CN113268082B - Method and system for fast downloading, storing and acquiring dance step waypoints in formation of unmanned aerial vehicles - Google Patents
Method and system for fast downloading, storing and acquiring dance step waypoints in formation of unmanned aerial vehicles Download PDFInfo
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Abstract
The invention discloses a method and a system for rapidly downloading, storing and acquiring dance step waypoints in formation of unmanned aerial vehicles, and relates to the technical field of unmanned aerial vehicle control. The communication module quickly downloads and caches the formation flight performance dance step files to the local; and the flight control module dynamically reads the communication module to cache the local formation flight performance dance step file according to a certain time sequence, and controls the unmanned aerial vehicle to carry out waypoint flight by utilizing the read formation flight performance dance step file. The method for rapidly downloading, storing and acquiring the dance step waypoints for the formation of the unmanned aerial vehicles (the method for rapidly downloading, storing and dynamically reading the dance step waypoints for the formation of the unmanned aerial vehicles) realizes the function of rapidly storing the formation performance dance steps by using the method of separately designing the downloading and reading of the dance step files, solves the problem of huge time cost caused by too slow downloading and caching of the dance steps in the formation performance process, and obtains the technical effect of rapidly downloading the dance step files for the formation performance.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to a method and a system for rapidly downloading, storing and acquiring dance step waypoints for formation of unmanned aerial vehicles.
Background
At present, in formation flight performance, the problem that the downloading and writing of the dance step files of the airplane into the airplane are slow exists in large-scale flight performance, and the operation performance efficiency is seriously influenced.
In the prior art, the scheme that a team performs flying dance step files are downloaded and stored in a micro-control chip flash is adopted, the downloading speed of the dance step files is far higher than the writing speed due to the performance problem of a hardware storage structure, and the speed is very low when the dance step files are written into the chip flash by using a spi interface in the chip. If the downloading is failed in the midway due to the network problem, the downloading of the secondary performance dance step file is carried out on part of the airplane, and the time consumption is very large.
Through the above analysis, the problems and defects of the prior art are as follows:
in the prior art, too high time cost is easily caused by too slow dance step downloading and caching in the formation performance process; the current scheme for downloading and storing the dance step files has low fault-tolerant rate and low speed; the above problems result in low performance efficiency of the operation.
The difficulty in solving the above problems and defects is:
in the field of dance flight in formation, companies have respective software and hardware adaptation schemes. Resulting in limited applications.
The significance of solving the problems and the defects is as follows:
the invention improves the operation efficiency of formation flight performance and reduces the problems of time waste and low operation efficiency caused by too slow downloading of dance step files by airplanes.
The invention provides a method for quickly downloading, storing and acquiring dance step waypoints for unmanned aerial vehicle formation performance by combining software and hardware, and aims at optimizing the software and the hardware aiming at problems encountered in the operation process. The technical terms mentioned in the invention are different at present, and this is a major innovation of the invention.
Disclosure of Invention
In order to solve the problem of slow writing speed of a flight control flash in the related technology, the disclosed embodiment of the invention provides a method and a system for fast downloading, storing and acquiring flight points of dance steps performed by unmanned aerial vehicles in a formation. According to the invention, the functions of fast downloading and locally storing the dance step files for formation performance are realized through the design of the arm linux + rtos scheme, and the function of dynamically and stably obtaining dance step waypoints is realized through the interaction of an arm linux onboard and a rtos flight control module in flight.
The technical scheme is as follows:
according to a first aspect of the disclosed embodiments of the present invention, there is provided a method for fast downloading, storing and acquiring dance step waypoints for unmanned aerial vehicle formation performance, comprising:
the communication module quickly downloads and caches the formation flight performance dance step files to the local;
the flight control module dynamically reads the communication module to cache the local formation flight performance dance step files in a certain time sequence (25 waypoints are read/sent per second), and the read formation flight performance dance step files are used for controlling the waypoint flight of the unmanned aerial vehicle.
In an embodiment of the present invention, the method for fast downloading, storing and acquiring the dance step waypoints of the formation of unmanned aerial vehicles specifically includes:
when the unmanned aerial vehicle performs in flight, the arm linux communication module caches a local formation flight performance stage step file and sends waypoints to the rtos flight control module at the sending frequency of 1S/25 waypoints, and after the rtos flight control module receives the waypoints, the operation calculation is carried out, and the unmanned aerial vehicle waypoint flight control is implemented.
In an embodiment of the present invention, the rtos flight control module operation logic includes:
the sending logic:
saving the state to a log system;
the total number of waypoints is the number of route points for sending the self-deducting bag.
The method specifically comprises the following steps:
and the waypoint data packet sent by the rtos flight control module comprises waypoint count, waypoint longitude, waypoint latitude, waypoint height and the like, rtos is sent in a circulating mode through a port, the total number of the sent waypoints is the current required waypoint number, then the sending information is stored in a log system of the rtos flight control module, when the waypoints are sent again, the current sent waypoint number is firstly subtracted, and the sending is started from the unsent waypoints.
In an embodiment of the invention, under the conditions of good real-time stability of a communication link and ideal use scene, or the ground station is adopted to dynamically send the unmanned aerial vehicle waypoint, the flight control module directly receives the unmanned aerial vehicle waypoint information, and after operation calculation, the unmanned aerial vehicle waypoint flight control is implemented.
According to a second aspect of the disclosed embodiments of the present invention, a system for fast downloading, storing and acquiring dance step waypoints for a formation of unmanned aerial vehicles comprises:
the arm linux communication module is used for caching the dance step file and dynamically sending the dance step file to the rtos flight control module;
and the rtos flight control module is used for dynamically acquiring the performance dance step waypoints when the unmanned aerial vehicles form a formation flight and carrying out waypoint flight control in real time.
In an embodiment of the invention, the arm linux communication module sends data to the rtos flight control module through a serial port to realize waypoint sending and receiving.
In an embodiment of the invention, the arm linux communication module is wirelessly connected with a ground station background, and the ground station background is used for sending dance step files to be downloaded in unmanned aerial vehicle formation performance through 4G/Wifi.
According to a third aspect of the disclosed embodiments of the present invention, there is provided a storage medium for receiving an input program, the stored computer program causing an electronic device to execute the method for fast download, saving and retrieving of dance step waypoints for formation of a team of drones.
According to a third aspect of the disclosed embodiment of the invention, the dance step performance unmanned aerial vehicle carries the system for rapidly downloading, storing and acquiring the dance step waypoints in the formation of unmanned aerial vehicles, and implements the method for rapidly downloading, storing and acquiring the dance step waypoints in the formation of unmanned aerial vehicles.
According to a fourth aspect of the disclosed embodiments of the present invention, there is provided an application of the dance performance unmanned aerial vehicle to a public welfare activity dance waypoint performance.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
the method for rapidly downloading, storing and acquiring the dance step waypoints for the formation of the unmanned aerial vehicles (the method for rapidly downloading, storing and dynamically reading the dance step waypoints for the formation of the unmanned aerial vehicles) realizes the function of rapidly storing the formation performance dance steps by using the method of separately designing the downloading and reading of the dance step files, solves the problem of huge time cost caused by too slow downloading and caching of the dance steps in the formation performance process, and obtains the technical effect of rapidly downloading the dance step files for the formation performance.
According to the invention, through the scheme of the two circuit boards, one circuit board realizes downloading and storing of the dance step file, and the other circuit board realizes receiving and executing of the dance step waypoint, so that the function of rapidly downloading and storing the dance step file in formation performance is realized, the dance step waypoint is dynamically received and sent in flight, flight is executed, the waiting process in the operation process is reduced, the fault tolerance of field performance is improved, more time is reserved for performance, and the efficiency of the operation process is improved.
The effects and advantages obtained by combining experimental or experimental data with the prior art are:
as shown in FIG. 3, the dance step file with the size of 443k can be downloaded by saving the state in the log system, the total time for downloading and saving is about 3-4 s, and the time required for writing the stm32flash of the file with the same size is far longer than the time displayed by the current test.
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 present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic diagram of a method for fast downloading, storing and acquiring dance step waypoints in a formation of unmanned aerial vehicles according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a system for fast downloading, saving and acquiring dance step waypoints in a formation of unmanned aerial vehicles according to an embodiment of the present invention.
In the figure: 1. an arm linux communication module; 2. rtos flight control module; 3. and a ground station background.
Fig. 3 is a time effect graph provided by the embodiment of the present invention, in which the time required for writing stm32flash is far more than that shown in the current test.
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 implementations described in the exemplary embodiments below do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
As shown in fig. 1, the method for fast downloading, storing and acquiring the dance step waypoints in the formation of unmanned aerial vehicles according to the embodiment of the disclosure of the present invention includes: and (4) quickly downloading and caching the formation flight performance dance step file to the local, and then reading and using the file in a certain time sequence.
During the flight of a team performance, an arm linux board (target _ arm _ linux) firstly downloads a stage step file and stores the stage step file locally, then when the flight performance starts, the waypoints are sent to a rtos flight control module (target _ rtos) at the sending frequency of 1S/25 waypoints, and after the rtos flight control module (targrt _ rtos) receives the waypoints, the execution of the waypoint flight is carried out. And running the calculation:
in a preferred embodiment of the invention, data is sent through a serial port, and an arm linux communication module (a sender) and a rtos flight control module (a receiver) dynamically realize waypoint sending and receiving, so that functions are realized.
The rtos flight control module sending logic is as follows:
saving the state to a log system;
the total number of waypoints is the number of route points for which the packet is sent.
The method specifically comprises the following steps:
and the waypoint data packet sent by the rtos flight control module comprises waypoint count, waypoint longitude, waypoint latitude, waypoint height and the like, rtos is sent in a circulating mode through a port, the total number of the sent waypoints is the current required waypoint number, then the sending information is stored in a log system of the rtos flight control module, when the waypoints are sent again, the current sent waypoint number is firstly subtracted, and the sending is started from the unsent waypoints.
In a preferred embodiment of the invention, under the conditions of good real-time stability of a communication link and ideal use scene, or the ground station is adopted to dynamically send the aircraft waypoint, the method can be carried out without adopting the form of caching files in advance.
As shown in fig. 2, the system for fast downloading, storing, and acquiring the dance step waypoints in the formation of unmanned aerial vehicles provided by the embodiment of the present invention is different from the existing scheme in hardware structure, and two hardware circuit boards are selected, that is:
an arm linux communication module 1, which is called target _ arm _ linux for short; the method comprises the following steps that an arm linux system is operated, the onboard operation speed and the file writing and storing speed of the arm linux are far higher than those of a flash used by a single chip, and the circuit board provides a communication related function and a dance step file caching related function;
the rtos flight control module 2 runs an embedded real-time system (rtos), which is called target _ rtos for short, provides functions of real-time control of the airplane, logical processing of waypoint execution and the like, dynamically acquires dance step waypoints required by formation flight, and realizes real-time waypoint execution.
In the invention, an arm linux communication module 1 is wirelessly connected with a ground station background 3, and the ground station background 3 is used for sending dance step files to be downloaded by an unmanned aerial vehicle through 4G/Wifi.
As shown in FIG. 3, the dance step file with the size of 443k can be downloaded by saving the state in the log system, the total time for downloading and saving is about 3-4 s, and the time required for writing the stm32flash of the file with the same size is far longer than the time displayed by the current test.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure should be limited only by the attached claims.
Claims (8)
1. A method for rapidly downloading, storing and acquiring a dance step waypoint for a formation of unmanned aerial vehicles is characterized by comprising the following steps:
the communication module is used for quickly downloading the formation flight performance dance step file and caching the formation flight performance dance step file to the local;
the flight control module dynamically reads the local formation flight performance dance step file cached by the communication module according to a certain time sequence, and controls the unmanned aerial vehicle to carry out waypoint flight by using the read formation flight performance dance step file;
the method for rapidly downloading, storing and acquiring the dance step waypoints in the formation of the unmanned aerial vehicles comprises the following steps:
when the unmanned aerial vehicle performs in flight, the communication module caches a local formation flight performance dance step file to send waypoints to the rtos flight control module at the sending frequency of 1S/25 waypoints, and after the rtos flight control module receives the waypoints, the operation calculation is carried out, and then the unmanned aerial vehicle waypoint flight control is implemented;
the rtos flight control module operation logic comprises:
the sending logic of the rtos flight control module is as follows:
and the waypoint data packet sent by the rtos flight control module comprises waypoint count, waypoint longitude, waypoint latitude and waypoint height, rtos is sent in a circulating mode through a port, the total number of the sent waypoints is the current required waypoint number, then the sending information is stored in a log system of the rtos flight control module, when the waypoints are sent again, the current sent waypoint number is firstly subtracted, and the sending is started from the unsent waypoints.
2. The method for rapidly downloading, storing and acquiring the dance step waypoints for the formation of unmanned aerial vehicles according to claim 1, wherein under the conditions that the real-time stability of a communication link is good and the use scene is ideal, or a ground station is adopted to dynamically send the waypoints of the unmanned aerial vehicles, the flight control module directly receives the waypoint information of the unmanned aerial vehicles and carries out operation calculation, and then the flight control of the waypoints of the unmanned aerial vehicles is implemented.
3. A system for rapid download storage and acquisition of the formation of dance step waypoints of unmanned aerial vehicles, implementing the method for rapid download storage and acquisition of the formation of dance step waypoints of unmanned aerial vehicles according to any one of claims 1-2, wherein the system for rapid download storage and acquisition of the formation of dance step waypoints of unmanned aerial vehicles comprises:
the arm linux communication module is used for caching dance step files and dynamically sending the dance step files to the rtos flight control module;
and the rtos flight control module is used for dynamically acquiring the performance dance step waypoints when the unmanned aerial vehicles form a formation flight and carrying out waypoint flight control in real time.
4. The system for rapid downloading, storing and retrieving of dance step waypoints in formation of unmanned aerial vehicles according to claim 3, wherein the arm linux communication module sends data to the rtos flight control module through a serial port to realize waypoint transmission and reception.
5. The system for rapid downloading, saving and acquiring of dance step waypoints for unmanned aerial vehicle formation performances according to claim 3, wherein the arm linux communication module is wirelessly connected with a ground station background, and the ground station background is used for sending dance step files to be downloaded in unmanned aerial vehicle formation performances through 4G/Wifi.
6. A storage medium for receiving an input program, the stored computer program causing an electronic device to execute a method for rapid download, storage and retrieval of waypoints for formation of a dance step by drones according to any one of claims 1-2.
7. A dance performance unmanned aerial vehicle, characterized in that the dance performance unmanned aerial vehicle carries the system for rapid downloading, storing and acquiring of dance step waypoints of unmanned aerial vehicle formation performance according to any one of claims 3-5, and implements the method for rapid downloading, storing and acquiring of dance step waypoints of unmanned aerial vehicle formation performance according to any one of claims 1-2.
8. Use of the dance floor performance drone of claim 7 in a public welfare activity dance spot performance.
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