lot of manpower and material resources to study this field.

With the vigorous development of miniaturized multi-rotor aircraft, the problem of flight quality has become an important factor restricting the steady development of rotor aircraft, which has attracted great attention from both domestic and foreign aircraft suppliers and buyers. However, there are very few published research results on the flight quality of miniaturized multi-rotor aircraft or reference materials. At the same time, compared with manned aircraft, multi-rotor aircraft has huge differences in various aspects, so that the existing flight quality specifications based on manned aircraft cannot meet the development needs of multi-rotor aircraft.

Compared with manned aircraft, the flight quality of miniaturized multi-rotor aircraft is quite different mainly due to the differences in system composition, operation mode and focus of attention, which are manifested in highly autonomous navigation, highly automated flight control and system integration. Notable features such as high integration. If the performance requirements, index system, evaluation methods and evaluation criteria of miniaturized multi-rotor aircraft are copied from the standards and scales of manned aircraft, there are obviously certain limitations and inadaptability. Flight effects vary widely. Therefore, the establishment of a UAV flight quality evaluation system has important guiding significance for the design, development, and testing of UAVs, and has strong theoretical value and engineering application value.

Contents of the invention

In view of the technical defects existing in the prior art, the purpose of the embodiment of the present invention is to provide a flight evaluation system and method based on a small multi-rotor aircraft suitable for the evaluation of a miniaturized multi-rotor aircraft.

In order to achieve the above object, in the first aspect, an embodiment of the present invention provides a flight evaluation system based on a small multi-rotor aircraft, including an import module, a ground station module, a data module, a control module, a status module and a quality evaluation module;

The import module is used to import initial data and perform system initialization; wherein, the initial data is obtained through the input of the ground station module, and the initial data includes flight logs, geographic information, environmental information and location information;

The ground station module is used to display the flight environment data of the aircraft in real time and realize the path planning of the aircraft;

The data module is used for:

When the aircraft performs a test flight operation according to the path planning, the detected flight data is fed back in real time; wherein the flight data includes altitude, wind speed, operating speed, rate of ascent, and observation values of the flight path and aircraft equipment data ;

At the same time combine the flight data, geographic information, environmental information and location information to perform data budgeting;

The control module is used to automatically control and adjust the aircraft according to the deviation between the data budget and the real-time flight environment data, so as to realize the ideal flight and stable state of the aircraft;

The state module is used to monitor, simulate and record the state of the aircraft when the aircraft is in a steady state;

The quality evaluation module is used to compare the output of the data obtained by the monitoring simulation with the preset evaluation index, so as to obtain and display the evaluation result.

In some preferred embodiments of the present application, the flight evaluation system based on a small multi-rotor aircraft further includes an operation module, and the operation module is used to switch the automatic control adjustment of the aircraft to manual control adjustment .

In some preferred embodiments of the present application, the deviation includes position/height tracking error, attitude/heading tracking error and three-axis velocity/angular velocity tracking error.

In some preferred embodiments of the present application, the control module automatically controls and adjusts the aircraft through the following formula;

Among them, u(k) is the output value at the current k time, that is, the total error, Kp is the proportional link, Ki is the integral link, Kd is the differential link, e(i) is the integral error, and e(k) is the current k time error.

In some preferred embodiments of the present application, the evaluation index includes a linear criterion and a nonlinear criterion; wherein, the linear criterion and the nonlinear criterion have different assessment indicators and descriptions.

In some preferred embodiments of the present application, the linear criterion includes an attitude bandwidth criterion, an equivalent system parameter criterion, a stability reserve criterion, and a control law switching criterion;

The attitude bandwidth criterion includes phase bandwidth, amplitude bandwidth and time delay. In the phase and amplitude bandwidth and time delay indicators, two eigenvalues of bandwidth and time delay are calculated by the attitude angle to the open-loop frequency response of the input command;

The equivalent system parameter criteria include natural frequency, response period, phase and lag time;

In the evaluation indicators of natural frequency, response period, phase and lag time, the aircraft is equivalent to a two-order system, and the equivalent two-order system characteristic variables are taken as evaluation parameters to evaluate the flight quality of the UAV;

The stability reserve criterion includes a gain margin and a phase margin. In the gain margin and phase margin indicators, check whether the required value is reached by drawing a phase margin/enrichment chart;

The control law switching criterion includes switching time, number of oscillations and realization accuracy, in the switching time, number of oscillations and realization precision index, by using the state parameter curve of the flight process, check the switching time and the number of oscillations between different control modes, And determine the realization accuracy; wherein, the flight process state parameter curve is generated by the data module and the state module in real time during the flight process.

In some preferred embodiments of the present application, the nonlinear criterion includes a robustness criterion and a post-fault response criterion;

The robustness criterion includes stability robustness and performance robustness. In the stability robustness and performance robustness indicators, through the real-time injection of different types of faults, the stable operation of the aircraft system is detected online;

The post-fault response criterion checks the convergence, boundedness, and performance retention of the system through real-time interference and fault injection; wherein, the injection of each fault is realized through the state module.

In some preferred embodiments of the present application, the state module and the operation module have the function of switching characteristics of flight modes; wherein, the characteristics include coupling characteristics and mode characteristics;

The coupling characteristics include the variation amplitudes of position, attitude, speed and sideslip angle of other channels caused by the control quantity of a certain channel;

The modal characteristics include attitude drop ratio, position drop ratio, natural frequency, damping ratio (and resonant frequency, resonant peak value, including the time required to switch between different modes, the number of oscillations and the realization accuracy in the conversion.

In a second aspect, an embodiment of the present invention provides a flight evaluation method based on a small multi-rotor aircraft, which is applied to a flight evaluation system based on a small multi-rotor aircraft described in the first aspect, and the method includes:

Import initial data and system initialization through the import module; wherein, the initial data is obtained through the input of the ground station module, and the initial data includes flight logs, geographic information, environmental information and position information;

The ground station module displays the flight environment data of the aircraft in real time and realizes the path planning of the aircraft;

Through the data module, when the aircraft performs flight test operation according to the path planning, the detected flight data is fed back in real time; wherein, the flight data includes observations of altitude, wind speed, operating speed, ascent rate and flight path values and equipment data of the aircraft;

At the same time, the data module performs data budgeting in combination with the flight data, geographic information, environmental information and location information;

The control module automatically controls and adjusts the aircraft according to the deviation between the data budget and the real-time flight environment data, so as to realize the ideal flight and stable state of the aircraft;

Using the state module to monitor and simulate the state of the aircraft and record the state of the aircraft when the aircraft is in a steady state;

Through the quality evaluation module, the data obtained by the monitoring simulation is compared with the preset evaluation index to obtain and display the evaluation result.

The implementation of the embodiment of the present invention has the following advantages: through the remarkable features of highly autonomous navigation, highly automated flight control, and highly integrated system integration of small multi-rotor aircraft, it can be evaluated for flight quality; multiple modules can be coordinated and co-existed to construct A set of UAV flight quality evaluation system has been established, which also serves as a reference for the design, development, and testing of UAVs.

Description of drawings

In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the specific embodiments or the prior art.

Fig. 1 is a structural diagram of a flight evaluation system based on a small multi-rotor aircraft provided by an embodiment of the present invention;

Fig. 2 is an interface diagram of a ground station provided by an embodiment of the present invention;

Fig. 3 is a kind of flight data display interface diagram provided by the embodiment of the present invention;

Fig. 4 is an operation interface diagram of an operation subsystem provided by an embodiment of the present invention;

Fig. 5 is a flight state and trajectory diagram of an aircraft provided by an embodiment of the present invention;

Fig. 6 is a flowchart of a flight evaluation method based on a small multi-rotor aircraft provided by an embodiment of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

It should be understood that when used in this specification and the appended claims, the terms "comprising" and "comprises" indicate the presence of described features, integers, steps, operations, elements and/or components, but do not exclude one or Presence or addition of multiple other features, integers, steps, operations, elements, components and/or collections thereof.

In this implementation, the small multi-rotor aircraft is illustrated with a quad-rotor aircraft; wherein, the aircraft itself has a controller, various sensors, and a flight control system.

Please refer to Fig. 1, an embodiment of the present invention provides a flight evaluation system based on a small multi-rotor aircraft, including:

Including import module, ground station module, data module, control module, status module and quality assessment module;

The import module is used to import initial data and perform system initialization; wherein, the initial data is obtained through the input of the ground station module, and the initial data includes flight logs, geographic information, environmental information and location information;

The ground station module is used for displaying the flight environment data of the aircraft in real time and realizing path planning for the aircraft.

Specifically, when the ground station control system in the ground station module is running, relevant data such as flight logs, geographic information, environmental information, location information, and initial setting parameters are input, and the import module receives and starts recording time T, position P, the import module initializes the follow-up work; when the preparation work is completed, the ground station module displays geographic and position information in real time at the same time, and the height H, wind speed S, and speed V of the drone are all displayed as zero before starting; In addition to real-time display of geographical information on the ground station, relevant information such as the operating data of the UAV is also fed back and monitored in real time, and the path planning of the aircraft is done before take-off; the flight environment data is the geographic information and the operation of the UAV. data;

Since the flight of a miniaturized multi-rotor aircraft will be affected by many factors, and slight fluctuations in environmental factors will cause greater turbulence or even fatal danger to the interference of the aircraft body; therefore, the ground station module also has the quality of control The target positioning accuracy, robustness, and maneuverability (agility) of the navigation system in the navigation system should be fully guaranteed.

As shown in FIG. 2 , it is the entry interface diagram of the ground station of the present invention; the ground station (ground station) is a component of a satellite or space system, that is, a ground device installed on the earth for space communication. It generally refers to the ground equipment installed on the surface of the earth (including ships and aircraft) for artificial satellite communication. It is mainly composed of a high-gain antenna system capable of tracking artificial satellites, a microwave high-power transmitting system, a low-noise receiving system and a power supply system;

Further, as shown in Figure 3, the ground station can be used to read the flight log of the multi-rotor aircraft once tested, so as to obtain the flight data of the actual flight of the aircraft, click on the review log, you can choose to save the actual flight data BIN file for reading, After reading, it will be displayed on the interface. The right side of the interface represents various types of data. The input and output data we need are matched with the data on the right side respectively. The matching results are as follows:

Taking the small quadrotor as an example, the input data we need are c1, c2, c3, and c4 in RCIN (receiver information for remote control), which represent the recorded values of the remote control signal received by the flight control system, where c1 represents 1-channel roll, c2 represents 2-channel pitch, c3 represents 3-channel throttle, c4 represents 4-channel heading, which are the four inputs of the quadrotor aircraft; at the same time, the system has 9 inputs, p, q, r in the mathematical model It is the IMU in the picture (IMU: Inertial Measurement Unit, that is, the inertial measurement unit; it can output the angular velocity and acceleration value of the three axes of the carrier; the three-axis gyroscope provides aircraft attitude and angular acceleration information; the accelerometer provides acceleration information; the barometer, Provide aircraft altitude information.) GyrX, GyrY, GyrZ in the accelerometer and air pressure information represent the original rotation rate of the gyroscope (unit: degree/second); u, v, w are AccX, AccY, AccZ in the IMU in the picture The integral value represents the linear velocity of the multi-rotor aircraft on each axis (unit: m/s); φ, θ, φ are Roll, Pitch, Yaw in ATT (attitude information), representing its roll, pitch and yaw horn;

It should be noted that the "receiver of the remote control" here should be the controller of the aircraft, and the "Turi" here refers to the IMU, and the apposition, that is, the letters p, q, r, u, v, and w are inertial The variable contained in the measurement unit; the received information is received by the console, that is, the ground station module, and the initial data is transmitted to the flight controller in the aircraft through the data transmission method at the time of initialization, so that the aircraft has basic data and establishes a connection.

The data module is used for:

When the aircraft performs a test flight operation according to the path planning, the detected flight data is fed back in real time; wherein the flight data includes altitude, wind speed, operating speed, rate of ascent, and observation values of the flight path and aircraft equipment data ;

At the same time, a data budget is performed in combination with the flight data, geographical information, environmental information and location information.

Specifically, after the coordination work between the import module and the ground station module is completed, the small multi-rotor performs flight test operation according to the planned path. At this time, the aircraft is detected by the data module and its data is transmitted and fed back in real time, including altitude, wind speed, operating speed, ascent rate, and observation values of the flight channel (pitch, heading, roll, height) and equipment in the UAV (motor Speed and temperature, battery power, sensor working status) data, etc.

Wherein, the data budget is: according to the corresponding sensors in the aircraft and the data fed back by other hardware devices, such as the relative speed of the current flight and wind force fed back by the anemometer, various data of the ideal preset situation of the aircraft can be obtained.

The control module is used to automatically control and adjust the aircraft according to the deviation between the data budget and the real-time flight environment data, so as to realize the ideal flight and steady state of the aircraft.

Specifically, the deviation is the difference between the ideal data and the feedback data of the aircraft at that time, so as to perform autonomous calculation and reduce the error to achieve the purpose of balance;

The deviation includes position/altitude tracking error, attitude/heading tracking error and three-axis velocity/angular velocity tracking error. These errors play a vital role in the adjustment and accuracy of the entire flight tracking process and determine the effect of tracking quality. ;

At the same time, the control module automatically controls and adjusts the aircraft through the following formula;

Among them, u(k) is the output value at the current k moment, that is, the total error, Kp is the proportional link, Ki is the integral link, Kd is the differential link, e(i) is the integral error, e(k) is the error at the current k moment, e (k-1) is the error of the previous moment of the current k moment;

The proportional adjustment P is to respond to the deviation of the system in proportion. Once the system deviates, the proportional adjustment will immediately produce an adjustment effect to reduce the deviation. The proportional effect is large, which can speed up the adjustment and reduce the error, but the excessive ratio will make the system stable. decrease, and even cause system instability; integral adjustment I makes the system eliminate steady-state errors and improve the degree of no difference, because there is an error, the integral adjustment is carried out until there is no difference, the integral adjustment stops, and the integral adjustment outputs a constant value; differential adjustment The D function reflects the rate of change of the system deviation signal. It is predictable and can predict the trend of deviation changes. Therefore, it can produce advanced control functions. Before the deviation is formed, it has been eliminated by the differential adjustment function, which can improve the dynamic performance of the system; Finally, the ideal flight and stable state are achieved, and the automatic control effect is realized.

The state module is used to monitor, simulate and record the state of the aircraft when the aircraft is in a steady state.

Specifically, after the control module outputs the data of the small aircraft, the aircraft will show the current flight state, that is, the state module will monitor, simulate and record the state of the aircraft.

The quality evaluation module is used to compare the output of the data obtained by the monitoring simulation with the preset evaluation index, so as to obtain and display the evaluation result.

Specifically, the quality evaluation module has the function of detecting and measuring the real-time state of the aircraft. The flight quality characteristics of the miniaturized multi-rotor aircraft is an evaluation feedback that is always accompanied by data input and processing in the entire system and during the flight mission execution process, and there will be a practical comparison of the overall evaluation.

The evaluation index includes a linear criterion and a nonlinear criterion; wherein, there are different evaluation indicators and descriptions in the linear criterion and the nonlinear criterion;

The linear criterion includes an attitude bandwidth criterion, an equivalent system parameter criterion, a stability reserve criterion and a control law switching criterion;

The attitude bandwidth criterion includes phase bandwidth, amplitude bandwidth and time delay. In the phase and amplitude bandwidth and time delay indicators, two eigenvalues of bandwidth and time delay are calculated by the attitude angle to the open-loop frequency response of the input command;

The equivalent system parameter criteria include natural frequency, response period, phase and lag time;

In the evaluation indicators of natural frequency, response period, phase and lag time, the aircraft is equivalent to a two-order system, and the equivalent two-order system characteristic variables are taken as evaluation parameters to evaluate the flight quality of the UAV;

The stability reserve criterion includes a gain margin and a phase margin. In the gain margin and phase margin indicators, check whether the required value is reached by drawing a phase margin/enrichment chart;

The control law switching criterion includes switching time, number of oscillations and realization accuracy, in the switching time, number of oscillations and realization precision index, by using the state parameter curve of the flight process, check the switching time and the number of oscillations between different control modes, And determine the realization accuracy; wherein, the flight process state parameter curve is generated by the data module and the state module in real time during the flight process.

Correspondingly, the nonlinear criterion includes a robustness criterion and a post-fault response criterion;

The robustness criterion includes stability robustness and performance robustness. In the stability robustness and performance robustness indicators, through the real-time injection of different types of faults, the stable operation of the aircraft system is detected online;

The post-fault response criterion checks the convergence, boundedness, and performance retention of the system through real-time interference and fault injection; wherein, the injection of each fault is realized through the state module.

In another embodiment, on the basis of the foregoing solution, the described flight evaluation system based on a small multi-rotor aircraft further includes an operation module, and the operation module is used to switch the automatic control adjustment of the aircraft Adjusted for manual control.

Specifically, the operation module involved is designed for risk. When the aircraft encounters flight obstacles or risks, it can be switched to human control through the operation module to reduce the loss rate;

It should be noted that the combination of user presets and the control of the control system means that the control system automatically adjusts according to the user intervention presets, and does not exceed the set limit value;

In positioning, the accuracy should be high, keep within the range set by the user according to their own requirements, and the error should not exceed the set order of magnitude. In addition, the robustness lies in the sensitivity of parameter perturbation, the suppression of external interference, and the stability and robustness. Performance robustness and increments of state changes including attitude and angular velocity per unit rudder volume per unit time.

The state module and the operation module have the function of flight mode switching characteristics; wherein, the characteristics include coupling characteristics and modal characteristics;

The coupling characteristics include the variation amplitudes of position, attitude, speed and sideslip angle of other channels caused by the control quantity of a certain channel;

The modal characteristics include attitude drop ratio, position drop ratio, natural frequency, damping ratio (and resonant frequency, resonant peak value, including the time required to switch between different modes, the number of oscillations and the realization accuracy in the conversion.

Through the above-mentioned scheme, the flight quality of the small multi-rotor aircraft is evaluated based on its prominent features such as highly autonomous navigation, highly automated flight control, and highly integrated system integration; multiple modules are coordinated and co-existing to build a set of UAVs The flight quality evaluation system also serves as a reference for the design, development, and testing of UAVs.

During implementation, on the basis of the foregoing scheme, in order to facilitate users to perform custom settings and intuitive evaluation and display according to actual conditions, the embodiment of the present invention also includes a user operation subsystem, and the flight evaluation system and the user operation subsystem Inter-communication connection to realize data interaction; the user operation subsystem can be understood as a user-oriented application program, which adopts a GUI interface design to enable users to understand the grading of each index more quickly and intuitively in a graphical manner, so as to The system is further optimized.

As shown in Figure 4, the user operation subsystem includes an image display module, a menu module, a flight quality evaluation module and an evaluation display module; the menu module is used to read flight data, and the given display input and output curve image and the identified curve The instruction module, and its corresponding image will be displayed in the image display module; the flight quality evaluation module is used to give instructions for evaluating the flight quality of the longitudinal and lateral systems, and the longitudinal and lateral input and output and identification curves will be Correspondingly displayed on the image display module, and at the same time, the calculation instructions for each index will cause the evaluation results to be displayed on the evaluation display module; wherein, the evaluation indexes listed in the vertical and lateral directions are only for illustration, and also include the above-mentioned linear criterion and Evaluation metrics in nonlinear criteria.

Further, when performing flight evaluation, the user operation subsystem also includes an interface unit, and the interface unit includes: 1. Command module (Attitude Commands); 2. Core control module (Attitude Controller); 3. Control mixing module (Quadcopter Control Mixing); 4. Dynamics module (Quadcoper Dynamics).

The command module is used for inputting data instructions, and correspondingly outputs the instructions to the next core control module;

The core control module is used for instruction storage and implementation;

The control mixing module is used for channel instruction mixing coordination control output;

The dynamics module is used to sense and start the motor for the output command;

As shown in Figure 5, it is the flight state and trajectory diagram of the aircraft under the given input of the embodiment of the present invention; the flight state and trajectory of the aircraft under the given input can be observed in the interface of the interface unit, which facilitates the user real-time observation;

Among them, "Attitude" is the flight state display of the aircraft, that is, the real-time performance of the attitude; such as the front and rear pitch state, the left and right tilt state, the ups and downs of the height, etc.; You can know the state performance of the aircraft;

"Position" is the position display, that is, the real-time position calibration of the aircraft. Since its geographic information has been imported and the path is planned in the initial stage, the simulated space coordinates are generated to monitor the target position in real time.

Based on the same inventive concept, as shown in FIG. 6 , the embodiment of the present invention provides a flight evaluation method based on a small multi-rotor aircraft, which is applied to a flight evaluation system based on a small multi-rotor aircraft described above. Methods include:

S101, importing initial data through the import module and performing system initialization; wherein, the initial data is obtained through the input of the ground station module, and the initial data includes flight logs, geographic information, environmental information and location information;

S102, the ground station module displays the flight environment data of the aircraft in real time and implements path planning for the aircraft.

Specifically, when the ground station control system in the ground station module is running, relevant data such as flight logs, geographic information, environmental information, location information, and initial setting parameters are input, and the import module receives and starts recording time T, position P, the import module initializes the follow-up work; when the preparation work is completed, the ground station module displays geographic and position information in real time at the same time, and the height H, wind speed S, and speed V of the drone are all displayed as zero before starting; In addition to real-time display of geographical information on the ground station, relevant information such as the operating data of the UAV is also fed back and monitored in real time, and the path planning of the aircraft is done before take-off; the flight environment data is the geographic information and the operation of the UAV. data.

S103. Feedback the detected flight data in real time through the data module when the aircraft performs a flight test according to the path planning; wherein, the flight data includes altitude, wind speed, operating speed, ascent rate, and flight path observations and aircraft equipment data.

Specifically, after the coordination work between the import module and the ground station module is completed, the small multi-rotor performs flight test operation according to the planned path. At this time, the aircraft is detected by the data module and its data is transmitted and fed back in real time, including altitude, wind speed, operating speed, ascent rate, and observation values of the flight channel (pitch, heading, roll, height) and equipment in the UAV (motor Speed and temperature, battery power, sensor working status) data, etc.

S104, at the same time, the data module performs data budgeting in combination with the flight data, geographical information, environmental information and location information.

S105, the control module automatically controls and adjusts the aircraft according to the deviation between the data budget and the real-time flight environment data, so as to realize the ideal flight and stable state of the aircraft.

Specifically, the deviations include position/altitude tracking error, attitude/heading tracking error, and three-axis velocity/angular velocity tracking error. These errors play a crucial role in the adjustment and accuracy of the entire flight tracking process and determine the tracking quality effect.

S106, using the status module to monitor and simulate the status of the aircraft when the aircraft is in a steady state and record it.

Specifically, after the control module outputs the data of the small aircraft, the aircraft will show the current flight state, that is, the state module will monitor, simulate and record the state of the aircraft.

S107, compare the output of the data obtained by the monitoring simulation with the preset evaluation index through the quality evaluation module, so as to obtain and display the evaluation result.

Specifically, the quality evaluation module has the function of detecting and measuring the real-time state of the aircraft. The flight quality characteristics of the miniaturized multi-rotor aircraft is an evaluation feedback that is always accompanied by data input and processing in the entire system and during the flight mission execution process, and there will be a practical comparison of the overall evaluation.

The evaluation index includes a linear criterion and a nonlinear criterion; wherein, the linear criterion and the nonlinear criterion have different assessment indexes and descriptions.

It should be noted that, for a more specific workflow in the evaluation method, please refer to the foregoing system embodiment section, which will not be repeated here.

The above scheme, by combining the characteristics of the small multi-rotor aircraft to evaluate the flight quality, finally realizes the user-oriented evaluation of the flight quality of the miniaturized multi-rotor aircraft, especially for the flight quality evaluation method of the quadrotor combined with the characteristics of the quadrotor. The four-rotor performs flight quality assessment to achieve real-time monitoring of the flight status of the miniaturized multi-rotor during the flight.

Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. Whether these functions are implemented in the form of hardware or software To perform, depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present invention.

In the several embodiments provided in this application, it should be understood that the disclosed system and method can be implemented in other ways. For example, the system embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may also be electrical, mechanical or other forms of connection.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can easily think of various equivalents within the technical scope disclosed in the present invention. Modifications or replacements shall all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (7)

1. A flight evaluation system based on a small multi-rotor aircraft is characterized by comprising a lead-in module, a ground station module, a data module, a control module, a state module and a quality evaluation module;

the import module is used for importing initial data and initializing a system; the initial data are obtained by inputting through the ground station module, and comprise flight logs, geographic information, environmental information and position information;

the ground station module is used for displaying flight environment data of the aircraft in real time and realizing path planning of the aircraft;

the data module is configured to:

when the aircraft performs test flight operation according to the path plan, feeding back the detected flight data in real time; wherein the flight data includes altitude, wind speed, operating rate, lift rate, and observations of flight paths and equipment data of the aircraft;

meanwhile, data budgeting is carried out by combining the flight data, the geographic information, the environmental information and the position information;

the control module is used for automatically controlling and adjusting the aircraft according to the deviation generated by the data budget and the real-time flight environment data so as to realize the ideal flight and stable state of the aircraft;

the state module is used for monitoring, simulating and recording the state of the aircraft when the aircraft is in a stable state;

the quality evaluation module is used for outputting and comparing data obtained by the monitoring simulation with a preset evaluation index to obtain an evaluation result and displaying the evaluation result;

the evaluation index comprises a linear criterion and a non-linear criterion; wherein, different assessment indexes and descriptions are provided in the linear criterion and the non-linear criterion;

the linear criteria comprise an attitude bandwidth criterion, an equivalent system parameter criterion, a stable reserve criterion and a control law switching criterion;

the attitude bandwidth criterion comprises phase bandwidth, amplitude bandwidth and time delay, and two characteristic values of bandwidth and time delay are calculated according to the open loop frequency response of an attitude angle to an input instruction in phase and amplitude bandwidth and time delay indexes;

the equivalent system parameter criteria include natural frequency, response period, phase, and lag time;

in evaluation indexes of natural frequency, response period, phase and lag time, the aircraft is equivalent to a two-order system, and characteristic variables of the equivalent two-order system are taken as evaluation parameters, so that the flight quality of the unmanned aerial vehicle is evaluated;

the stability reserve criterion comprises a gain margin and a phase margin, and whether a required value is achieved or not is checked by drawing a phase margin/margin map in indexes of the gain margin and the phase margin;

the control law switching criterion comprises switching time, oscillation times and implementation precision, and the switching time and the oscillation times among different control modes are checked and the implementation precision is determined by utilizing a flight process state parameter curve in the switching time, the oscillation times and the implementation precision indexes; and the flight process state parameter curve is generated by the data module and the state module in real time in the flight process.

2. A small multi-rotor aircraft-based flight assessment system according to claim 1, further comprising an operating module for switching automatic control adjustments of said aircraft to manual control adjustments.

3. A small multi-rotor aircraft-based flight assessment system according to claim 1, wherein said biases comprise position/altitude tracking errors, attitude/heading tracking errors and three-axis velocity/angular velocity tracking errors.

4. A small multi-rotor aircraft-based flight assessment system according to claim 1, wherein said control module provides automatic control adjustments to said aircraft by the following formula;

wherein u (k) is the output value at the current k moment, i.e. the total error, kp is the proportional element, ki is the integral element, kd is the derivative element, e (i) is the integral error, and e (k) is the error at the current k moment.

5. A small multi-rotor aircraft-based flight assessment system according to claim 1, wherein said non-linear criteria include robustness criteria and post-fault response criteria;

the robustness criterion comprises stability robustness and performance robustness, and the stable working condition of the aircraft system is detected on line through real-time injection of different types of faults in stability robustness and performance robustness indexes;

the post-fault response criterion checks the convergence and bounding of the system and performance retention through real-time interference, fault injection; and injecting each fault through the state module.

6. A small multi-rotor aircraft-based flight assessment system according to claim 2, wherein said status module and operational module are functional for flight mode switching features; wherein the characteristics include coupling characteristics and modal characteristics;

the coupling characteristics comprise the change amplitudes of the position, the posture, the speed and the sideslip angle of other channels caused when the control quantity of a certain channel is given;

the modal characteristics comprise a falling ratio of the attitude, a falling ratio of the position, a natural frequency, a damping ratio, a resonant frequency and a resonant peak value, and the conversion comprises time required for switching between different modes, oscillation times and realization precision.

7. A flight assessment method based on a small multi-rotor aircraft, which is applied to the flight assessment system based on the small multi-rotor aircraft of claim 1, and comprises the following steps:

importing initial data and initializing a system through an import module; the initial data are obtained by inputting through a ground station module, and comprise flight logs, geographic information, environmental information and position information;

the ground station module displays the flight environment data of the aircraft in real time and realizes the path planning of the aircraft;

feeding back the detected flight data in real time through a data module when the aircraft performs test flight operation according to the path plan; wherein the flight data comprises altitude, wind speed, operating rate, lift rate, and observations of flight path and equipment data of the aircraft;

meanwhile, the data module performs data budgeting by combining the flight data, the geographic information, the environmental information and the position information;

the control module automatically controls and adjusts the aircraft according to the deviation generated by the data budget and the real-time flight environment data so as to realize the ideal flight and stable state of the aircraft;

monitoring, simulating and recording the state of the aircraft by using a state module when the aircraft is in a stable state;

and outputting and comparing the data obtained by the monitoring simulation with a preset evaluation index through a quality evaluation module to obtain an evaluation result and displaying the evaluation result.

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