CN113204246A

CN113204246A - Unmanned aerial vehicle running state detection method

Info

Publication number: CN113204246A
Application number: CN202110554071.6A
Authority: CN
Inventors: 李胜林; 纪家乡; 贾芳苗
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-05-20
Filing date: 2021-05-20
Publication date: 2021-08-03

Abstract

The invention discloses an unmanned aerial vehicle running state detection method which can analyze flight starting state information and flight ending state information to determine a flight starting state log and a flight ending state log and determine a real-time flight state information set. And obtaining a flight state information track according to a state comparison result between at least two continuous real-time flight state information in the real-time flight state information set, and correcting the flight state information track to obtain a global flight state initial index and a global flight state termination index. Can realize detecting unmanned aerial vehicle's running state result, confirm unmanned aerial vehicle's flight orbit accurately, can revise the stability in order to ensure the flight orbit to local flight state index, whether can in time discover that unmanned aerial vehicle has the flight anomaly through the flight state testing result, the influence of analysis environmental factor to unmanned aerial vehicle's flight state provides complete reliable decision-making foundation for the subsequent flight state adjustment of unmanned aerial vehicle.

Description

Unmanned aerial vehicle running state detection method

Technical Field

The disclosure relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle running state detection method.

Background

With the continuous development of science and technology, more and more work tasks need to be completed in the air, but the difficulty of task completion of related technical personnel in the air is particularly high, so that the unmanned aerial vehicle is derived to replace related working personnel to complete tasks in the air, the work efficiency is greatly improved, and great convenience is brought to the related working personnel. However, the flight state of the drone is affected by many factors (such as wind speed, temperature, etc.), which makes it difficult to accurately determine the flight trajectory of the drone and to ensure the stability of the flight trajectory.

Disclosure of Invention

For improving the technical problem that the above-mentioned background art that exists among the correlation technique exists, this disclosure provides an unmanned aerial vehicle running state detection method.

A method for detecting the operation state of an unmanned aerial vehicle, the method comprising the following steps:

after acquiring flight starting state information and flight ending state information, acquiring a flight starting state log of the flight starting state information and a flight ending state log of the flight ending state information, wherein the flight starting state information comprises first flight environment state information, and the flight ending state information comprises second flight environment state information;

acquiring each real-time flight state information record in the flight starting state log and each real-time flight state information record in the flight ending state log to obtain a real-time flight state information set;

determining a state comparison result between at least two continuous real-time flight state information in the real-time flight state information set to obtain a continuous flight state information track;

correcting the state comparison result of the local initial flight state index in the continuous flight state information track into an initial flight state index to obtain a global flight state initial index;

correcting the state comparison result of the local ending flight state index in the continuous flight state information track into an ending flight state index to obtain a global flight state ending index;

and detecting a flight state result of the global flight state starting index and the global flight state ending index to obtain a flight state detection result, wherein the flight state detection result is used for representing that the first flight environment state information and the second flight environment state information correspond to the same flight state index or different flight state indexes.

Further, the determining a state comparison result between at least two consecutive pieces of real-time flight state information in the real-time flight state information set to obtain a continuous flight state information track includes:

determining each real-time flight state information record in the real-time flight state information set as current real-time flight state information;

completing the following operations until the real-time flight state information set is obtained: processing the state comparison result of the current real-time flight state information and each real-time flight state information record in the real-time flight state information set, and determining a plurality of processed state comparison results as a group of motion tracks in the continuous flight state information tracks;

wherein determining a state comparison result between at least two of the real-time flight state information comprises:

processing results of at least two pieces of real-time flight state information to obtain flight state processing results;

determining the flight status processing result as the status comparison result between at least two pieces of the real-time flight status information.

Further, the modifying the state comparison result of the local initial flight state index in the continuous flight state information track into an initial flight state index to obtain a global flight state initial index includes:

determining each path in the continuous flight state information track as a current path, and completing the following operations until the continuous flight state information track is obtained: acquiring the current path; under the condition that the initial flight state index is local to the current path, correcting the current path into the initial flight state index;

determining the continuous flight state information track in the corrected initial flight state index as the global flight state initial index;

wherein, the detecting the flight state result of the global flight state initial index to obtain the flight state detection result comprises:

converting the global flight state initial index into a three-dimensional space flight information index;

inputting the global flight state initial index, the three-dimensional space flight information index, the flight initial state log and the flight ending state log into a preset track model to obtain the fusion information characteristic of the flight initial state information and the flight ending state information;

and identifying the fusion information characteristics by using a target neural network model to obtain the flight state detection result.

Further, detecting the flight state result of the global flight state start index and the global flight state end index to obtain a flight state detection result, including:

determining the environmental element classification corresponding to the environmental element index in the environmental elements to be analyzed according to the global flight state starting index and the global flight state ending index;

determining an environment element identification mode of the environment element index according to the environment element classification corresponding to the environment element index in the environment elements to be analyzed;

according to the environment element identification mode of the environment element index, carrying out environment classification processing on the environment element index;

fusing environment classification processing results of the environmental element indexes in the environmental elements to be analyzed to obtain corresponding identification elements in a real-time flight state;

and detecting the real-time flight state according to the corresponding identification element in the real-time flight state to obtain a flight state detection result.

Further, the determining the environmental element classification manner of the environmental element index in the environmental element to be analyzed includes:

carrying out environment element detection on the environment element to be analyzed to obtain the corresponding environment element in the current flight state;

determining an environment element classification mode of the environment element indexes in the environment elements to be analyzed based on the environment element classification characteristics corresponding to the environment elements of the environment element indexes in the environment elements corresponding to the current flight state;

wherein, the detecting the environmental elements of the environment to be analyzed to obtain the corresponding environmental elements in the current flight state includes:

sequentially carrying out environment element type calculation on the environment elements to be analyzed and at most three environment element distinguishing models to obtain corresponding at most three environment element components;

determining the environment elements corresponding to the environment elements to be analyzed in the current flight state according to the at most three environment element components; carrying out environment element classification characteristic category analysis on the environment elements corresponding to the current flight state to obtain the environment elements corresponding to the current flight state;

wherein, the determining the environmental element classification mode of the environmental element index in the environmental element to be analyzed based on the environmental element classification characteristic corresponding to the environmental element of the environmental element index in the environmental element corresponding to the current flight state includes:

determining an environment element index and a target environment element index corresponding to the current flight state based on the environment element classification characteristic corresponding to the environment element of each environment element index in the environment elements corresponding to the current flight state; if the classification characteristic of the environmental element corresponding to the environmental element of any similar environmental element index in the environmental element indexes corresponding to the current flight state is the same as the classification characteristic of the environmental element corresponding to the environmental element of the environmental element index corresponding to the current flight state, and the classification characteristic of the environmental element corresponding to the environmental element of any similar environmental element index in the similar environmental element indexes is the same as the classification characteristic of the environmental element corresponding to the environmental element of the similar environmental element index, determining the classification mode of the environmental element of the similar environmental element index and the similar environmental element index of the similar environmental element index, and the classification mode of the environmental element of the corresponding environmental element index in the current flight state is the same as the classification mode of the environmental element of the corresponding environmental element index; if the environmental element index data of one of the environmental element classifications is matched with the environmental element classification characteristics corresponding to the environmental element index data, determining that the environmental element classification characteristics are consistent with the corresponding environmental element indexes in the current flight state; otherwise, determining that the environmental element classification characteristic is inconsistent with the corresponding environmental element index in the current flight state.

Further, the determining the environmental element identification mode of the environmental element index according to the environmental element classification mode of the environmental element index in the environmental element to be analyzed includes:

carrying out environment classification and identification on information which is consistent with the corresponding environment element index in the current flight state in the environment elements to be analyzed, and determining an environment element identification result which is consistent with the corresponding environment element index in the current flight state;

carrying out environment classification processing on the environmental elements to be analyzed, and extracting an information result inconsistent with the environmental element index corresponding to the current flight state or an environmental element identification result of a target environmental element index from an environmental element identification result on the basis of information inconsistent with the environmental element index corresponding to the current flight state or real-time flight state information of the target environmental element index;

the method for identifying the environment classification of the information which is consistent with the corresponding environment element index in the current flight state in the environment element to be analyzed to obtain the environment element identification result which is consistent with the corresponding environment element index in the current flight state includes the following steps:

acquiring areas with the same area range as the corresponding environmental element indexes in the current flight state from a preset environmental element analysis template; correcting the environmental element analysis weight of the preset environmental element analysis template according to the environmental element classification characteristics corresponding to the environmental elements of the environmental element indexes in the area consistent with the environmental element indexes corresponding to the current flight state, and analyzing the area consistent with the environmental element indexes corresponding to the current flight state by using the corrected analysis template;

the method includes the steps of performing environment classification processing on the environment elements to be analyzed, extracting environment element identification results inconsistent with the environment element indexes corresponding to the current flight state from environment element identification results according to real-time flight state information inconsistent with the environment element indexes corresponding to the current flight state, and the method includes the following steps:

performing corresponding environmental element classification characteristic analysis processing on the environmental elements to be analyzed to obtain environmental element classification characteristic analysis results in the environmental elements to be analyzed; extracting corresponding environment element classification characteristic analysis results from the environment element classification characteristic analysis results of the environment elements to be analyzed based on real-time flight state information inconsistent with the corresponding environment element indexes in the current flight state;

the method for classifying the environment of the environmental element to be analyzed and extracting the environmental element identification result of the target environmental element index from the environmental element identification result according to the real-time flight state information of the target environmental element index includes the following steps:

performing index comparison on the environmental element indexes in the environmental elements to be analyzed and at most three index training models, and screening a target index training model compared with the environmental element indexes from the at most three index training models according to an index comparison result; determining an environmental element classification area which is the same as the target index training model index in the environmental elements to be analyzed; determining the environmental element analysis weight of the environmental element to be analyzed according to the distribution point of the environmental element classification area relative to the target index training model; and analyzing the environmental elements to be analyzed according to the determined environmental element analysis weight, and extracting the corresponding environmental element analysis result in the current flight state from the analysis results of the environmental elements to be analyzed based on the real-time flight state information of the target environmental element index.

Further, detecting the real-time flight state according to the corresponding identification element in the real-time flight state to obtain a flight state detection result, including:

extracting real-time flight environment element information from a detection area of a current flight point according to the real-time flight state, acquiring target flight track characteristics of a flight track target in the real-time flight environment element information and generating a target flight track characteristic value; the target flight track characteristic value comprises all flight track targets; carrying out a target track path on the flight track target to obtain a target track path plan; determining whether the correlation distance between the target trajectory path plan and the target flight trajectory characteristic value matches a preset correlation distance length value; when determining that the correlation distance between the target track path plan and the target flight track characteristic value matches the preset correlation distance length value, modifying the target track path plan in the current flight point into the plan of the target flight track characteristic value; detecting according to the corrected target track path plan to obtain a flight state detection result corresponding to the real-time track path plan;

the acquiring of the target flight trajectory feature of the flight trajectory target in the real-time flight environment element information and generating of the target flight trajectory feature value includes:

determining the flight track target in the real-time flight environment element information, and acquiring the flight line characteristics of the flight track target; obtaining the matching degree of the flight line characteristics and a preset path planning model; when the matching degree is smaller than a first preset track path, generating a target flight track characteristic value;

wherein the determining the flight path target in the real-time flight environment element information and acquiring the flight path characteristics of the flight path target include:

when the previous flight point location is determined to meet the preset flight attitude, counting the real-time flight attitude corresponding to the same flight attitude recorded in the real-time flight attitude in the real-time flight environment element information of the previous flight point location based on the flight attitude recorded in the real-time flight attitude of the previous flight point location; calculating to obtain the average flying height and the average flying speed of the real-time flying attitude of the same flying attitude in the real-time flying environment element information of the previous flying point position, and taking the average flying height and the average flying speed as the average value of the real-time flying attitude height and speed of the corresponding flying attitude type; sorting the real-time flight environment element information of the current flight point according to the average value of the real-time flight attitude height and the speed corresponding to the preset flight attitude in sequence according to a time sequence to obtain a function image, wherein the time sequence is that the average value of the real-time flight attitude height and the speed corresponding to the preset flight attitude in the previous flight point and the preset flight attitude height and speed average value corresponding to the preset path planning model are compared in numerical value, and the flight trajectory target is determined in the function image; sequentially carrying out linear simulation on the flight attitude of the real-time flight attitude in the flight attitude detection sub-area according to a preset flight attitude type to obtain the flight attitude of the real-time flight attitude in the flight attitude detection sub-area under the preset flight attitude type; and acquiring the flight line characteristics of the flight track target based on the flight attitude of the real-time flight attitude in the preset flight attitude type in sequence.

The utility model provides an unmanned aerial vehicle running state detection device, is applied to electronic equipment, the device includes:

the information acquisition module is used for acquiring a flight starting state log of the flight starting state information and a flight ending state log of the flight ending state information after acquiring the flight starting state information and the flight ending state information, wherein the flight starting state information comprises first flight environment state information, and the flight ending state information comprises second flight environment state information;

the state information determining module is used for acquiring each real-time flight state information record in the flight starting state log and each real-time flight state information record in the flight ending state log to obtain a real-time flight state information set;

the track determining module is used for determining a state comparison result between at most two continuous real-time flight state information in the real-time flight state information set to obtain a continuous flight state information track;

the initial index determining module is used for correcting the state comparison result of the local initial flight state index in the continuous flight state information track into an initial flight state index to obtain a global flight state initial index;

the termination index determining module is used for correcting the state comparison result of the local termination flight state index in the continuous flight state information track into a termination flight state index to obtain a global flight state termination index;

and the result determining module is used for carrying out flight state result detection on the global flight state starting index and the global flight state ending index to obtain a flight state detection result, wherein the flight state detection result is used for representing that the first flight environment state information and the second flight environment state information correspond to the same flight state index or different flight state indexes.

An electronic device comprising a processor and a memory connected to each other by a communication bus, the processor implementing the method of any one of the above by running a computer program retrieved from the memory.

A computer-readable storage medium, having stored thereon a computer program which, when executed, implements the method of any of the above.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects.

An unmanned aerial vehicle running state detection method can analyze flight initial state information and flight ending state information to determine a flight initial state log and a flight ending state log and further determine a real-time flight state information set, so that a continuous flight state information track can be obtained according to a state comparison result between at least two continuous real-time flight state information in the real-time flight state information set, and a global flight state initial index and a global flight state ending index are obtained by correcting the flight state information track. So, can realize detecting unmanned aerial vehicle's running state result. From this, not only can confirm unmanned aerial vehicle's flight track accurately, can also revise the stability in order to ensure the flight track to local flight state index, whether can in time discover that unmanned aerial vehicle has the flight anomaly through flight state testing result, can analyze environmental factor like this to unmanned aerial vehicle's flight state's influence to provide complete reliable decision-making basis for the follow-up flight state of unmanned aerial vehicle is revised.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.

Fig. 1 is a flowchart of a method for detecting an operation state of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is a functional block diagram of an apparatus for detecting an operation state of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

Referring to fig. 1, a schematic flow chart of the method for detecting the operating state of the unmanned aerial vehicle according to the embodiment of the present invention is shown, and further, the method for detecting the operating state of the unmanned aerial vehicle may specifically include the contents described in the following steps S21 to S26.

Step S21, after acquiring the flight start state information and the flight end state information, acquiring a flight start state log of the flight start state information and a flight end state log of the flight end state information.

Illustratively, the flight starting state information includes first flight environment state information, and the flight ending state information includes second flight environment state information.

Furthermore, the environment information in the flying state during flying is effectively judged through the first flying environment state information and the second flying environment state information, so that the flying state can be controlled in real time.

Step S22, acquiring each real-time flight state information record in the flight starting state log and each real-time flight state information record in the flight ending state log to obtain a real-time flight state information set.

Illustratively, the real-time flight status information set is used to characterize the set of flight status information at each time point.

In the scheme, each flight point is recorded, so that the flight state can be monitored in real time, the real-time flight state is effectively controlled, the stability of the flight is monitored, and the flight purpose is realized.

Step S23, determining a state comparison result between at least two consecutive pieces of real-time flight state information in the real-time flight state information set, and obtaining a continuous flight state information track.

Illustratively, the continuous flight state information track is used for representing the real-time flight track of the unmanned aerial vehicle of the flight point position combination corresponding to each time.

In this embodiment, the following steps S231 to S235 may avoid the technical problem of inaccurate result when determining the result of comparing the states between at least two consecutive pieces of real-time flight state information in the set of real-time flight state information, so as to accurately obtain the continuous flight state information track.

Step S231, determining each real-time flight status information record in the real-time flight status information set as current real-time flight status information.

Step S232, the following operations are completed until the real-time flight state information set is obtained: and processing the state comparison result of the current real-time flight state information and each real-time flight state information record in the real-time flight state information set, and determining a plurality of processed state comparison results as a group of motion tracks in the continuous flight state information tracks.

Step S233, wherein determining a status comparison result between at least two pieces of the real-time flight status information includes:

step S234, processing results of at least two pieces of real-time flight state information to obtain flight state processing results;

step S235, determining the flight status processing result as the status comparison result between at least two pieces of the real-time flight status information.

Further, when the state comparison result between at least two continuous real-time flight state information in the real-time flight state information set is determined, the technical problem of inaccurate result is avoided, and thus the continuous flight state information track can be accurately obtained.

And step S24, correcting the state comparison result of the local initial flight state index in the continuous flight state information track into an initial flight state index to obtain a global flight state initial index.

Illustratively, the global flight state initiation indicator is used for representing a combination of the unsatisfied indicator and the satisfied indicator.

In this embodiment, the modifying the state comparison result of the local initial flight state indicator in the continuous flight state information track to the initial flight state indicator to obtain the global flight state start indicator may include the following steps a1 and a 2:

step a1, determining each path in the continuous flight state information trajectory as a current path, and completing the following operations until the continuous flight state information trajectory is obtained: acquiring the current path; and under the condition that the initial flight state index is local to the current path, correcting the current path into the initial flight state index.

Step A2, determining the continuous flight state information track in the corrected initial flight state index as the global flight state initial index.

Further, through the content described in the above step a1 and step a2, the state comparison result of the local initial flight state index in the continuous flight state information track is corrected to the initial flight state index, so that the problem of result comparison error is effectively avoided, and thus the global flight state initial index can be accurately obtained.

In this scheme, the detecting the flight state result of the global flight state starting index to obtain the flight state detection result may include the following:

It can be understood that the technical problem of errors in flight state result detection can be effectively solved by adopting the method, so that the detection is more accurate, and the flight state detection result can be accurately obtained.

Further, when the state comparison result of the local initial flight state index in the continuous flight state information track is corrected to be the initial flight state index, the technical problem that the correction of the state comparison result is inaccurate is effectively avoided, and therefore the global flight state initial index can be accurately obtained.

And step S25, correcting the state comparison result of the local ending flight state index in the continuous flight state information track into an ending flight state index to obtain a global flight state ending index.

Illustratively, the global end-of-flight indicator is used to characterize a combination of modifying an unsatisfied indicator and adding a satisfied indicator.

And step S26, carrying out flight state result detection on the global flight state starting index and the global flight state ending index to obtain a flight state detection result.

Illustratively, the flight state detection result is used to represent that the first flight environment state information corresponds to the same flight state index or corresponds to different flight state indexes with respect to the second flight environment state information.

In this embodiment, the detecting the flight state result of the global flight state start index and the global flight state end index to obtain the flight state detection result may include the following steps S261 to S265:

step S261, determining an environment element classification corresponding to the environment element index in the environment elements to be analyzed according to the global flight state starting index and the global flight state ending index;

further, the detecting the environmental elements to be analyzed to obtain the corresponding environmental elements in the current flight state may include the following steps:

determining the environment elements corresponding to the environment elements to be analyzed in the current flight state according to the at most three environment element components; and carrying out environment element classification characteristic category analysis on the environment elements corresponding to the current flight state to obtain the environment elements corresponding to the current flight state.

It can be understood that, when the environmental element detection is performed on the environmental element to be analyzed, the problem of detection error of the environmental element is effectively avoided, so that the corresponding environmental element in the current flight state can be accurately obtained.

Step S262, determining an environment element identification mode of the environment element index according to the environment element classification corresponding to the environment element index in the environment elements to be analyzed;

in this embodiment, the determining the environmental element identification manner of the environmental element index according to the environmental element classification manner of the environmental element index in the environmental element to be analyzed may include the following:

and performing environment classification processing on the environment elements to be analyzed, and extracting an information result inconsistent with the corresponding environment element index in the current flight state or an environment element identification result of the target environment element index from the environment element identification result on the basis of the information inconsistent with the corresponding environment element index in the current flight state or the real-time flight state information of the target environment element index.

It can be understood that, when the environmental element classification method according to the environmental element indexes in the environmental elements to be analyzed is performed, the problem of classification errors is effectively avoided, and the environmental element identification method of the environmental element indexes can be reliably determined.

Further, the environment classification and identification is performed on the information, in the environment element to be analyzed, that is consistent with the environment element index corresponding to the current flight state, so as to obtain the environment element identification result that is consistent with the environment element index corresponding to the current flight state, which may include the following contents:

acquiring areas with the same area range as the corresponding environmental element indexes in the current flight state from a preset environmental element analysis template; and correcting the environmental element analysis weight of the preset environmental element analysis template according to the environmental element classification characteristics corresponding to the environmental elements of the environmental element indexes in the area consistent with the environmental element indexes corresponding to the current flight state, and analyzing and processing the area consistent with the environmental element indexes corresponding to the current flight state by using the corrected analysis template.

It can be understood that when the information of the environmental element indexes consistent with the environmental element indexes corresponding to the current flight state in the environmental element to be analyzed is subjected to environmental classification and identification, the problem of disordered environmental classification and identification is effectively avoided, so that the environmental element identification result consistent with the environmental element indexes corresponding to the current flight state can be accurately obtained.

Further, the environmental classification processing is performed on the environmental element to be analyzed, and according to the real-time flight state information that is inconsistent with the environmental element index corresponding to the current flight state, the environmental element identification result that is inconsistent with the environmental element index corresponding to the current flight state is extracted from the environmental element identification result, which may include the following contents:

performing corresponding environmental element classification characteristic analysis processing on the environmental elements to be analyzed to obtain environmental element classification characteristic analysis results in the environmental elements to be analyzed; and extracting a corresponding environment element classification characteristic analysis result from the environment element classification characteristic analysis result of the environment element to be analyzed based on the real-time flight state information inconsistent with the corresponding environment element index in the current flight state.

It can be understood that when the environment classification processing is performed on the environment element to be analyzed, the environment classification can be accurately processed through the description content, and according to the real-time flight state information inconsistent with the environment element index corresponding to the current flight state, the environment element identification result inconsistent with the environment element index corresponding to the current flight state can be accurately extracted from the environment element identification result.

Further, the environment classification processing is performed on the environmental element to be analyzed, and the environmental element identification result of the target environmental element index is extracted from the environmental element identification result according to the real-time flight state information of the target environmental element index, which may include the following contents:

It can be understood that when the environment classification processing is performed on the environment element to be analyzed, and according to the real-time flight state information of the target environment element index, the problem of error in the environment classification processing can be effectively avoided, and the environment element identification result of the target environment element index can be accurately extracted from the environment element identification result.

Step S263, perform environment classification processing on the environment element index according to the environment element identification method of the environment element index.

In this embodiment, the method for classifying the environment elements that determine the indexes of the environment elements to be analyzed may include the following steps:

and determining the environment element classification mode of the environment element indexes in the environment elements to be analyzed based on the environment element classification characteristics corresponding to the environment elements of the environment element indexes in the environment elements corresponding to the current flight state.

It can be understood that, for the environmental element classification method for determining the environmental element index in the environmental element to be analyzed, the problem of classification errors caused by the environmental element classification method can be reliably solved through the steps, so that the classification is more reliable.

Further, the determining, based on the environment element classification feature corresponding to the environment element of the environment element index in the environment element corresponding to the current flight state, an environment element classification manner of the environment element index in the environment element to be analyzed may include the following:

It can be understood that, when the environment element classification feature corresponding to the environment element based on the environment element index in the environment element corresponding to the current flight state is used, the problem of error in the environment element classification feature is effectively solved, so that the environment element classification mode of the environment element index in the environment element to be analyzed can be accurately determined.

And step S264, fusing environment classification processing results of the environment element indexes in the environment elements to be analyzed to obtain corresponding identification elements in a real-time flight state.

Furthermore, the corresponding environment elements in the real-time flying state can be accurately judged, so that the corresponding flying can reliably fly in the real-time environment.

And step S265, detecting the real-time flight state according to the corresponding identification element in the real-time flight state to obtain a flight state detection result.

In this scheme, the detecting the real-time flight state according to the corresponding identification element in the real-time flight state to obtain a flight state detection result may include the following:

extracting real-time flight environment element information from a detection area of a current flight point according to the real-time flight state, acquiring target flight track characteristics of a flight track target in the real-time flight environment element information and generating a target flight track characteristic value; the target flight track characteristic value comprises all flight track targets; carrying out a target track path on the flight track target to obtain a target track path plan; determining whether the correlation distance between the target trajectory path plan and the target flight trajectory characteristic value matches a preset correlation distance length value; when determining that the correlation distance between the target track path plan and the target flight track characteristic value matches the preset correlation distance length value, modifying the target track path plan in the current flight point into the plan of the target flight track characteristic value; and detecting according to the corrected target track path plan to obtain a flight state detection result corresponding to the real-time track path plan.

The real-time flight state is detected according to the corresponding identification elements in the real-time flight state, and the problem of detection errors is effectively avoided through the description content, so that the flight state detection result can be accurately obtained.

Further, the determining the flight path target in the real-time flight environment element information and acquiring the flight path characteristics of the flight path target may include the following:

It can be understood that when the flight path target is determined in the real-time flight environment element information, the problem of determining that the flight path target has a path determination error is effectively solved through the description contents, so that the flight line characteristics of the flight path target can be accurately obtained.

It can be understood that, when the contents described in the above steps S21-S26 are executed, the flight starting state information and the flight ending state information can be analyzed to determine a flight starting state log and a flight ending state log, and further determine a real-time flight state information set, so that a continuous flight state information track can be obtained according to a state comparison result between at least two continuous real-time flight state information in the real-time flight state information set, and the flight state information track is corrected to obtain a global flight state starting index and a global flight state ending index. So, can realize detecting unmanned aerial vehicle's running state result. From this, not only can confirm unmanned aerial vehicle's flight track accurately, can also revise the stability in order to ensure the flight track to local flight state index, whether can in time discover that unmanned aerial vehicle has the flight anomaly through flight state testing result, can analyze environmental factor like this to the influence of unmanned aerial vehicle's flight state to provide complete reliable decision-making basis for the subsequent flight state adjustment of unmanned aerial vehicle.

Based on the same inventive concept, please refer to fig. 2 in combination, a functional block diagram of an operation state detection apparatus 500 for an unmanned aerial vehicle is also provided, and the operation state detection apparatus 500 for an unmanned aerial vehicle is described in detail as follows.

An unmanned aerial vehicle running state detection device 500 is applied to flight attitude control end, device 500 includes:

an information obtaining module 510, configured to obtain a flight start state log of flight start state information and a flight stop state log of the flight stop state information after obtaining the flight start state information and the flight stop state information, where the flight start state information includes first flight environment state information, and the flight stop state information includes second flight environment state information;

a status information determining module 520, configured to obtain each real-time flight status information record in the flight starting status log and each real-time flight status information record in the flight ending status log, so as to obtain a real-time flight status information set;

a trajectory determining module 530, configured to determine a state comparison result between at least two consecutive pieces of real-time flight state information in the real-time flight state information set, so as to obtain a continuous flight state information trajectory;

an initial index determining module 540, configured to modify a state comparison result of the local initial flight state index in the continuous flight state information trajectory into an initial flight state index, so as to obtain a global flight state initial index;

a termination index determining module 550, configured to modify a state comparison result of the local termination flight state index in the continuous flight state information track into a termination flight state index, so as to obtain a global flight state termination index;

a result determining module 560, configured to perform flight state result detection on the global flight state start indicator and the global flight state end indicator to obtain a flight state detection result, where the flight state detection result is used to represent that the first flight environment state information and the second flight environment state information correspond to the same flight state indicator or correspond to different flight state indicators.

On the basis of the above, please refer to fig. 3 in combination, which shows an electronic device 300, comprising a processor 310 and a memory 320, which are connected to each other via a communication bus 330, wherein the processor 310 implements any of the above methods by running a computer program retrieved from the memory 320.

To sum up, the method for detecting the running state of the unmanned aerial vehicle can accurately detect the influence of the corresponding environmental elements under the corresponding current flight state on the flight state through detecting the real-time flight state, and timely correct the flight state, so that the influence of the environmental elements on the flight state of the unmanned aerial vehicle can be analyzed in real time, and a complete and reliable decision basis is provided for the subsequent flight state adjustment of the unmanned aerial vehicle.

It is to be understood that the invention is not limited to the precise arrangements described above and shown in the drawings, and that various modifications and changes may be effected without departing from the scope of the parameters thereof. The scope of the parameters of the invention is only limited by the appended claims.

Claims

1. An unmanned aerial vehicle operation state detection method is characterized by comprising the following steps:

2. The method of claim 1, wherein determining a status comparison result between at least two consecutive real-time flight status information in the set of real-time flight status information to obtain a continuous flight status information track comprises:

3. The method according to claim 1, wherein the modifying the state comparison result of the local initial flight state indicator in the continuous flight state information track into an initial flight state indicator to obtain a global flight state starting indicator comprises:

4. The method of claim 1, wherein performing flight state result detection on the global flight state start indicator and the global flight state end indicator to obtain a flight state detection result comprises:

5. The method according to claim 4, wherein the determining the environmental element classification manner of the environmental element index in the environmental elements to be analyzed comprises:

6. The method according to claim 4, wherein the determining the environmental element identification manner of the environmental element index according to the environmental element classification manner of the environmental element index in the environmental elements to be analyzed comprises:

7. The method according to claim 4, wherein detecting the real-time flight status according to the corresponding identification element in the real-time flight status to obtain a flight status detection result comprises: