CN114895648A - Method for modifying civil unmanned aerial vehicle by collaborative algorithm trial flight verification - Google Patents

Method for modifying civil unmanned aerial vehicle by collaborative algorithm trial flight verification Download PDF

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Publication number
CN114895648A
CN114895648A CN202210399415.5A CN202210399415A CN114895648A CN 114895648 A CN114895648 A CN 114895648A CN 202210399415 A CN202210399415 A CN 202210399415A CN 114895648 A CN114895648 A CN 114895648A
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China
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flight
unmanned aerial
data
verification
algorithm
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CN202210399415.5A
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孙智孝
张少卿
王言伟
王悦
王振宇
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Shenyang Aircraft Design and Research Institute Aviation Industry of China AVIC
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Shenyang Aircraft Design and Research Institute Aviation Industry of China AVIC
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
    • G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24065—Real time diagnostics

Abstract

The application belongs to the technical field of airplane tests, and particularly relates to a method for modifying a civil unmanned aerial vehicle for collaborative algorithm flight test verification. The method comprises the steps that a data chain system is additionally arranged on a plurality of unmanned aerial vehicles participating in cooperative algorithm test flight verification, and information mutual transmission links among the unmanned aerial vehicles and ground station-controlled links of the unmanned aerial vehicles are established; adding task processors on a plurality of unmanned aerial vehicles participating in cooperative algorithm test flight verification, wherein the task processors are used for operating a sensor cooperative algorithm; the method comprises the steps that radars and photoelectric loads are additionally arranged on a plurality of unmanned aerial vehicles participating in cooperative algorithm test flight verification and used for completing verification of a sensor cooperative algorithm, the radar loads are used for detecting a target drone and feeding three-dimensional information of the target drone back to a task processor, and the photoelectric loads are used for measuring angles of the target drone. The method and the system can realize the high safety and the high algorithm iteration speed of a plurality of test flight and pilot flight systems, and meet the verification requirements of various collaborative test flight algorithms in the current stage.

Description

Method for refitting cooperative algorithm trial flight verification civil unmanned aerial vehicle
Technical Field
The application belongs to the technical field of airplane tests, and particularly relates to a method for modifying a civil unmanned aerial vehicle for verification of test flight by a collaborative algorithm.
Background
Along with the continuous development of the multi-unmanned-aerial-vehicle collaborative task execution technology, the high fidelity and rapid test flight verification requirements of the algorithm are urgent, and a test flight system which is provided with a plurality of unmanned aerial vehicles, easy to guarantee maintenance and convenient to expand is urgently needed to be built, so that the effect of rapidly improving the maturity of the collaborative algorithm is achieved.
In the existing engineering application, a verification technology for developing a multi-unmanned aerial vehicle cooperative algorithm is not available. If the existing mature aircraft platform with similar functions and performances is selected for test flight, because each aircraft has excellent flight quality and maneuverability similar to that of a host, and has the capabilities of multifunctional communication, navigation, fire control and the like, the aircraft needs to be slightly modified by key software and hardware equipment, and the requirements of test flight subjects and test flight scenes can be met. However, the airplane has strict limitations on the field and airspace for the flight. A plurality of airplanes have certain requirements on scheduling and guaranteeing resources, and the test flight cost is high. Once an accident occurs in the test flight, a great loss is caused. And a single airplane can complete cooperative test flight by using data chain simulation, but compared with an actual test flight result, the simulated test flight result is not real.
Disclosure of Invention
In order to solve the problems, the application provides a method for modifying a civil unmanned aerial vehicle for verification of cooperative algorithm test flight, which improves the existing unmanned aerial vehicle, thereby completing the verification of test flight of a plurality of unmanned aerial vehicle cooperative algorithms.
The method for modifying the civil unmanned aerial vehicle for testing flight and verifying the collaborative algorithm mainly comprises the following steps: adding a data chain system on a plurality of unmanned aerial vehicles participating in cooperative algorithm test flight verification, and constructing information mutual transmission links among the unmanned aerial vehicles and ground station-controlled links of the unmanned aerial vehicles; adding task processors on a plurality of unmanned aerial vehicles participating in cooperative algorithm test flight verification, wherein the task processors are used for operating a sensor cooperative algorithm; the method comprises the steps that radars and photoelectric loads are additionally arranged on a plurality of unmanned aerial vehicles participating in cooperative algorithm test flight verification and used for completing verification of a sensor cooperative algorithm, the radar loads are used for detecting a target drone and feeding three-dimensional information of the target drone back to a task processor, and the photoelectric loads are used for measuring angles of the target drone.
Preferably, the data link system comprises a formation data link, a graph data transmission integrated link and a flight control backup link, the formation data link is used for realizing data transmission among multiple unmanned aerial vehicles and data transmission between a ground station and each unmanned aerial vehicle, the graph data transmission integrated link is used for realizing return of photoelectric load image information, the flight control backup link is used for independent backup of flight control system data transmission of each unmanned aerial vehicle, and each link is additionally arranged between the ground station and each unmanned aerial vehicle and does not interfere with each other.
Preferably, the task processor is an independent device independent of the unmanned aerial vehicle flight control system, a Ubuntu operating system is adopted, and the running memory capacity of the processor is at least 8 GB.
Preferably, the radar load is 30kg of seeker radar and is arranged in the inner space of the handpiece.
Preferably, the photoelectric load is a civil photoelectric pod of 18kg and is hung below the front of the machine head.
Preferably, the task handler is configured to:
according to the task instruction and the environmental information, data fusion between the multiple radar type unmanned aerial vehicles and the multiple photoelectric type unmanned aerial vehicles is completed, and a unified situation is formed;
pushing the data fusion result to a decision module, and calculating a target distribution result and a occupied site for carrying out occupation guidance by the decision module;
and pushing the occupied points to an air route planning module, wherein the air route planning module gives the guide air route points of each unmanned aerial vehicle.
Preferably, before installing the data chain system and the task processor, determining data cross-linking relationships among all unmanned aerial vehicle systems in the test flight platform and between the platform and the ground station is further included.
Preferably, the data cross-linking relationship comprises: the task processor transmits control information to the radar or the photoelectric load; the task processor receives target data transmitted by a radar or a photoelectric load; the task processor transmits formation navigation control information to the flight control system; the task processor receives inertial navigation information transmitted by the flight control system; the task processor transmits the output result of the collaborative algorithm to the ground station through a data chain; the ground station transmits a control command to the airplane through a data link; target data and image data of the radar or photoelectric load are transmitted to the ground station through a data link; the ground station transmits a control instruction to the radar or the photoelectric load through a data link; the flight control system transmits the backed-up flight data and flight attitude information to the ground station through the data link; the ground station transmits the backup flight instruction to the flight control through the data link; and the flight control system transmits the formation task, the flight data and the flight attitude information to the load.
The test flight system is set up aiming at the modification of the civil unmanned aerial vehicle, the high fidelity of test flight can be effectively guaranteed, a plurality of test flight frames can be achieved, the safety of the test flight system is high, the algorithm iteration speed is high, the verification requirements of various collaborative test flight algorithms in the current stage are met, and the good expansibility is achieved.
Drawings
Fig. 1 is a schematic view of a data chain installation of a preferred embodiment of a method for verifying the modification of a civil unmanned aerial vehicle by a collaborative algorithm.
Fig. 2 is a schematic diagram of a task processor software architecture of a preferred embodiment of the method for verifying the conversion of the civil unmanned aerial vehicle by using the collaborative algorithm.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all embodiments of the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application, and should not be construed as limiting the present application. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application. Embodiments of the present application will be described in detail below with reference to the drawings.
The application provides a method for modifying a civil unmanned aerial vehicle for verification of pilot flight by a collaborative algorithm, as shown in fig. 1-2, the method comprises the following steps: adding a data chain system on a plurality of unmanned aerial vehicles participating in cooperative algorithm test flight verification, and constructing information mutual transmission links among the unmanned aerial vehicles and ground station-controlled links of the unmanned aerial vehicles; adding task processors on a plurality of unmanned aerial vehicles participating in cooperative algorithm test flight verification, wherein the task processors are used for operating a sensor cooperative algorithm; the method comprises the steps that radars and photoelectric loads are additionally arranged on a plurality of unmanned aerial vehicles participating in cooperative algorithm test flight verification and used for completing verification of a sensor cooperative algorithm, the radar loads are used for detecting the target drone and feeding three-dimensional information of the target drone back to a task processor, and the photoelectric loads are used for measuring angles of the target drone.
In some optional embodiments, the data link system includes a formation data link, an image data transmission integrated link, and a flight control backup link, where the formation data link is used to implement data transmission between multiple unmanned aerial vehicles and data transmission between a ground station and each unmanned aerial vehicle, the image data transmission integrated link is used to implement return of photoelectric load image information, and is in consideration of flight safety, the flight control backup link is used to individually backup data transmission of a flight control system of each unmanned aerial vehicle, and each link is installed between the ground station and each unmanned aerial vehicle and does not interfere with each other.
This embodiment generally describes data link adaptation, including the following three aspects:
(1) the ground station and each unmanned aerial vehicle are additionally provided with a formation data link, the link is a many-to-many data transmission link and is mainly used for completing the instruction control of the ground station on the unmanned aerial vehicle and the data transmission between the ground station and the unmanned aerial vehicles, and the link has low requirements on bandwidth and high requirements on communication tests;
(2) and an image data transmission integrated link is additionally arranged between the ground station and each unmanned aerial vehicle, and the link is a many-to-one remote image data transmission link so as to realize the transmission of data and control instructions between the radar/photoelectric load and the ground station. In the data downlink direction, the detection data of the radar load and the detection data information in the photoelectric pod laser mode are transmitted back to the ground station end through the link for data analysis and display, and the link is characterized by low delay when transmitting data signals; the image and video information of the photoelectric load in the visible light and infrared modes are transmitted back to the ground station end through the link for display, and when the image and video signals are transmitted, the link is characterized by high transmission bandwidth and large data transmission quantity; the control instructions of the ground station to the airborne radar and the photoelectric pod are both transmitted to the sky equipment end through the link, so that the data delay is low, and the real-time performance is high. The link utilizes the technology of image data transmission integration, transmission requirements of two devices for different data types are completed through a single link, cross interference is not generated between the link and other two data links, and stable return and control of the detection device are guaranteed.
(3) A flight control backup link is additionally arranged between the ground station and each unmanned aerial vehicle, and the link supports the data receiving/sending function of 1 to 1 and the transmission function of the control instruction of the remote controller. Under the condition that a formation data link and a graph data transmission integrated link fail, the link serves as a communication channel between a ground station and a flight control, and the flight control directly receives a task instruction of the ground station to realize a safe return flight function.
In some optional embodiments, the task processor is an independent device independent of the unmanned aerial vehicle flight control system, and adopts an Ubuntu operating system, and the processor runs 8GB of memory capacity, 128-bit LPDDR4 and 58.3GB/s of speed. The GPU is 256 NVDIA CUDA kernels. The task processor and the flight control system are designed independently, so that the migration operation of the cooperative algorithm can be supported, and the effects of facilitating the verification of various cooperations and the algorithm expansion verification in the next years can be achieved on the basis of the architectural design.
The hardware operating system of the task processor related to the embodiment adopts a Linux system, so that the stability is high and the operability is strong; C/C + + related content can be developed in an embedded manner. The built-in multi-machine collaborative algorithm software system adopts a modular structure design and supports distributed collaborative computing.
In some optional embodiments, the radar load is 30kg of seeker radar, and the seeker radar is mounted in the inner space of the handpiece. The radar load is used as sensor equipment, so that distance measurement, angle measurement and speed measurement of a target can be realized, the functions of detecting, positioning and tracking the target are realized, and the use requirement of a collaborative algorithm verification scene is met. Based on the requirement of the radar load field angle, the radar load weight, the structural form and other factors are combined, and the radar load is embedded in the machine head to be installed.
In some optional embodiments, the photoelectric load is a civil photoelectric pod of 18kg and is hung below the front of the machine head. The photoelectric load is used as sensor equipment, the angle measurement of the target can be realized by combining the functions of visible light camera shooting and infrared thermal imaging, and the photoelectric load has the functions of detecting and tracking the target. Based on the requirements of the field angle of the photoelectric load, the photoelectric load is hung below the front of the machine body by combining the factors of the weight, the structural form and the like of the photoelectric load.
In some optional embodiments, the task handler is configured to: according to the task instruction and the environmental information, data fusion between the multiple radar type unmanned aerial vehicles and the multiple photoelectric type unmanned aerial vehicles is completed, and a unified situation is formed; pushing the data fusion result to a decision module, and calculating a target distribution result and a site occupation for carrying out occupation guidance by the decision module; and pushing the occupied points to an airway planning module, wherein the airway planning module provides guidance airway points of each unmanned aerial vehicle.
In some optional embodiments, before installing the data link system and the task processor, determining a data cross-linking relationship between the unmanned aerial vehicle systems inside the test flight platform and between the platform and the ground station is further included.
In some alternative embodiments, the data cross-linking relationship comprises: the task processor transmits control information to the radar or the photoelectric load; the task processor receives target data transmitted by a radar or a photoelectric load; the task processor transmits formation navigation control information to the flight control system; the task processor receives inertial navigation information transmitted by the flight control system; the task processor transmits the output result of the collaborative algorithm to the ground station through a data chain; the ground station transmits a control command to the airplane through a data link; target data and image data of the radar or photoelectric load are transmitted to the ground station through a data link; the ground station transmits a control instruction to the radar or the photoelectric load through a data link; the flight control system transmits the backed-up flight data and flight attitude information to the ground station through the data link; the ground station transmits the backup flight instruction to the flight control through the data link; and the flight control system transmits the formation task, flight data and flight attitude information to the load.
Although the present application has been described in detail with respect to the general description and specific embodiments, it will be apparent to those skilled in the art that certain modifications or improvements may be made based on the present application. Accordingly, such modifications and improvements are intended to be within the scope of this invention as claimed.

Claims (8)

1. A method for modifying a civil unmanned aerial vehicle for verification of pilot flight by a collaborative algorithm is characterized by comprising the following steps: adding a data chain system on a plurality of unmanned aerial vehicles participating in cooperative algorithm test flight verification, and constructing information mutual transmission links among the unmanned aerial vehicles and ground station-controlled links of the unmanned aerial vehicles; adding task processors on a plurality of unmanned aerial vehicles participating in the test flight verification of the cooperative algorithm, wherein the task processors are used for operating the sensor cooperative algorithm; the method comprises the steps that radars and photoelectric loads are additionally arranged on a plurality of unmanned aerial vehicles participating in cooperative algorithm test flight verification and used for completing verification of a sensor cooperative algorithm, the radar loads are used for detecting a target drone and feeding three-dimensional information of the target drone back to a task processor, and the photoelectric loads are used for measuring angles of the target drone.
2. The method as claimed in claim 1, wherein the datalink system includes a formation datalink, a graph data transmission integrated link, and a flight control backup link, the formation datalink is used for data transmission between multiple drones and between the ground station and each drone, the graph data transmission integrated link is used for returning photoelectric load image information, the flight control backup link is used for individual backup of flight control system data transmission of each drone, and each link is installed between the ground station and each drone and does not interfere with each other.
3. The method for modifying the civil unmanned aerial vehicle for the collaborative algorithm trial flight verification of claim 1, wherein the task processor is an independent device independent of a flight control system of the unmanned aerial vehicle, an Ubuntu operating system is adopted, and the running memory capacity of the processor is at least 8 GB.
4. The method for civil drone refitting verification through collaborative algorithm test flight according to claim 1, wherein the radar load is 30kg of seeker radar and is installed in the inner space of the nose.
5. The method for modifying the civil unmanned aerial vehicle for verification of pilot flight by using the cooperative algorithm as claimed in claim 1, wherein the photoelectric load is a civil photoelectric pod of 18kg and is hung below the front of the machine head.
6. The collaborative algorithm trial flight verification civilian drone retrofitting method of claim 1, wherein the task handler is configured to:
according to the task instruction and the environmental information, data fusion between the multiple radar type unmanned aerial vehicles and the multiple photoelectric type unmanned aerial vehicles is completed, and a unified situation is formed;
pushing the data fusion result to a decision module, and calculating a target distribution result and a site occupation for carrying out occupation guidance by the decision module;
and pushing the occupied points to an airway planning module, wherein the airway planning module provides guidance airway points of each unmanned aerial vehicle.
7. The method of claim 1, wherein the step of adding the data chain system and the task processor further comprises determining a data cross-linking relationship between the UAV systems inside the test flight platform and between the platform and the ground station.
8. The collaborative algorithm trial flight verification civilian drone retrofitting method of claim 7, wherein the data cross-linking relationship comprises: the task processor transmits control information to the radar or the photoelectric load; the task processor receives target data transmitted by a radar or a photoelectric load; the task processor transmits formation navigation control information to the flight control system; the task processor receives inertial navigation information transmitted by the flight control system; the task processor transmits the output result of the collaborative algorithm to the ground station through a data chain; the ground station transmits a control command to the airplane through a data link; target data and image data of the radar or photoelectric load are transmitted to the ground station through a data link; the ground station transmits a control instruction to the radar or the photoelectric load through a data link; the flight control system transmits the backed-up flight data and flight attitude information to the ground station through the data link; the ground station transmits the backup flight instruction to the flight control through the data link; and the flight control system transmits the formation task, flight data and flight attitude information to the load.
CN202210399415.5A 2022-04-15 2022-04-15 Method for modifying civil unmanned aerial vehicle by collaborative algorithm trial flight verification Pending CN114895648A (en)

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