CN113676792A - Large unmanned aerial vehicle telemetering data fusion method based on multi-channel automatic optimization - Google Patents
Large unmanned aerial vehicle telemetering data fusion method based on multi-channel automatic optimization Download PDFInfo
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Abstract
The invention provides a large unmanned aerial vehicle telemetering data fusion method based on multichannel automatic optimization, which comprises the following steps: the method comprises an automatic channel selection method, a multi-channel data fusion method, a channel quality evaluation method and a fusion result output method. The invention is suitable for multiple channels, and detects the quality of each channel of the telemetering data, thereby automatically optimizing the channel according to the data quality condition of each channel in the actual fusion process on the basis of the telemetering data fusion of the multiple channels, isolating the channel with excessive error data and reducing the influence of the channel with poor data quality on the data fusion result.
Description
Technical Field
The invention relates to the technical field of remote measurement of unmanned aerial vehicles, in particular to a large unmanned aerial vehicle remote measurement data fusion method based on multi-channel automatic optimization.
Background
The large unmanned aerial vehicle telemetering data provides unmanned aerial vehicle platform parameter information and load information data for ground operating personnel in real time, the quality of the telemetering data is directly related to the control degree of the ground operating personnel on the state of the unmanned aerial vehicle, and especially when a complex combat task is executed, the accuracy and the stability of the telemetering data are improved more importantly.
In actual use, in order to improve the reliability of data transmission between the unmanned aerial vehicle and the ground station, a plurality of channels are generally designed and configured for telemetry data transmission. However, at the present stage, the fusion method for the multi-channel telemetry information has the following defects:
one of the methods is to select a channel with better quality for telemetering data reception by switching channels, and the method can only use data on one channel at the same time and cannot process data errors in the channel;
another method is to directly merge multiple pieces of channel data, and this method does not evaluate and optimize channels participating in the merging, so that the channel data with errors will affect the final output result, and reduce the accuracy thereof.
Disclosure of Invention
The invention aims to provide a large unmanned aerial vehicle telemetering data fusion method based on multi-channel automatic optimization to solve the existing problems.
The invention provides a large unmanned aerial vehicle telemetering data fusion method based on multichannel automatic optimization, which comprises the following steps:
step one, extracting an ith frame in telemetry data from n channels, wherein the number of channels capable of extracting the ith frame is m, and m is less than or equal to n; judging the value of m:
when m =0, outputting a piece of alarm information;
when m =1, outputting the content of the ith frame of the channel;
when m =2, selecting the content of the ith frame in the channel with higher priority from the two channels for output;
when m is more than or equal to 3, entering the second step;
voting the ith frame in the m channels one by one according to the bit, combining the output values decided by each bit table into a new frame for outputting, and marking the data with the least votes as error data;
step three, repeating the processes from the step one to the step two, completing the multi-channel data fusion of each frame in the telemetering data and outputting a new frame in time;
and step four, counting the number of error data generated in the m channels, and judging and marking the isolated state of the m channels according to the number of the error data.
Furthermore, in the first step, the state of n channels needs to be judged first, and only the ith frame in the telemetry data is extracted from the channel which is not marked as the isolated state in the n channels.
Further, when voting is performed on the ith frame in the m channels one by one according to bits in the step two, the number of corresponding 0 s and 1 s in the m channels is counted one by one according to the bits:
if more than 0 is obtained, 0 is adopted as the output value of the bit;
if more tickets are obtained by 1, 1 is adopted as the output value of the bit;
if the number of the channel with the highest priority is equal to the number of the channel with the highest priority, taking the value of the channel with the highest priority as the output value of the bit;
and simultaneously marking the numerical value with less votes for each bit as error data.
Further, before voting the ith frame in the m channels one by one according to the bit, starting a counter and setting the initial value of the counter to be 1, adding 1 to the counter value of the counter when voting of one bit is finished, and fusing the output values decided by each bit table into a new frame for outputting until the counter value of the counter is equal to the frame length of the ith frame.
Further, the method for counting the number of error data generated in the m channels in step four, and determining and marking the isolated state of the m channels according to the number of error data includes:
starting a cycle timer, wherein the cycle period is T;
counting the number of error data generated in m channels in each cycle period, and recording the number of error data generated in m channels as E1、E2、…、Em；
Number of error data E generated for m channels1、E2、…、EmAnd judging, and marking a certain channel as an isolated state when the quantity of error data generated by the channel in one cycle period reaches a preset maximum allowable quantity e.
Furthermore, the isolated state of the channel is provided with an isolation time t, namely the channel is marked as the isolated state within the isolation time t, and the isolated state of the channel is released after the isolation time is up.
Further, the value of the maximum allowable number e is set according to the requirement of the overall error rate of the unmanned aerial vehicle data chain.
Further, the priority of each channel is set in advance.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the invention is suitable for multiple channels, and detects the quality of each channel of the telemetering data, thereby automatically optimizing the channel according to the data quality condition of each channel in the actual fusion process on the basis of the telemetering data fusion of the multiple channels, isolating the channel with excessive error data and reducing the influence of the channel with poor data quality on the data fusion result.
2. The invention can output alarm information when some frame is absent in the telemetering data extracted by each channel.
3. The invention can complete the two-channel data fusion facing to the frame when the number of the available channels for extracting the telemetering data is only 2, thereby increasing the stability of the telemetering data.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a general flow chart of a large unmanned aerial vehicle telemetry data fusion method based on multi-channel automatic optimization according to the invention.
Fig. 2 is a detailed flowchart of a large unmanned aerial vehicle telemetry data fusion method based on multi-channel automatic optimization according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.
Examples
As shown in fig. 1 and fig. 2, the embodiment provides a large unmanned aerial vehicle telemetry data fusion method based on multichannel automatic optimization, which includes the following steps:
step one, extracting an ith frame in telemetry data from n channels, wherein the number of channels capable of extracting the ith frame is m, and m is less than or equal to n; judging the value of m:
when m =0, outputting an alarm message, such as "i frame is absent in telemetry data";
when m =1, outputting the content of the ith frame of the channel;
when m =2, selecting the content of the ith frame in the channel with higher priority (the priority of each channel is preset) from the two channels for output;
when m is more than or equal to 3, entering the second step;
when the first step is executed, the states of the n channels need to be judged first, and only the ith frame in the telemetry data is extracted from the channel which is not marked as the isolated state in the n channels.
Voting the ith frame in the m channels one by one according to the bit, combining the output values decided by each bit table into a new frame for outputting, and marking the data with the least votes as error data;
in some embodiments, step two may be implemented using a counter:
starting a counter and setting an initial value of a count value of the counter to be 1;
when voting is carried out on the ith frame in the m channels one by one according to bits, the number of corresponding 0 and 1 in the m channels is counted one by one according to the bits:
if more than 0 is obtained, 0 is adopted as the output value of the bit;
if more tickets are obtained by 1, 1 is adopted as the output value of the bit;
if the number of the channel with the highest priority is equal to the number of the channel with the highest priority, taking the value of the channel with the highest priority as the output value of the bit;
simultaneously marking the numerical value with less votes of each bit as error data;
and when voting of one bit is finished, adding 1 to the count value of the counter until the count value of the counter is equal to the frame length of the ith frame, and merging the output values decided by each bit table into a new frame for outputting.
Step three, repeating the processes from the step one to the step two, completing the multi-channel data fusion of each frame in the telemetering data and outputting a new frame in time;
and step four, counting the number of error data generated in the m channels, and judging and marking the isolated state of the m channels according to the number of the error data.
In some embodiments, step four specifically includes:
starting a cycle timer, wherein the cycle period is T; the cycle period T can be adjusted according to practical situations, such as setting T =1 min;
counting the number of error data generated in m channels in each cycle period, and recording the number of error data generated in m channels as E1、E2、…、Em；
Number of error data E generated for m channels1、E2、…、EmAnd judging, and marking a certain channel as an isolated state when the quantity of error data generated by the channel in one cycle period reaches a preset maximum allowable quantity e. Wherein, the value of the maximum allowable number e can be set according to the overall error rate requirement of the unmanned aerial vehicle data chain.
In some embodiments, the isolated state of the channel is provided with an isolation time t, namely the channel is marked as the isolated state in the isolation time t, the channel marked as the isolated state does not participate in the multi-channel data fusion, and after the isolation time is up, the channel is released from the isolated state, and the channel participates in the multi-channel data fusion again.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A large unmanned aerial vehicle telemetering data fusion method based on multichannel automatic optimization is characterized by comprising the following steps:
step one, extracting an ith frame in telemetry data from n channels, wherein the number of channels capable of extracting the ith frame is m, and m is less than or equal to n; judging the value of m:
when m =0, outputting a piece of alarm information;
when m =1, outputting the content of the ith frame of the channel;
when m =2, selecting the content of the ith frame in the channel with higher priority from the two channels for output;
when m is more than or equal to 3, entering the second step;
voting the ith frame in the m channels one by one according to the bit, combining the output values decided by each bit table into a new frame for outputting, and marking the data with the least votes as error data;
step three, repeating the processes from the step one to the step two, completing the multi-channel data fusion of each frame in the telemetering data and outputting a new frame in time;
and step four, counting the number of error data generated in the m channels, and judging and marking the isolated state of the m channels according to the number of the error data.
2. The large unmanned aerial vehicle telemetry data fusion method based on multi-channel automatic optimization as claimed in claim 1, wherein in step one, the state of n channels needs to be judged first, and only the ith frame in the telemetry data is extracted from the channel which is not marked as the isolated state in the n channels.
3. The large unmanned aerial vehicle telemetry data fusion method based on multi-channel automatic optimization as claimed in claim 2, wherein when voting is performed on the ith frame of m channels one by one according to bits in the second step, the number of corresponding 0 s and 1 s in the m channels is counted one by one according to bits:
if more than 0 is obtained, 0 is adopted as the output value of the bit;
if more tickets are obtained by 1, 1 is adopted as the output value of the bit;
if the number of the channel with the highest priority is equal to the number of the channel with the highest priority, taking the value of the channel with the highest priority as the output value of the bit;
and simultaneously marking the numerical value with less votes for each bit as error data.
4. The large unmanned aerial vehicle telemetry data fusion method based on multi-channel automatic optimization as claimed in claim 3, wherein in step two, before voting on the ith frame in m channels one by one according to bit, starting a counter and setting the initial value of the counter to be 1, and after voting on one bit is completed, adding 1 to the counter value of the counter, and fusing the output value determined by each bit table into a new frame for outputting until the counter value of the counter equals to the frame length of the ith frame.
5. The large unmanned aerial vehicle telemetry data fusion method based on multi-channel automatic optimization according to claim 4, wherein the method for counting the number of error data generated in m channels in step four and judging and marking the isolated state of the m channels according to the number of error data comprises:
starting a cycle timer, wherein the cycle period is T;
counting the number of error data generated in m channels in each cycle period, and recording the number of error data generated in m channels as E1、E2、…、Em；
Number of error data E generated for m channels1、E2、…、EmAnd judging, and marking a certain channel as an isolated state when the quantity of error data generated by the channel in one cycle period reaches a preset maximum allowable quantity e.
6. The multi-channel automatic optimization-based large unmanned aerial vehicle telemetry data fusion method according to claim 5, characterized in that the isolated state of the channel is provided with an isolation time t, namely the channel is marked as the isolated state within the isolation time t, and the isolated state of the channel is released after the isolation time is up.
7. The multi-channel automatic optimization-based large unmanned aerial vehicle telemetry data fusion method according to claim 5, wherein the value of the maximum allowable number e is set according to the overall error rate requirement of the unmanned aerial vehicle data chain.
8. The large unmanned aerial vehicle telemetry data fusion method based on multi-channel automatic optimization as claimed in claim 1, wherein priority of each channel is preset.
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