CN113625595A - Unmanned aerial vehicle deduction and fault diagnosis method and system - Google Patents
Unmanned aerial vehicle deduction and fault diagnosis method and system Download PDFInfo
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Abstract
The embodiment of the invention discloses an unmanned aerial vehicle deduction and fault diagnosis method, which comprises the following steps: performing analog simulation on the cooperative task execution process of the single-machine task execution process of the unmanned aerial vehicle in various application scenes, and monitoring the flight state of the analog simulation process of the single-machine unmanned aerial vehicle; in the simulation process, at least one abnormal state injection in the unmanned aerial vehicle stand-alone abnormal state library is selected, the unmanned aerial vehicle stand-alone is changed in the motion state in the stand-alone task execution process, the abnormal state in the unmanned aerial vehicle stand-alone task execution process is diagnosed, and the control capability and the execution capability of the unmanned aerial vehicle stand-alone in the task execution process are evaluated. The embodiment of the invention also discloses an unmanned aerial vehicle deduction and fault diagnosis system. The invention can simulate the task execution process of the unmanned aerial vehicle under various environmental scenes and the generation of various faults in the task process.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle deduction and fault diagnosis method and system.
Background
At present, in unmanned aerial vehicle simulation, the generation of various faults in the task execution process and the task process of the virtual simulation unmanned aerial vehicle under various environmental scenes can not be realized, so that the simulation result can not be applied to an unmanned system in reality, and the fighting capacity of the unmanned system can be improved.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a method and a system for deduction and fault diagnosis of an unmanned aerial vehicle, which can simulate a task execution process of the unmanned aerial vehicle in various environmental scenes and various faults generated in the task process.
The embodiment of the invention provides an unmanned aerial vehicle deduction and fault diagnosis method, which comprises the following steps:
performing analog simulation on the cooperative task execution process of the single-machine task execution process of the unmanned aerial vehicle in various application scenes, and monitoring the flight state of the analog simulation process of the single-machine unmanned aerial vehicle;
in the simulation process, at least one abnormal state injection in the unmanned aerial vehicle stand-alone abnormal state library is selected, the unmanned aerial vehicle stand-alone is changed in the motion state in the stand-alone task execution process, the abnormal state in the unmanned aerial vehicle stand-alone task execution process is diagnosed, and the control capability and the execution capability of the unmanned aerial vehicle stand-alone in the task execution process are evaluated.
As a further improvement of the invention, the unmanned aerial vehicle stand-alone abnormal state library comprises all faults of an unmanned aerial vehicle platform of the unmanned aerial vehicle stand-alone and an unmanned aerial vehicle ground flight simulation system;
wherein, unmanned aerial vehicle platform includes driving system, flight control system and data link system.
As a further improvement of the invention, the evaluation of the control capability and the execution capability of the stand-alone unmanned aerial vehicle in the task execution process comprises the following steps:
analyzing the communication state and the flight state of the unmanned aerial vehicle single machine in the actual flight process, and displaying the communication state and the flight state on an interactive interface; or the like, or, alternatively,
and analyzing the communication state and the flight state of the unmanned aerial vehicle stand-alone in the stand-alone task execution process, and displaying the communication state and the flight state on an interactive interface.
As a further improvement of the present invention, the cooperative task includes at least one of unmanned aerial vehicle cluster cooperative reconnaissance, cluster formation and cooperative attack.
As a further improvement of the invention, the various application scenes comprise at least one of urban, mountain forest and indoor application scenes.
The embodiment of the invention also provides an unmanned aerial vehicle deduction and fault diagnosis system, which comprises:
the unmanned aerial vehicle platform is used for executing the actual flight task of the unmanned aerial vehicle single machine;
the ground flight simulation system of the unmanned aerial vehicle is used for simulating the single-machine task execution process of the single-machine unmanned aerial vehicle in various application environment scenes and monitoring the flight state of the simulation process of the single-machine task execution process;
the unmanned aerial vehicle abnormal state simulation system is used for injecting at least one abnormal state in the simulation process of the single-machine task execution process and changing the motion state of the unmanned aerial vehicle single machine in the single-machine task execution process;
and the unmanned aerial vehicle state evaluation system is used for evaluating the control capability and the execution capability of the unmanned aerial vehicle stand-alone according to the flight state of the unmanned aerial vehicle stand-alone in the stand-alone task execution process.
As a further improvement of the present invention, the system further comprises: and the fault diagnosis instrument is used for detecting and diagnosing the faults of the unmanned aerial vehicle platform.
As a further improvement of the present invention, the drone platform comprises: the aircraft body platform and the power system, the flight control system and the data link system carried on the unmanned aerial vehicle platform.
As a further improvement of the present invention, the ground flight simulation system for unmanned aerial vehicles comprises:
the stand-alone ground control system is used for sending a control instruction corresponding to the stand-alone task;
the single-machine flight controller is used for receiving and executing a control instruction corresponding to the single-machine task;
and the single-machine 3D virtual simulation platform is used for simulating the process of the single-machine flight controller for executing the single-machine tasks and monitoring the flight state of the executing process.
As a further improvement of the present invention, the system for simulating abnormal states of unmanned aerial vehicles comprises:
the single-machine abnormal state library is used for storing all abnormal states of the unmanned aerial vehicle platform and the unmanned aerial vehicle ground flight simulation system;
and the single-machine abnormal state control system is used for selecting at least one abnormal state in the unmanned aerial vehicle abnormal state library to be injected into the unmanned aerial vehicle ground flight simulation system, and changing the motion state of the unmanned aerial vehicle single machine in the single-machine task execution process.
The invention has the beneficial effects that: the unmanned aerial vehicle can be subjected to three-dimensional virtual simulation, the task execution process of a multi-rotor unmanned aerial vehicle under various environmental scenes and the generation of various faults in the task process are simulated, and the faults are detected and diagnosed, so that the dynamic simulation, automatic control, fault injection and fault diagnosis of a single unmanned aerial vehicle are realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic flowchart of a method for deduction and fault diagnosis of an unmanned aerial vehicle according to an exemplary embodiment of the present invention;
fig. 2 is a system block diagram of an unmanned aerial vehicle deduction and fault diagnosis system according to an exemplary embodiment of the present invention;
fig. 3 is a system block diagram of a drone platform according to an exemplary embodiment of the present invention;
fig. 4 is a system block diagram of an abnormal state simulation system for an unmanned aerial vehicle according to an exemplary embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, in the description of the present invention, the terms used are for illustrative purposes only and are not intended to limit the scope of the present invention. The terms "comprises" and/or "comprising" are used to specify the presence of stated elements, steps, operations, and/or components, but do not preclude the presence or addition of one or more other elements, steps, operations, and/or components. The terms "first," "second," and the like may be used to describe various elements, not necessarily order, and not necessarily limit the elements. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified. These terms are only used to distinguish one element from another. These and/or other aspects will become apparent to those of ordinary skill in the art in view of the following drawings, and the description of the embodiments of the present invention will be more readily understood by those of ordinary skill in the art. The drawings are only for purposes of illustrating the described embodiments of the invention. One skilled in the art will readily recognize from the following description that alternative embodiments of the structures and methods illustrated in the present application may be employed without departing from the principles described in the present application.
As shown in fig. 1, the method for deduction and fault diagnosis of an unmanned aerial vehicle according to an embodiment of the present invention includes:
performing analog simulation on the cooperative task execution process of the single-machine task execution process of the unmanned aerial vehicle in various application scenes, and monitoring the flight state of the analog simulation process of the single-machine unmanned aerial vehicle;
in the simulation process, at least one abnormal state injection in the unmanned aerial vehicle stand-alone abnormal state library is selected, the unmanned aerial vehicle stand-alone is changed in the motion state in the stand-alone task execution process, the abnormal state in the unmanned aerial vehicle stand-alone task execution process is diagnosed, and the control capability and the execution capability of the unmanned aerial vehicle stand-alone in the task execution process are evaluated.
The unmanned aerial vehicle single-machine fault diagnosis system can simulate the task execution process of the unmanned aerial vehicle in application environments such as cities, mountain forests and indoor environments, can inject and diagnose single-machine faults including faults of key systems such as a geomagnetic meter, a gyroscope, an accelerometer, a GPS, a power system and a communication system, and has the flight state data monitoring capability, the health state evaluation capability and the fault diagnosis capability of the single unmanned aerial vehicle.
The unmanned aerial vehicle single machine can be a multi-rotor unmanned aerial vehicle and a fixed-wing unmanned aerial vehicle, and the unmanned aerial vehicle is not particularly limited by the invention.
In an optional embodiment, the unmanned aerial vehicle stand-alone abnormal state library comprises all faults of an unmanned aerial vehicle platform and an unmanned aerial vehicle ground flight simulation system of the unmanned aerial vehicle stand-alone;
wherein, unmanned aerial vehicle platform includes driving system, flight control system and data link system.
In an alternative embodiment, as shown in fig. 3, the drone platform comprises: the aircraft body platform and the power system, the flight control system and the data link system carried on the unmanned aerial vehicle platform. The airframe platform comprises an airframe, an airframe arm and an undercarriage, the power system comprises a brushless motor, an electronic speed regulator, a propeller and a battery, the flight control system comprises a combined navigation system, an automatic pilot and a GPS positioning system, and the data link system comprises a data transmission unit and an image transmission unit.
In an optional implementation manner, the evaluation of the control capability and the execution capability of the standalone drone during the task execution process includes:
analyzing the communication state and the flight state of the unmanned aerial vehicle single machine in the actual flight process, and displaying the communication state and the flight state on an interactive interface; or the like, or, alternatively,
and analyzing the communication state and the flight state of the unmanned aerial vehicle stand-alone in the stand-alone task execution process, and displaying the communication state and the flight state on an interactive interface.
An unmanned aerial vehicle deduction and fault diagnosis system according to an embodiment of the present invention, as shown in fig. 2, includes:
the unmanned aerial vehicle platform is used for executing the actual flight task of the unmanned aerial vehicle single machine;
the ground flight simulation system of the unmanned aerial vehicle is used for simulating the single-machine task execution process of the single-machine unmanned aerial vehicle in various application environment scenes and monitoring the flight state of the simulation process of the single-machine task execution process;
the unmanned aerial vehicle abnormal state simulation system is used for injecting at least one abnormal state in the simulation process of the single-machine task execution process and changing the motion state of the unmanned aerial vehicle single machine in the single-machine task execution process;
and the unmanned aerial vehicle state evaluation system is used for evaluating the control capability and the execution capability of the unmanned aerial vehicle stand-alone according to the flight state of the unmanned aerial vehicle stand-alone in the stand-alone task execution process.
The system can simulate the task execution process of the unmanned aerial vehicle in the application environments such as cities, mountain forests, indoor environments and the like, can inject and diagnose the faults of the single machine, including the faults of key systems such as a geomagnetic meter, a gyroscope, an accelerometer, a GPS, a power system, a communication system and the like, and has the monitoring capability, the health state evaluation capability and the fault diagnosis capability of the flight state data of the single machine of the unmanned aerial vehicle.
The unmanned aerial vehicle single machine can be a multi-rotor unmanned aerial vehicle and a fixed-wing unmanned aerial vehicle, and the unmanned aerial vehicle is not particularly limited by the invention. In an alternative embodiment, as shown in fig. 3, the drone platform comprises: the aircraft body platform and the power system, the flight control system and the data link system carried on the unmanned aerial vehicle platform. The airframe platform comprises an airframe, an airframe arm and an undercarriage, the power system comprises a brushless motor, an electronic speed regulator, a propeller and a battery, the flight control system comprises a combined navigation system, an automatic pilot and a GPS positioning system, and the data link system comprises a data transmission unit and an image transmission unit.
In an optional embodiment, the ground flight simulation system for the unmanned aerial vehicle comprises:
the stand-alone ground control system is used for sending a control instruction corresponding to the stand-alone task;
the single-machine flight controller is used for receiving and executing a control instruction corresponding to the single-machine task;
and the single-machine 3D virtual simulation platform is used for simulating the process of the single-machine flight controller for executing the single-machine tasks and monitoring the flight state of the executing process.
The ground flight simulation system of the unmanned aerial vehicle mainly comprises two parts, namely software and hardware, wherein the hardware part is a flight controller, and the software part is 3D virtual simulation software loaded on a 3D virtual simulation platform and ground control software loaded on a ground control system.
In an optional implementation manner, as shown in fig. 4, the unmanned aerial vehicle abnormal state simulation system includes:
the single-machine abnormal state library is used for storing all abnormal states of the unmanned aerial vehicle platform and the unmanned aerial vehicle ground flight simulation system;
and the single-machine abnormal state control system is used for selecting at least one abnormal state in the unmanned aerial vehicle abnormal state library to be injected into the unmanned aerial vehicle ground flight simulation system, and changing the motion state of the unmanned aerial vehicle single machine in the single-machine task execution process.
The stand-alone abnormal state library includes, for example: all abnormal states of the power system, the flight control system, the data link system, the single-machine ground control system, the single-machine flight controller and the single-machine 3D virtual simulation platform can be selected to be injected into the flight simulation system through the single-machine abnormal state control system in an interactive interface according to requirements, and the motion state of the single machine of the unmanned aerial vehicle is changed.
In an alternative embodiment, the system further comprises: and the fault diagnosis instrument is used for detecting and diagnosing the faults of the unmanned aerial vehicle platform.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Furthermore, those of ordinary skill in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
It will be understood by those skilled in the art that while the present invention has been described with reference to exemplary embodiments, various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. An unmanned aerial vehicle deduction and fault diagnosis method is characterized by comprising the following steps:
performing analog simulation on the cooperative task execution process of the single-machine task execution process of the unmanned aerial vehicle in various application scenes, and monitoring the flight state of the analog simulation process of the single-machine unmanned aerial vehicle;
in the simulation process, at least one abnormal state injection in the unmanned aerial vehicle stand-alone abnormal state library is selected, the unmanned aerial vehicle stand-alone is changed in the motion state in the stand-alone task execution process, the abnormal state in the unmanned aerial vehicle stand-alone task execution process is diagnosed, and the control capability and the execution capability of the unmanned aerial vehicle stand-alone in the task execution process are evaluated.
2. The method of claim 1, wherein the standalone drone anomaly status library includes all failures of a drone platform and a drone ground flight simulation system of the standalone drone;
wherein, unmanned aerial vehicle platform includes driving system, flight control system and data link system.
3. The method of claim 1, wherein the evaluating the control capability and the execution capability of the standalone drone during task execution comprises:
analyzing the communication state and the flight state of the unmanned aerial vehicle single machine in the actual flight process, and displaying the communication state and the flight state on an interactive interface; or the like, or, alternatively,
and analyzing the communication state and the flight state of the unmanned aerial vehicle stand-alone in the stand-alone task execution process, and displaying the communication state and the flight state on an interactive interface.
4. The method of claim 1, wherein the collaborative task comprises at least one of drone cluster collaborative reconnaissance, cluster formation, and collaborative attack.
5. The method of claim 1, wherein the various application scenarios include at least one of a city, a mountain forest, and an indoor application scenario.
6. An unmanned aerial vehicle deduction and fault diagnosis system, characterized in that, the system includes:
the unmanned aerial vehicle platform is used for executing the actual flight task of the unmanned aerial vehicle single machine;
the ground flight simulation system of the unmanned aerial vehicle is used for simulating the single-machine task execution process of the single-machine unmanned aerial vehicle in various application environment scenes and monitoring the flight state of the simulation process of the single-machine task execution process;
the unmanned aerial vehicle abnormal state simulation system is used for injecting at least one abnormal state in the simulation process of the single-machine task execution process and changing the motion state of the unmanned aerial vehicle single machine in the single-machine task execution process;
and the unmanned aerial vehicle state evaluation system is used for evaluating the control capability and the execution capability of the unmanned aerial vehicle stand-alone according to the flight state of the unmanned aerial vehicle stand-alone in the stand-alone task execution process.
7. The system of claim 6, wherein the system further comprises: and the fault diagnosis instrument is used for detecting and diagnosing the faults of the unmanned aerial vehicle platform.
8. The system of claim 6, wherein the drone platform comprises: the aircraft body platform and the power system, the flight control system and the data link system carried on the unmanned aerial vehicle platform.
9. The system of claim 6, wherein the drone ground flight simulation system comprises:
the stand-alone ground control system is used for sending a control instruction corresponding to the stand-alone task;
the single-machine flight controller is used for receiving and executing a control instruction corresponding to the single-machine task;
and the single-machine 3D virtual simulation platform is used for simulating the process of the single-machine flight controller for executing the single-machine tasks and monitoring the flight state of the executing process.
10. The system of claim 6, wherein the drone abnormal state simulation system comprises:
the single-machine abnormal state library is used for storing all abnormal states of the unmanned aerial vehicle platform and the unmanned aerial vehicle ground flight simulation system;
and the single-machine abnormal state control system is used for selecting at least one abnormal state in the unmanned aerial vehicle abnormal state library to be injected into the unmanned aerial vehicle ground flight simulation system, and changing the motion state of the unmanned aerial vehicle single machine in the single-machine task execution process.
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