CN114374894B - Method for improving flight verification data integrity of unmanned aerial vehicle - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
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Abstract
The invention belongs to the technical field of flight verification, and provides a method for improving the integrity of flight verification data of an unmanned aerial vehicle. The invention solves the problems that the data link of the unmanned aerial vehicle is interfered, the verification data cannot be normally transmitted, the verification data is incomplete and the signal quality of the ground navigation equipment cannot be truly reflected, and improves the data integrity of the flight verification of the unmanned aerial vehicle, thereby improving the accuracy of the flight verification.
Description
Technical Field
The invention relates to the technical field of flight verification, in particular to a method for improving the integrity of unmanned aerial vehicle flight verification data.
Background
The petroleum exploration and development work is difficult to develop in areas with rare smoke, such as mountain areas, deserts, high and cold areas and the like and the resources such as people, wealth, objects and the like are more consumed. The helicopter or the small fixed wing aircraft is utilized for oil exploration and development, so that a large amount of resources can be saved, and the helicopter or the small fixed wing aircraft is utilized for oil exploration and development at present, and the helicopter or the small fixed wing aircraft has stepped into a rapid development stage and has considerable development prospect. However, in these areas, the natural conditions are relatively bad, so that in order to ensure that the aircraft can normally cruise or land safely, it is necessary to ensure that the navigation signal emitted by the ground navigation device can normally guide the aircraft to fly or land, and ensure the flight safety.
In order to ensure flight safety, the signal quality of equipment such as ground navigation, radar, communication and the like is generally checked and evaluated through flight verification work. In performing a flight verification, not only is the verification data required to be real-time, but it must also be integrity. In the verification process, if the acquired navigation signals are incomplete, the verification result cannot objectively reflect the signal quality of the ground navigation equipment, and the flight verification standard cannot be met.
In the process of carrying out flight verification by using an unmanned aerial vehicle, the verification equipment needs to realize the transmission of verification data by means of an unmanned aerial vehicle data link, the airborne verification equipment transmits collected verification data to the ground verification equipment in real time by using the unmanned aerial vehicle data link, and then ground staff carries out flight verification work by operating the ground verification equipment.
However, after the unmanned aerial vehicle data link is interfered by the surrounding environment, transmission signals of the unmanned aerial vehicle and a ground system may be interrupted, and the transmission signals can be recovered only after the interference is eliminated. In the time period of the data link interruption, the onboard verification equipment cannot transmit the verification data to the ground, so that the verification data on the ground is incomplete, and all navigation signals cannot be received, thereby influencing the verification result.
Disclosure of Invention
In order to achieve the above purpose, the invention provides a method for improving the integrity of flight check data of an unmanned aerial vehicle, which temporarily stores the flight check data through a buffer module of an onboard check device, monitors whether a ground check device sends a data request instruction in real time, and retransmits the requested check data to the ground check device according to instruction parameters. The ground checking device judges whether the checking data which cannot be received due to the influence of a data chain exists or not through the checking module and the compensating module according to UTC time parameter values in the two latest received sets of checking data, if so, the checking data which cannot be received are requested to the airborne checking device, after the ground checking device receives the request data, compensation processing is carried out, various data are recalculated, and a display interface is redrawn.
The invention solves the problems that the data link of the unmanned aerial vehicle is interrupted in communication due to environmental interference, so that the verification data received by the ground verification equipment is incomplete, the quality of the transmitted signal of the ground navigation equipment cannot be truly reflected, and the flight verification accuracy is lower.
The invention relates to a method for improving the integrity of flight check data of an unmanned aerial vehicle, which comprises the following steps:
the method comprises the steps of acquiring navigation signals transmitted by ground navigation equipment such as an instrument landing system, a range finder, a very high frequency omni-directional beacon, a non-directional beacon and the like in real time through airborne calibration equipment arranged on an unmanned aerial vehicle, processing the navigation signals to form a frame of calibration data, and finally transmitting the calibration data to the ground calibration equipment by using a data link of the unmanned aerial vehicle. The airborne verification equipment collects navigation signals in a fixed period, and is not influenced by data transmission between the airborne verification equipment and the ground verification equipment.
The airborne verification equipment mainly comprises the following modules:
and the acquisition module is used for acquiring navigation signals transmitted by the real-time ground navigation equipment.
The processing module processes the acquired navigation signals, and forms a frame of check data after time synchronization, format conversion and the like are carried out on the acquired signals. Each frame of check data includes: GPS data, each subject flight check data and a flag bit. The GPS data comprises UTC (universal coordinated time) time, a flag bit represents whether the data is normally transmitted or not, and if the verification data can be normally transmitted to ground verification equipment, the flag bit value is 0; if the verification data cannot be transmitted to the ground verification device due to the influence of data link interruption, environmental interference and the like, but is sent again through the request of the ground verification device, the flag bit value is 1.
And the issuing module is used for transmitting the verification data of each frame to the ground verification equipment by calling the unmanned aerial vehicle data link interface.
The buffer module is used for buffering the processed flight check data, monitoring whether the ground check equipment sends a request instruction or not in real time, selecting check data from the buffer data according to screening conditions in the instruction if the request instruction is received, assigning a last bit flag bit of each frame of check data meeting the conditions to be 1, and transmitting the last bit flag bit to the ground check equipment through the issuing module.
The unmanned aerial vehicle data link is mainly responsible for communication between the unmanned aerial vehicle and a ground system, and in the flight verification process, data transmission between the airborne verification equipment and the ground verification equipment is also borne, the unmanned aerial vehicle data link transmits verification data in a downlink mode, and the ground verification equipment requests a verification data command in an uplink mode.
The ground checking device utilizes the unmanned plane data chain to receive the checking data issued by the onboard checking device in real time, calculates the checking data, displays an interface and the like, and is a main tool for the ground staff to check the flight. The ground checking equipment is mainly divided into the following modules:
and the receiving module is used for receiving each frame of check data transmitted by the onboard check equipment in real time by calling the unmanned aerial vehicle data link interface.
And the calculation module is used for calculating and counting corresponding parameters according to different flight verification subjects and verification standards.
And the display module is used for displaying the calculation result in a real mode of data values, curves and the like through the calculation module.
And the checking module is used for judging whether the interval of UTC time in two adjacent frames of check data is larger than a fixed period after the receiving module receives the check data, and if the interval is larger than the fixed period, sending a data request instruction to the airborne check equipment through the unmanned aerial vehicle data link to request the data in the UTC time interval of the two frames.
The compensation module firstly judges each frame of check data received by the receiving module, judges whether the last bit of flag bit is 1, if so, firstly supplements the data to a check data set, and then recalculates each parameter in the calculation module; and (3) re-drawing a curve in the display module, and updating the data value.
The invention has the advantages that the problems that the data of the unmanned aerial vehicle is incomplete and the signal quality of the ground navigation equipment cannot be truly reflected because the data link of the unmanned aerial vehicle is interfered and the check data cannot be normally transmitted are solved, and the data integrity of the unmanned aerial vehicle flight check is improved, thereby improving the accuracy of the flight check.
When the method provided by the invention is crosslinked with the unmanned aerial vehicle, only the unmanned aerial vehicle data link interface is required to be called, other technologies of the unmanned aerial vehicle data link are not relied on, and the method has relatively strong adaptability. The method provided by the invention can be used in unmanned aerial vehicle flight verification systems adopting different data link technologies, and the integrity of verification data is improved.
Drawings
Fig. 1 is a schematic diagram of a method for improving the integrity of flight verification data of an unmanned aerial vehicle.
Fig. 2 is a schematic diagram of a method for improving the integrity of flight verification data of an unmanned aerial vehicle.
Detailed Description
In order to make the objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
The method for improving the integrity of flight check data of the unmanned aerial vehicle comprises the steps of temporarily storing the flight check data through a cache module of an onboard check device, monitoring whether a ground check device sends a data request instruction or not in real time, and retransmitting the requested check data to the ground check device according to instruction parameters. The ground checking device judges whether the checking data which cannot be received due to the influence of a data chain exists or not through the checking module and the compensating module according to UTC time parameter values in the two latest received sets of checking data, if so, the checking data which cannot be received are requested to the airborne checking device, after the ground checking device receives the request data, compensation processing is carried out, various data are recalculated, and a display interface is redrawn.
The airborne verification device is arranged on the unmanned aerial vehicle, can collect navigation signals transmitted by ground navigation devices such as an instrument landing system, a range finder, a very high frequency omni-directional beacon, a non-directional beacon and the like in real time, processes the navigation signals to form a frame of verification data, and finally transmits the verification data to the ground verification device by using a data link of the unmanned aerial vehicle. The airborne verification equipment collects navigation signals in a fixed period, and is not influenced by data transmission between the airborne verification equipment and the ground verification equipment.
The airborne verification equipment mainly comprises the following modules:
and the acquisition module is used for acquiring navigation signals transmitted by the real-time ground navigation equipment.
The processing module processes the acquired navigation signals, and forms a frame of check data after time synchronization, format conversion and the like are carried out on the acquired signals. Each frame of check data includes: GPS data, each subject flight check data and a flag bit. The GPS data comprises UTC time, a flag bit represents whether the data is normally transmitted or not, and if the verification data can be normally transmitted to ground verification equipment, the flag bit value is 0; if the verification data cannot be transmitted to the ground verification device due to the influence of data link interruption, environmental interference and the like, but is sent again through the request of the ground verification device, the flag bit value is 1.
The buffer module is used for buffering the processed flight check data, monitoring whether the ground check equipment sends a request instruction or not in real time, selecting check data from the buffer data according to screening conditions in the instruction if the request instruction is received, assigning a last bit flag bit of each frame of check data meeting the conditions to be 1, and transmitting the last bit flag bit to the ground check equipment through the issuing module.
And the issuing module is used for transmitting the verification data of each frame to the ground verification equipment by calling the unmanned aerial vehicle data link interface.
The unmanned aerial vehicle data link is mainly responsible for communication between the unmanned aerial vehicle and a ground system, and in the flight verification process, data transmission between the airborne verification equipment and the ground verification equipment is also borne, the unmanned aerial vehicle data link transmits verification data in a downlink mode, and the ground verification equipment requests a verification data command in an uplink mode.
The ground checking device utilizes the unmanned plane data chain to receive the checking data issued by the onboard checking device in real time, calculates the checking data, displays an interface and the like, and is a main tool for the ground staff to check the flight. The ground checking equipment is mainly divided into the following modules:
and the receiving module is used for receiving each frame of check data transmitted by the onboard check equipment in real time by calling the unmanned aerial vehicle data link interface.
And the calculation module is used for calculating and counting corresponding parameters according to different flight verification subjects and verification standards.
And the display module is used for displaying the calculation result in a real mode of data values, curves and the like through the calculation module.
And the checking module is used for judging whether the interval of UTC time in two adjacent frames of check data is larger than a fixed period after the receiving module receives the check data, and if the interval is larger than the fixed period, sending a data request instruction to the airborne check equipment through the unmanned aerial vehicle data link to request the data in the UTC time interval of the two frames.
The compensation module firstly judges each frame of check data received by the receiving module, judges whether the last bit of flag bit is 1, if so, firstly supplements the data to a check data set, and then recalculates each parameter in the calculation module; and (3) re-drawing a curve in the display module, and updating the data value.
The method for improving the integrity of the flight check data of the unmanned aerial vehicle specifically comprises the following steps:
step 1: the navigation signals are collected in real time, and the airborne verification equipment is arranged on the unmanned aerial vehicle and can collect the navigation signals emitted by the ground navigation equipment such as an instrument landing system, a range finder, a very high frequency omni-directional beacon and a non-directional beacon in real time. The airborne verification equipment collects navigation signals in a fixed period, and the collection frequency is not influenced by data transmission between the airborne verification equipment and the ground verification equipment;
step 2: and processing the signals, processing the acquired navigation signals, including time synchronization, format conversion and other calculations, and forming a frame of check data for the processed signals. Each frame of check data includes: GPS data, each item of flight verification subject data and a flag bit. The GPS data comprises UTC time, a flag bit represents whether the data is normally transmitted or not, and if the verification data can be normally transmitted to ground verification equipment, the flag bit value is 0; if the verification data cannot be transmitted to the ground verification device due to the influence of data chain interruption, environmental interference and the like, but is sent again through the ground verification device request, the flag bit value is 1;
step 3: caching the check data, and storing the processed flight check data in a cache area;
step 4: transmitting the verification data, and downloading the processed verification data to the ground verification equipment by the airborne verification equipment through calling the unmanned aerial vehicle data link interface;
step 5: receiving verification data, and receiving the verification data issued by the onboard verification equipment in real time by the ground verification equipment through calling a data link interface of the unmanned aerial vehicle;
step 6: checking the check data, and judging whether the UTC time interval of two adjacent frames of check data is larger than a fixed period by the ground check equipment, and if the UTC time interval of the two frames of check data is larger than the fixed period, requesting unreceived data from the airborne check equipment;
step 7: the ground verification device calls a data link interface of the unmanned aerial vehicle, sends a data request command to the airborne verification device, and requests data in a time interval of two frames of verification data UTC;
step 8: uplink transmission request instructions, wherein the unmanned aerial vehicle data link uplink transmits the request instructions of the ground verification equipment to the airborne verification equipment;
step 9: receiving a request instruction, and monitoring whether the ground checking equipment sends the request instruction or not by the on-board checking equipment in real time;
step 10: screening the cache data, selecting data with UTC time within a UTC time interval of two frames of check data from the cache data after the airborne check device receives a request instruction, assigning a last bit flag bit of each frame of check data meeting the condition to be 1, and transmitting the last bit flag bit to the ground check device through a transmitting module;
step 11: after receiving a frame of check data, the ground check equipment firstly judges whether the last bit zone bit of the frame of check data is 1, if so, firstly supplements the data into a check data set, then recalculates each parameter, redraws a curve on a display interface and updates a data value;
step 12: calculating data, namely calculating and counting different parameters according to different flight verification subjects and verification standards;
step 13: and displaying data, namely displaying a calculation result in real time in the form of a data value, a curve and the like through a calculation module, and carrying out flight checking work by using ground checking staff as a standard.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (3)
1. The method for improving the integrity of flight check data of the unmanned aerial vehicle comprises the steps of temporarily storing the flight check data through an airborne check device, monitoring whether the ground check device sends a data request instruction in real time, and retransmitting the requested check data to the ground check device according to instruction parameters; the ground checking equipment judges whether the checking data which cannot be received due to the influence of a data chain exists or not according to UTC time parameter values in the two latest received sets of checking data, if so, the checking data which cannot be received is requested to the airborne checking equipment, compensation processing is carried out after the ground checking equipment receives the requested data, various data are recalculated, and a display interface is redrawn; the method specifically comprises the following steps:
step 1: the navigation signals are collected in real time, and the airborne verification equipment is arranged on the unmanned aerial vehicle and can collect the navigation signals emitted by an instrument landing system, a range finder, a very high frequency omni-directional beacon and a non-directional beacon ground navigation device in real time; the airborne verification equipment collects navigation signals in a fixed period, and the collection frequency is not influenced by data transmission between the airborne verification equipment and the ground verification equipment;
step 2: processing signals, namely processing acquired navigation signals, including time synchronization and format conversion calculation, and forming a frame of check data for the processed signals; each frame of check data includes: GPS data, each item of flight verification subject data and zone bit; the GPS data comprises UTC time, a flag bit represents whether the data is normally transmitted or not, and if the verification data can be normally transmitted to ground verification equipment, the value of the flag bit is 0; if the verification data cannot be transmitted to the ground verification equipment due to the influence of data chain interruption and environmental interference, but is sent again through the request of the ground verification equipment, the flag bit value is 1;
step 3: caching the check data, and storing the processed flight check data in a cache area;
step 4: transmitting the verification data, and downloading the processed verification data to the ground verification equipment by the airborne verification equipment through calling the unmanned aerial vehicle data link interface;
step 5: receiving verification data, and receiving the verification data issued by the onboard verification equipment in real time by the ground verification equipment through calling a data link interface of the unmanned aerial vehicle;
step 6: checking the check data, and judging whether the UTC time interval of two adjacent frames of check data is larger than a fixed period by the ground check equipment, and if the UTC time interval of the two frames of check data is larger than the fixed period, requesting unreceived data from the airborne check equipment;
step 7: the ground verification device calls a data link interface of the unmanned aerial vehicle, sends a data request command to the airborne verification device, and requests data in a time interval of two frames of verification data UTC;
step 8: uplink transmission request instructions, wherein the unmanned aerial vehicle data link uplink transmits the request instructions of the ground verification equipment to the airborne verification equipment;
step 9: receiving a request instruction, and monitoring whether the ground checking equipment sends the request instruction or not by the on-board checking equipment in real time;
step 10: screening the cache data, selecting data with UTC time within a UTC time interval of two frames of check data from the cache data after the airborne check device receives a request instruction, assigning a last bit flag bit of each frame of check data meeting the condition to be 1, and transmitting the last bit flag bit to the ground check device through a transmitting module;
step 11: after receiving a frame of check data, the ground check equipment firstly judges whether the last bit zone bit of the frame of check data is 1, if so, firstly supplements the data into a check data set, then recalculates each parameter, redraws a curve on a display interface and updates a data value;
step 12: calculating data, namely calculating and counting different parameters according to different flight verification subjects and verification standards;
step 13: and displaying data, namely displaying a calculation result in real time in a data value and curve form through a calculation module, and carrying out flight checking work by using ground check staff as a standard.
2. The method for improving the integrity of flight verification data of an unmanned aerial vehicle according to claim 1, wherein: the airborne verification equipment comprises an acquisition module, a processing module, a cache module and a issuing module; the acquisition module acquires the navigation signals, the processing module processes the navigation signals to form a frame of check data, the caching module is used for caching the processed flight check data and monitoring whether the ground check equipment sends a request instruction or not in real time, and the issuing module transmits the check data to the ground check equipment through an unmanned plane data link.
3. The method for improving the integrity of flight verification data of an unmanned aerial vehicle according to claim 1, wherein: the ground verification equipment comprises a receiving module, a calculating module, a display module, an inspection module and a compensation module; the receiving module receives the check data in real time; the calculation module calculates and counts corresponding parameters according to different flight verification subjects and verification standards; the display module displays the calculation result in real time in a data value and curve form through the calculation module; the checking module is used for judging whether check data which cannot be received exist or not according to the UTC time interval in the check data of the two adjacent frames; the compensation module is used for carrying out compensation processing on the check data which is not received, and recalculates each item of data to draw the display interface.
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