CN114200962A - Unmanned aerial vehicle flight task execution condition analysis method - Google Patents
Unmanned aerial vehicle flight task execution condition analysis method Download PDFInfo
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a method for analyzing the execution condition of a flight task of an unmanned aerial vehicle, which comprises the following steps: the method comprises the following steps: receiving and analyzing the unmanned aerial vehicle telemetering data from the network in real time; judging the current flight stage of the unmanned aerial vehicle according to the telemetering data of the unmanned aerial vehicle; and recording relevant information of key parameters of the unmanned aerial vehicle according to the current flight stage of the unmanned aerial vehicle. The invention can analyze the relevant conditions of the flight mission of the unmanned aerial vehicle in real time and quickly, can analyze the telemetering data in real time in the flight process of the unmanned aerial vehicle, can generate a report after the flight is finished, and can also use an off-line telemetering data file to perform quick analysis and generate a report; in the real-time mode, the method and the system can record the key parameter information in time, and avoid that the ground station displays the key parameter information too fast and misses important information; in the off-line mode, the telemetry data file can be directly used to quickly generate a report, so that the complex operation of checking a data curve is avoided, and the overlong waiting time is not needed.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle flight task execution condition analysis method.
Background
The unmanned aerial vehicle telemetering data is used as a basis for displaying and controlling the ground command control station of the unmanned aerial vehicle, and is also an important basis for analyzing the flight task execution condition of the unmanned aerial vehicle. The existing analysis method is to load off-line telemetering data and check each parameter curve, and the scheme depends on a telemetering data file stored after the flight is finished, so that real-time analysis cannot be carried out, and meanwhile, key indexes cannot be calculated by using some related parameters for in-depth analysis. Another analysis method is to play back the stored telemetering data and display and check the telemetering data in ground station software, and the scheme also depends on the telemetering data file stored after the flight is finished, cannot perform real-time analysis and needs to be performed for the same time length as the time length for executing the flight mission.
Disclosure of Invention
In view of the above, the invention provides an analysis method for the flight task execution condition of an unmanned aerial vehicle, which can analyze the relevant condition of the flight task of the unmanned aerial vehicle in real time and quickly, can analyze the telemetering data in real time in the flight process of the unmanned aerial vehicle, and can generate a report after the flight is completed, and can also use an offline telemetering data file to perform quick analysis and generate a report.
The invention discloses an unmanned aerial vehicle flight task execution condition analysis method, which comprises the following steps:
step S101, receiving and analyzing telemetering data of the unmanned aerial vehicle from a network in real time;
s102, judging the current flight stage of the unmanned aerial vehicle according to the telemetering data of the unmanned aerial vehicle;
and S103, recording relevant information of key parameters of the unmanned aerial vehicle according to the current flight phase of the unmanned aerial vehicle.
Preferably, the recording of the relevant information of the key parameters of the unmanned aerial vehicle according to the current flight phase of the unmanned aerial vehicle comprises the following steps:
step S201, if the current flight phase of the unmanned aerial vehicle changes, recording key parameters of the unmanned aerial vehicle at the current phase, otherwise, executing step S203;
step S202, calculating key indexes by using key parameters of the unmanned aerial vehicle;
step S203, recording relevant information of key parameters of the unmanned aerial vehicle; and the relevant information of the key parameters of the unmanned aerial vehicle comprises an extreme value, overrun and alarm information.
Preferably, when the current flight phase of the unmanned aerial vehicle is a pre-takeoff phase, the key parameters of the unmanned aerial vehicle comprise fuel quantity and battery capacity; when the current flight phase of the unmanned aerial vehicle is a takeoff and running phase, the key parameters of the unmanned aerial vehicle comprise the starting time of an engine, the sliding-out time and the ground clearance time; when the current flight phase of the unmanned aerial vehicle is a landing phase, the key parameters of the unmanned aerial vehicle comprise a grounding moment and a speed at a corresponding moment; when the current flight phase of the unmanned aerial vehicle is an engine shutdown phase, the key parameters of the unmanned aerial vehicle comprise the engine shutdown time, the residual oil quantity, the battery power and the total engine operation time.
Preferably, 1) take-off run phase, the key indicators of the drone include: calculating the retraction time of the landing gear, the takeoff running distance and the climbing rate of 0-15 meters;
the landing gear retraction time = retraction end time-retraction start time;
the takeoff running distance = X value at the time of leaving the ground-X value at the time of sliding out, wherein the X value is the distance relative to the starting point of the runway under the runway coordinate system;
the climbing rate of 0-15 meters is 15/(the time of 15 meters of relative height-the time of leaving the ground);
2) in a landing stage, the key indicators of the drone include: the sinking rate, the landing work amount and the landing running distance are used for judging whether overload occurs during landing;
the landing work amount = aircraft weight at the time of grounding and aircraft speed at the time of grounding;
the landing and running distance = X value at brake stop-X value at ground contact, wherein the X value is the distance relative to the starting point of the runway under the runway coordinate system;
the sinking rate = 15/(grounding time-relative height 15 m time);
3) the engine closes the car stage, unmanned aerial vehicle's key index includes: voyage, fuel consumption;
the voyage = cumulative sum of moving distances per second from the ground clearance time to the grounding time;
the time = ground moment-ground clearance moment;
the oil consumption = oil quantity at ground clearance time-oil quantity at ground contact time.
Preferably, the relevant information of the key parameters of the unmanned aerial vehicle is recorded; wherein, the relevant information of unmanned aerial vehicle key parameter includes extreme value, transfinite and warning message, includes:
1) recording extreme values of key parameters of the unmanned aerial vehicle: selecting part of key parameters, and recording the minimum value and the maximum value of the key parameters in the whole flight process of the unmanned aerial vehicle;
2) recording the overrun of key parameters of the unmanned aerial vehicle: selecting part of key parameters, and recording the time, duration and overrun value of the key parameters exceeding the normal range;
3) recording the warning of key parameters of the unmanned aerial vehicle: and generating alarm prompt information according to the telemetering parameters and the corresponding alarm rules downloaded by the unmanned aerial vehicle.
Preferably, after recording the relevant information of the key parameters of the drone according to the current flight phase of the drone, the method further includes:
if the unmanned aerial vehicle is shut down, generating a flight report of the unmanned aerial vehicle;
and if the unmanned aerial vehicle does not shut down, re-executing the step S101.
The invention also discloses an unmanned aerial vehicle flight task execution condition analysis method, which comprises the following steps:
step S701, reading and analyzing a frame of telemetering data;
step S702, judging the current flight stage of the unmanned aerial vehicle according to the telemetering data of the unmanned aerial vehicle;
and S703, recording relevant information of key parameters of the unmanned aerial vehicle according to the current flight phase of the unmanned aerial vehicle.
Preferably, the recording of the relevant information of the key parameters of the unmanned aerial vehicle according to the current flight phase of the unmanned aerial vehicle comprises the following steps:
step S801, if the current flight phase of the unmanned aerial vehicle changes, recording key parameters of the unmanned aerial vehicle at the current phase, otherwise, executing step S803;
step S802, calculating key indexes by using key parameters of the unmanned aerial vehicle;
step S803, recording relevant information of key parameters of the unmanned aerial vehicle; and the relevant information of the key parameters of the unmanned aerial vehicle comprises an extreme value, overrun and alarm information.
Preferably, after recording the relevant information of the key parameters of the drone according to the current flight phase of the drone, the method further includes:
if the unmanned aerial vehicle is shut down, generating a flight report of the unmanned aerial vehicle;
and if the unmanned aerial vehicle does not shut down, the step S701 is executed again.
Preferably, the flight phase comprises the steps of before take-off, take-off running, flight, landing and engine shutdown.
Due to the adoption of the technical scheme, the invention has the following advantages: 1) the relevant condition of unmanned aerial vehicle flight task that can be real-time and quick is analyzed, can carry out the analysis to telemetering data in real time at unmanned aerial vehicle flight in-process, and the flight is accomplished and can be generated the report, also can use off-line telemetering data file to carry out rapid analysis and generate the report simultaneously. 2) In a real-time mode, key parameter information can be recorded in time, and the phenomenon that the ground station displays too fast and misses important information is avoided. The off-line mode can directly use the telemetering data file to quickly generate a report, thereby avoiding the complex operation of checking a data curve and needing no overlong waiting time.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments described in the embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings.
Fig. 1 is a schematic flow chart of a method for analyzing an execution situation of a flight task of an unmanned aerial vehicle in a real-time mode according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of an analysis method for an execution situation of a flight mission of an unmanned aerial vehicle in an offline mode according to an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples, it being understood that the examples described are only some of the examples and are not intended to limit the invention to the embodiments described herein. All other embodiments available to those of ordinary skill in the art are intended to be within the scope of the embodiments of the present invention.
The first embodiment is as follows:
the embodiment is in a real-time mode, can timely record key parameter information of the unmanned aerial vehicle, calculates corresponding key indexes, avoids the ground station from displaying too fast and missing important information, and facilitates analysis and troubleshooting afterwards. Referring to fig. 1, the present invention provides an embodiment of a method for analyzing a flight mission performance of an unmanned aerial vehicle, and specifically, the method includes the following steps:
step S101, receiving and analyzing telemetering data of the unmanned aerial vehicle from a network in real time;
s102, judging the current flight stage of the unmanned aerial vehicle according to the telemetering data of the unmanned aerial vehicle;
and S103, recording relevant information of key parameters of the unmanned aerial vehicle according to the current flight phase of the unmanned aerial vehicle.
In this embodiment, according to the current flight phase of unmanned aerial vehicle, record the relevant information of unmanned aerial vehicle key parameter, include the following steps:
step S201, if the current flight phase of the unmanned aerial vehicle changes, recording key parameters of the unmanned aerial vehicle at the current phase, otherwise, executing step S203;
step S202, calculating key indexes by using key parameters of the unmanned aerial vehicle;
step S203, recording relevant information of key parameters of the unmanned aerial vehicle; the relevant information of the key parameters of the unmanned aerial vehicle comprises an extreme value, overrun and alarm information.
In this embodiment, when the current flight phase of the unmanned aerial vehicle is a pre-takeoff phase, the key parameters of the unmanned aerial vehicle include fuel quantity and battery capacity; when the current flight phase of the unmanned aerial vehicle is a takeoff and running phase, the key parameters of the unmanned aerial vehicle comprise the starting time of an engine, the sliding-out time and the ground clearance time; when the current flight phase of the unmanned aerial vehicle is a landing phase, the key parameters of the unmanned aerial vehicle comprise a grounding moment and a speed at a corresponding moment; when the current flight phase of the unmanned aerial vehicle is an engine shutdown phase, the key parameters of the unmanned aerial vehicle comprise the engine shutdown time, the residual oil quantity, the battery power and the total engine operation time.
In this embodiment, 1) take-off run phase, unmanned aerial vehicle's key index includes: calculating the retraction time of the landing gear, the takeoff running distance and the climbing rate of 0-15 meters;
landing gear retraction time = retraction end time-retraction start time;
the takeoff running distance = X value at the time of leaving the ground-X value at the time of sliding out, wherein the X value is the distance relative to the starting point of the runway under the runway coordinate system;
the climbing rate of 0-15 m is 15/(the relative height is 15 m-the time of leaving the ground);
2) in the landing stage, the key indicators of the unmanned aerial vehicle include: the sinking rate, the landing work amount and the landing running distance are used for judging whether overload occurs during landing;
landing work amount = aircraft weight at the time of grounding and aircraft speed at the time of grounding;
landing and running distance = X value at brake stop-X value at ground contact, wherein X value is the distance relative to the starting point of the runway under the runway coordinate system;
sink rate = 15/(ground moment-relative height 15 meter moment);
3) the engine stage of shutting down, unmanned aerial vehicle's key index includes: voyage, fuel consumption;
voyage = cumulative sum of moving distances per second from ground clearance time to ground clearance time;
time of flight = ground moment-ground clearance moment;
fuel consumption = fuel quantity at ground clearance time-fuel quantity at ground contact time.
In the embodiment, relevant information of key parameters of the unmanned aerial vehicle is recorded; wherein, the relevant information of unmanned aerial vehicle key parameter includes extreme value, transfinite and warning information, includes:
1) recording extreme values of key parameters of the unmanned aerial vehicle: selecting part of key parameters, and recording the minimum value and the maximum value of the key parameters in the whole flight process of the unmanned aerial vehicle;
2) recording the overrun of key parameters of the unmanned aerial vehicle: selecting part of key parameters, and recording the time, duration and overrun value of the key parameters exceeding the normal range;
3) recording the warning of key parameters of the unmanned aerial vehicle: and generating alarm prompt information according to the telemetering parameters and the corresponding alarm rules downloaded by the unmanned aerial vehicle.
In this embodiment, after recording relevant information of key parameters of the unmanned aerial vehicle according to the current flight phase of the unmanned aerial vehicle, the method further includes:
if the unmanned aerial vehicle is shut down, generating a flight report of the unmanned aerial vehicle;
and if the unmanned aerial vehicle does not shut down, re-executing the step S101.
Example two:
the embodiment is in an off-line mode, and can directly use the telemetry data file to quickly generate the report, thereby avoiding complex operation of checking a data curve and avoiding overlong waiting time.
Referring to fig. 2, the present invention provides an embodiment of a method for analyzing a flight mission performance of an unmanned aerial vehicle, including the following steps:
and step S701, reading and analyzing a frame of telemetering data.
Specifically, a telemetry data file with a specified format is opened, and then a frame of telemetry data is read and analyzed.
And S702, judging the current flight stage of the unmanned aerial vehicle according to the telemetering data of the unmanned aerial vehicle.
Specifically, the flight phase can be divided into pre-takeoff, takeoff running, flight, landing and engine lift.
And S703, recording relevant information of key parameters of the unmanned aerial vehicle according to the current flight phase of the unmanned aerial vehicle.
In this embodiment, according to the current flight phase of unmanned aerial vehicle, record the relevant information of unmanned aerial vehicle key parameter, include the following steps:
step S801, if the current flight phase of the unmanned aerial vehicle changes, recording key parameters of the unmanned aerial vehicle at the current phase, otherwise, executing step S803;
step S802, calculating key indexes by using key parameters of the unmanned aerial vehicle;
step S803, recording relevant information of key parameters of the unmanned aerial vehicle; the relevant information of the key parameters of the unmanned aerial vehicle comprises an extreme value, overrun and alarm information.
In this embodiment, after recording relevant information of key parameters of the unmanned aerial vehicle according to the current flight phase of the unmanned aerial vehicle, the method further includes:
if the unmanned aerial vehicle is shut down, generating a flight report of the unmanned aerial vehicle;
and if the unmanned aerial vehicle does not shut down, the step S701 is executed again.
In this embodiment, when the current flight phase of the unmanned aerial vehicle is a pre-takeoff phase, the key parameters of the unmanned aerial vehicle include fuel quantity and battery capacity; when the current flight phase of the unmanned aerial vehicle is a takeoff and running phase, the key parameters of the unmanned aerial vehicle comprise the starting time of an engine, the sliding-out time and the ground clearance time; when the current flight phase of the unmanned aerial vehicle is a landing phase, the key parameters of the unmanned aerial vehicle comprise a grounding moment and a speed at a corresponding moment; when the current flight phase of the unmanned aerial vehicle is an engine shutdown phase, the key parameters of the unmanned aerial vehicle comprise the engine shutdown time, the residual oil quantity, the battery power and the total engine operation time.
In this embodiment, 1) take-off run phase, unmanned aerial vehicle's key index includes: calculating the retraction time of the landing gear, the takeoff running distance and the climbing rate of 0-15 meters;
landing gear retraction time = retraction end time-retraction start time;
the takeoff running distance = X value at the time of leaving the ground-X value at the time of sliding out, wherein the X value is the distance relative to the starting point of the runway under the runway coordinate system;
the climbing rate of 0-15 m is 15/(the relative height is 15 m-the time of leaving the ground);
2) in the landing stage, the key indicators of the unmanned aerial vehicle include: the sinking rate, the landing work amount and the landing running distance are used for judging whether overload occurs during landing;
landing work amount = aircraft weight at the time of grounding and aircraft speed at the time of grounding;
landing and running distance = X value at brake stop-X value at ground contact, wherein X value is the distance relative to the starting point of the runway under the runway coordinate system;
sink rate = 15/(ground moment-relative height 15 meter moment);
3) the engine stage of shutting down, unmanned aerial vehicle's key index includes: voyage, fuel consumption;
voyage = cumulative sum of moving distances per second from ground clearance time to ground clearance time;
time of flight = ground moment-ground clearance moment;
fuel consumption = fuel quantity at ground clearance time-fuel quantity at ground contact time.
In this embodiment, record unmanned aerial vehicle key parameter's extreme value, transfinite and alarm information, include:
recording extreme values of key parameters of the unmanned aerial vehicle: selecting part of key parameters, and recording the minimum value and the maximum value of the key parameters in the whole flight process of the unmanned aerial vehicle;
recording the overrun of key parameters of the unmanned aerial vehicle: selecting part of key parameters, and recording the time, duration and overrun value of the key parameters exceeding the normal range;
recording the warning of key parameters of the unmanned aerial vehicle: and generating alarm prompt information according to the telemetering parameters and the corresponding alarm rules downloaded by the unmanned aerial vehicle.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions and/or portions thereof that contribute to the prior art may be embodied in the form of a software product that can be stored on a computer-readable storage medium including any mechanism for storing or transmitting information in a form readable by a computer (e.g., a computer).
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (10)
1. An unmanned aerial vehicle flight task execution condition analysis method is characterized by comprising the following steps:
step S101, receiving and analyzing telemetering data of the unmanned aerial vehicle from a network in real time;
s102, judging the current flight stage of the unmanned aerial vehicle according to the telemetering data of the unmanned aerial vehicle;
and S103, recording relevant information of key parameters of the unmanned aerial vehicle according to the current flight phase of the unmanned aerial vehicle.
2. The method according to claim 1, wherein the step of recording the relevant information of the key parameters of the unmanned aerial vehicle according to the current flight phase of the unmanned aerial vehicle comprises the following steps:
step S201, if the current flight phase of the unmanned aerial vehicle changes, recording key parameters of the unmanned aerial vehicle at the current phase, otherwise, executing step S203;
step S202, calculating key indexes by using key parameters of the unmanned aerial vehicle;
step S203, recording relevant information of key parameters of the unmanned aerial vehicle; and the relevant information of the key parameters of the unmanned aerial vehicle comprises an extreme value, overrun and alarm information.
3. The method of claim 2, wherein when the current flight phase of the unmanned aerial vehicle is a pre-takeoff phase, the key parameters of the unmanned aerial vehicle include fuel quantity, battery capacity; when the current flight phase of the unmanned aerial vehicle is a takeoff and running phase, the key parameters of the unmanned aerial vehicle comprise the starting time of an engine, the sliding-out time and the ground clearance time; when the current flight phase of the unmanned aerial vehicle is a landing phase, the key parameters of the unmanned aerial vehicle comprise a grounding moment and a speed at a corresponding moment; when the current flight phase of the unmanned aerial vehicle is an engine shutdown phase, the key parameters of the unmanned aerial vehicle comprise the engine shutdown time, the residual oil quantity, the battery power and the total engine operation time.
4. The method of claim 2, wherein 1) during a takeoff roll phase, key indicators of the drone include: calculating the retraction time of the landing gear, the takeoff running distance and the climbing rate of 0-15 meters;
the landing gear retraction time = retraction end time-retraction start time;
the takeoff running distance = X value at the time of leaving the ground-X value at the time of sliding out, wherein the X value is the distance relative to the starting point of the runway under the runway coordinate system;
the climbing rate of 0-15 meters is 15/(the time of 15 meters of relative height-the time of leaving the ground);
2) in a landing stage, the key indicators of the drone include: the sinking rate, the landing work amount and the landing running distance are used for judging whether overload occurs during landing;
the landing work amount = aircraft weight at the time of grounding and aircraft speed at the time of grounding;
the landing and running distance = X value at brake stop-X value at ground contact, wherein the X value is the distance relative to the starting point of the runway under the runway coordinate system;
the sinking rate = 15/(grounding time-relative height 15 m time);
3) the engine closes the car stage, unmanned aerial vehicle's key index includes: voyage, fuel consumption;
the voyage = cumulative sum of moving distances per second from the ground clearance time to the grounding time;
the time = ground moment-ground clearance moment;
the oil consumption = oil quantity at ground clearance time-oil quantity at ground contact time.
5. The method according to claim 2, wherein the relevant information of key parameters of the unmanned aerial vehicle is recorded; wherein, the relevant information of unmanned aerial vehicle key parameter includes extreme value, transfinite and warning message, includes:
1) recording extreme values of key parameters of the unmanned aerial vehicle: selecting part of key parameters, and recording the minimum value and the maximum value of the key parameters in the whole flight process of the unmanned aerial vehicle;
2) recording the overrun of key parameters of the unmanned aerial vehicle: selecting part of key parameters, and recording the time, duration and overrun value of the key parameters exceeding the normal range;
3) recording the warning of key parameters of the unmanned aerial vehicle: and generating alarm prompt information according to the telemetering parameters and the corresponding alarm rules downloaded by the unmanned aerial vehicle.
6. The method of claim 1, wherein after recording information about key parameters of the drone according to the current flight phase of the drone, the method further comprises:
if the unmanned aerial vehicle is shut down, generating a flight report of the unmanned aerial vehicle;
and if the unmanned aerial vehicle does not shut down, re-executing the step S101.
7. An unmanned aerial vehicle flight task execution condition analysis method is characterized by comprising the following steps:
step S701, reading and analyzing a frame of telemetering data;
step S702, judging the current flight stage of the unmanned aerial vehicle according to the telemetering data of the unmanned aerial vehicle;
and S703, recording relevant information of key parameters of the unmanned aerial vehicle according to the current flight phase of the unmanned aerial vehicle.
8. The method according to claim 7, wherein the step of recording the relevant information of the key parameters of the unmanned aerial vehicle according to the current flight phase of the unmanned aerial vehicle comprises the following steps:
step S801, if the current flight phase of the unmanned aerial vehicle changes, recording key parameters of the unmanned aerial vehicle at the current phase, otherwise, executing step S803;
step S802, calculating key indexes by using key parameters of the unmanned aerial vehicle;
step S803, recording relevant information of key parameters of the unmanned aerial vehicle; and the relevant information of the key parameters of the unmanned aerial vehicle comprises an extreme value, overrun and alarm information.
9. The method of claim 7, wherein after recording information about key parameters of the drone according to the current flight phase of the drone, the method further comprises:
if the unmanned aerial vehicle is shut down, generating a flight report of the unmanned aerial vehicle;
and if the unmanned aerial vehicle does not shut down, the step S701 is executed again.
10. The method of claim 7, wherein the flight phases are divided into pre-takeoff, takeoff run, flight, landing, engine shut-down.
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