CN117891268A - Self-noise-reduction rotor unmanned aerial vehicle sound detection control method - Google Patents
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Abstract
The invention discloses a self-noise-reduction rotor unmanned aerial vehicle sound detection control method, which belongs to the technical field of sound orientation, and comprises the following steps that after a sound source orientation instruction is received, an unmanned aerial vehicle enters a working state; controlling the unmanned aerial vehicle to rise in an accelerating way until the unmanned aerial vehicle reaches the maximum rising speed and the height is larger than the safety height, and controlling the unmanned aerial vehicle to stop; when the unmanned aerial vehicle enters a free falling state, a microphone array is started to collect audio signals; when the unmanned aerial vehicle is stopped for a preset time, starting a propeller of the unmanned aerial vehicle to work at maximum power and stopping audio signal acquisition; clipping the collected audio signals to obtain effective sound signals.
Description
Technical Field
The invention relates to the technical field of sound orientation, in particular to a self-noise-reduction rotor unmanned aerial vehicle sound detection control method.
Background
The technology of determining the state and direction of a noise source by using a microphone array has been applied to the fields of noise pollution monitoring, industrial equipment fault monitoring, target state identification, sound source enhancement and the like. However, in many application scenarios, since the target is moving or does not travel along a fixed path, it is required that the microphone array can move with the target or make a patrol monitoring alarm. The unmanned aerial vehicle has the advantages of low cost, wide task range, rapid movement, flexible deployment and the like, and the microphone array device can be used for detecting sound on the unmanned aerial vehicle. However, because stronger self-noise exists in the operation process of the unmanned aerial vehicle, the acoustic signal is seriously interfered, and therefore, the application of the acoustic signal detection on the unmanned aerial vehicle system is greatly limited.
Disclosure of Invention
Aiming at the defects in the prior art, the self-noise-reduction rotor unmanned aerial vehicle sound detection control method provided by the invention can acquire high signal-to-noise ratio sound signals by creating a monitoring window period through short stop of the unmanned aerial vehicle in the air.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
The method for controlling the sound detection of the self-noise-reducing rotor unmanned aerial vehicle comprises the following steps:
s1, after receiving a sound source orientation instruction, the unmanned aerial vehicle enters a working state;
s2, controlling the unmanned aerial vehicle to rise in an accelerating way, and controlling the unmanned aerial vehicle to stop when the unmanned aerial vehicle reaches the maximum rising speed and the height is greater than the safety height;
s3, when the unmanned aerial vehicle enters a free falling state, starting a microphone array to collect audio signals;
s4, starting the unmanned aerial vehicle propeller to work at maximum power and stopping audio signal acquisition after the unmanned aerial vehicle stops for a preset time;
S5, cutting the collected audio signals to obtain effective sound signals.
Further, the method for obtaining the maximum rising speed comprises the following steps:
According to the air pressure collected by the air pressure sensor and the local ground air pressure, calculating the average vertical speed of the unmanned aerial vehicle:
wherein is the time interval/> average vertical velocity within ; the/> is the time interval/> number of test points within ; The time interval between test points; the height at test point/> is,/> , and the local ground pressure is,/> ∈[0,/>-1];/>; the/> is the atmospheric pressure at the nth test point;
when the average vertical speed is maintained at a variation amplitude within a preset proportion for a plurality of continuous time intervals T, the unmanned aerial vehicle reaches a maximum rising speed.
The beneficial effects of the technical scheme are as follows: the average vertical speed in a short time is calculated through the altitude signal approximation, so that the use of an expensive airspeed head is avoided, and the cost and the complexity of the sound detection target are reduced.
Further, the method for calculating the safety height comprises the following steps:
Dividing the calculation of the safety height into three phases, setting the time consumption of the whole flight process of the three phases as t, and respectively calculating the time of the unmanned aerial vehicle in the three phases:
is the downtime of the unmanned aerial vehicle after reaching the maximum vertical lifting speed and stopping; the time from restarting of the unmanned aerial vehicle to the maximum rotation speed of the propeller, which is obtained through experiments, is indicated by ''; the time of achieving the maximum rotating speed and decelerating and stopping of the unmanned aerial vehicle propeller is indicated by ''; maximum lift of the/> unmanned aerial vehicle;
The quality of the whole unmanned aerial vehicle is that of the unmanned aerial vehicle; a gravitational acceleration of/> ; the maximum rising speed of the unmanned aerial vehicle is indicated by the letter ''; the/> is the time length of the effective acoustic signal which is determined according to the actual condition of the project; the times for decreasing and increasing sound pressure levels to nominal values are obtained experimentally for/> and/> , respectively;
The safety height needs to satisfy the following conditions:
Wherein is the drop height; the variable quantity of the unmanned plane height in the/> phase, the/> phase and the/> phase are respectively indicated by the/> 、/>;
according to the unmanned aerial vehicle dynamic model corresponding to the three time phases, the height of each phase is obtained through the Euler method, and the unmanned aerial vehicle dynamic models of the three time phases are respectively:
Wherein is an acceleration component of the unmanned aerial vehicle in a vertical direction; the/> is the velocity component of the unmanned aerial vehicle in the vertical direction; Is the resistance coefficient in the vertical direction; the/> is a signed function; the lift force provided by the propeller of the unmanned aerial vehicle is obtained by utilizing the method of/> ; The maximum lift available to the propeller.
Further, the method for obtaining the height of each stage by the euler method comprises the following steps:
in the dynamics equation corresponding to the stage, neglecting/> , the dynamics models corresponding to the/> and/> stages can be expressed as follows:
the differential equation for the -stage kinetic model is converted to the following differential equation using the finite difference method:
Wherein 、/> is the velocity and displacement value in the vertical direction at the/> point, respectively; the/> and/> are the velocity and displacement values in the vertical direction at the/> points, respectively; the/> is the differential time step;
The height value/> at any moment is calculated by the differential equation of stage , where the initial value is set as: /> ,, and/> ,/>;、/> are the height values corresponding to the ending time/> and the starting time/> of the/> phases, respectively; And/> are height values corresponding to the ending time/> and the starting time/> of the/> phase, respectively;
the differential equation for the -stage kinetic model is converted to the following differential equation using the finite difference method:
The height value/> at any moment is calculated through a differential equation of the stage, and/> , and/> are the height values corresponding to the ending time/> and the starting time/> of the/> stage respectively.
The beneficial effects of the technical scheme are as follows: according to the scheme, the unmanned aerial vehicle height change prediction model is built through the unmanned aerial vehicle dynamics model, the overall time is estimated through an approximation processing method, the Euler method calculation model is calculated through numerical calculation, the safety height is obtained through calculation, the unmanned aerial vehicle can be guaranteed to have enough time to obtain the high signal-to-noise ratio acoustic signal, and meanwhile safety in the falling process of the unmanned aerial vehicle can be guaranteed.
Further, the method for clipping the collected audio signals comprises the following steps:
Calculating the sound pressure level of the audio signal, and recording the time when the sound pressure level of the unmanned aerial vehicle drops to the highest interference noise sound pressure level after the unmanned aerial vehicle is stopped; recording time/> when the sound pressure level rises to the highest interference noise sound pressure level after the unmanned aerial vehicle is restarted; the acoustic signals/> to/> are intercepted from the whole acquired audio signal as effective acoustic signals.
The interception of the audio signal is carried out by combining the sound pressure level, so that the interference of noise on the audio signal can be reduced, and the quality of the collected audio signal is improved.
Further, the expression for calculating the sound pressure level of the audio signal is:
,/>
Wherein is an audio signal; the sound pressure is referred to as ''; the effective value of sound pressure to be measured is indicated by ''; x is the sampling point of the acoustic signal; k is the number of discrete points of the acoustic signal; k is the acoustic signal discrete point variable.
Further, the expression of the drag coefficient is:
Wherein is the maximum ascent speed of the unmanned aerial vehicle.
The invention has the beneficial effects that: the unmanned aerial vehicle actively stops in a short time to create a window period without self-noise, and the microphone acquires an acoustic signal with high signal-to-noise ratio in the window period; by the method, compared with the prior art that the microphone is directly used for sound signal acquisition and sound source orientation on the unmanned aerial vehicle, the influence of noise of the unmanned aerial vehicle is reduced, a target sound signal with higher signal-to-noise ratio can be obtained, and therefore the accuracy of voiceprint recognition and sound source orientation is improved.
According to the scheme, the unmanned aerial vehicle is controlled before stopping, so that the unmanned aerial vehicle has an upward initial speed before stopping, the free falling time of the unmanned aerial vehicle is prolonged, the monitoring time of a microphone is longer, and a longer high signal-to-noise ratio audio signal is obtained.
Drawings
FIG. 1 is a flow chart of one embodiment of a method for self-denoising rotorcraft acoustic detection control.
Fig. 2 is a schematic diagram of each stage of the unmanned aerial vehicle in stop and fly-away.
Fig. 3 is a full flow chart of the acoustic detection control method.
FIG. 4 is a graph showing the comparison of calculated height values with actual height values.
Fig. 5 is a waveform schematic diagram of an effective audio clip.
Fig. 6 is a schematic diagram of effective audio clipping based on sound pressure level.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and all the inventions which make use of the inventive concept are protected by the spirit and scope of the present invention as defined and defined in the appended claims to those skilled in the art.
Referring to fig. 1, fig. 1 illustrates a flow chart of one embodiment of a method of self-denoising rotorcraft acoustic detection control; as shown in FIG. 1, the method S comprises the steps S1-S5; the detailed flow of this scheme can be seen with reference to fig. 3.
In step S1, after receiving the sound source direction instruction, the unmanned aerial vehicle enters a working state.
According to the scheme, the sound source orientation instruction is an external signal, and can be sent to the flight control chip through other development boards on the unmanned aerial vehicle in a bus communication or wireless communication mode, and the instruction can be written into the flight control program for periodic execution, so that the unmanned aerial vehicle periodically enters a monitoring flight state.
In step S2, controlling the unmanned aerial vehicle to rise in an accelerating way until the unmanned aerial vehicle reaches the maximum rising speed and the height is larger than the safety height, and controlling the unmanned aerial vehicle to stop, wherein the propeller stops rotating;
in one embodiment of the present invention, the method for acquiring the maximum rising speed includes:
According to the air pressure collected by the air pressure sensor and the local ground air pressure, calculating the average vertical speed of the unmanned aerial vehicle:
Wherein is the time interval/> average vertical velocity within ; the/> is the time interval/> number of test points within ; The time interval between test points; the height at test point/> is,/> , and the local ground pressure is,/> ∈[0,/>-1];/>; the/> is the atmospheric pressure at the nth test point;
When the average vertical speed is maintained at a variation amplitude within a preset proportion for a plurality of continuous time intervals T, the unmanned aerial vehicle reaches a maximum rising speed. The preferred multiple time intervals T of this embodiment are 5 consecutive time intervals T, with a preset proportion of 5%.
In implementation, the method for calculating the safety height preferably comprises the following steps:
Dividing the calculation of the safety height into three phases, setting the time consumption of the whole flight process of the three phases as t, and respectively calculating the time of the unmanned aerial vehicle in the three phases:
The method comprises the steps that is the downtime of the unmanned aerial vehicle after reaching the maximum vertical rising speed and meeting the safety height, the downtime is a preset value, in order to ensure that enough sound signals are acquired, the unmanned aerial vehicle cannot be thoroughly unstably caused by long-time air shutdown, the time from the restarting of the unmanned aerial vehicle to the reaching of the maximum rotating speed of a propeller is/, which is ;/>, can be measured through a test, the specific test mode is that the unmanned aerial vehicle is fixed on an operation table, the output power of the propeller is regulated to be the maximum, and the time from 0 rotating speed to the maximum rotating speed in a rotating speed map of the propeller is the value of/> ; and/() is the time for deceleration and stopping after the propeller of the unmanned aerial vehicle reaches the maximum rotating speed, and can be directly solved through the following formula:
is the maximum lift of the unmanned aerial vehicle; the value of the motor is/() is the whole machine mass of the unmanned aerial vehicle; a gravitational acceleration of/> ; and/> is the maximum ascent speed of the drone.
By human setting,/> should meet/> , typically to ensure that adequate acoustic signals are acquired and that the drone is not completely destabilized by long air stops.
The values of (2) can be obtained by the following tests: the unmanned aerial vehicle is fixed on a test bed, and the unmanned aerial vehicle is connected with the test bed through a tension sensor, when the unmanned aerial vehicle propeller reaches the maximum rotating speed, the reading of the tension sensor is .
In order to avoid the unmanned aerial vehicle from striking the ground when falling, the following conditions are required to be satisfied in the safety height:
The height requirement of the unmanned aerial vehicle when the unmanned aerial vehicle is stopped is larger than the total falling height/> ./>、/> of the unmanned aerial vehicle in 、/>、/> three stages, the height variation of the unmanned aerial vehicle in each time period is respectively calculated, and the sum is the height variation/> of the unmanned aerial vehicle in the whole time period.
The height of each stage can be obtained through the Euler method according to the unmanned aerial vehicle dynamic model corresponding to the three time stages, and the unmanned aerial vehicle dynamic models of the three time stages are respectively:
wherein is an acceleration component of the unmanned aerial vehicle in a vertical direction; the/> is the velocity component of the unmanned aerial vehicle in the vertical direction; Is the resistance coefficient in the vertical direction; the/> is a signed function; the lift force provided by the propeller of the unmanned aerial vehicle is obtained by utilizing the method of/> ; The maximum lift available to the propeller.
In one embodiment of the invention, the method of deriving the height of each stage by the euler method comprises:
in the dynamics equation corresponding to the stage, neglecting/> , the dynamics models corresponding to the/> and/> stages can be expressed as follows:
the differential equation for the -stage kinetic model is converted to the following differential equation using the finite difference method:
Wherein 、/> is the velocity and displacement value in the vertical direction at the/> point, respectively; the velocity and displacement values in the vertical direction at points/> are for/> and , respectively; the/> is the differential time step;
The height value/> at any moment is calculated by the differential equation of stage , where the initial value is set as: /> ,, and/> ,/>;、/> are the height values corresponding to the ending time/> and the starting time/> of the/> phases, respectively; And/> are height values corresponding to the ending time/> and the starting time/> of the/> phase, respectively;
the differential equation for the -stage kinetic model is converted to the following differential equation using the finite difference method:
The height value/> at any moment is calculated through a differential equation of the stage, and/> , and/> are the height values corresponding to the ending time/> and the starting time/> of the/> stage respectively.
Fig. 4 shows a comparison diagram of the calculated height value and the actual height value, and is the calculated safe height of the rotor unmanned aerial vehicle in the period from the stopping of the propeller of the unmanned aerial vehicle to the falling of the unmanned aerial vehicle to the lowest height. As can be seen from the comparison between the actual test data and the actual test data in FIG. 4, the calculated safety height of the scheme is slightly lower than the actual descending height of the unmanned aerial vehicle, and no body instability occurs in the whole process. Therefore, when the height of the unmanned aerial vehicle propeller is greater than the safety height during the shutdown, the safety and stability of the unmanned aerial vehicle in the whole process can be ensured.
In practice, the expression of the preferred drag coefficient of the present solution is:
wherein is the maximum ascent speed of the unmanned aerial vehicle.
In step S3, when the unmanned aerial vehicle enters a free falling state, a microphone array is turned on to collect audio signals; as fig. 2 shows a schematic diagram of each stage of stopping and flying, as can be seen from fig. 2, after the unmanned aerial vehicle is stopped, the unmanned aerial vehicle continues to move upwards under the action of inertia, and after the unmanned aerial vehicle rises to the highest point, the unmanned aerial vehicle can enter a free falling state, namely, the microphone array can be started by the scheme.
The method for stopping the unmanned aerial vehicle (namely, losing power of the unmanned aerial vehicle) can be realized in various modes, including, but not limited to, power outage of all propeller motors, 0 of control signal output of all propeller motors and the like. After stopping, the microphone starts working, the acoustic signal is collected, and the timing module in the unmanned aerial vehicle flight control chip is started. In the free falling process, the microphone continuously collects sound signals, and when the timing module in the unmanned aerial vehicle flight control chip counts time to reach set time, the unmanned aerial vehicle propeller is restarted and works with maximum power.
In step S4, after the unmanned aerial vehicle is stopped for a preset time, starting the unmanned aerial vehicle propeller to work at the maximum power and stopping audio signal acquisition; after the unmanned aerial vehicle restarts, the unmanned aerial vehicle can continuously descend by a certain height under the action of inertia, finally reaches the lowest height and starts to ascend.
Specifically, the step S4 of restarting the unmanned aerial vehicle further includes two stages S401 and S402:
s401, starting a propeller of the unmanned aerial vehicle, but not reaching the maximum rotating speed;
s402, starting the unmanned aerial vehicle propeller, enabling the unmanned aerial vehicle propeller to reach the maximum rotating speed, enabling the unmanned aerial vehicle propeller to perform deceleration motion downwards, and finally decelerating to 0, enabling the microphone to stop working, and enabling the collected original sound signal to be used as an available sound signal after cutting.
In step S5, the collected audio signal is clipped to obtain an effective acoustic signal. Before clipping, the highest interference noise sound pressure level required by the subsequent sound processing algorithm needs to be confirmed, the robustness of different algorithms is different, and the anti-interference capability is also different, so that the highest interference noise sound pressure level needs to be valued by the actual anti-interference capability of the algorithm.
In one embodiment of the present invention, a method for clipping an acquired audio signal includes:
As shown in the acoustic signal waveform diagram of fig. 5 and the acoustic pressure level diagram of fig. 6, firstly, calculating the acoustic pressure level of an audio signal, and recording the time when the acoustic pressure level drops to the highest interference noise acoustic pressure level after the unmanned aerial vehicle is stopped; recording time/> when the sound pressure level rises to the highest interference noise sound pressure level after the unmanned aerial vehicle is restarted; the acoustic signals/> to/> are intercepted from the whole acquired audio signal as effective acoustic signals. Wherein t 4 and t 5 correspond to the end time of t dec and the end time of t inc in fig. 5 and 6, respectively.
The expression for calculating the sound pressure level of the audio signal is:
,/>
Wherein is an audio signal; the sound pressure/> is the reference sound pressure, and the reference sound pressure in the air is generally obtained/> Pa;; as the effective value of the sound pressure to be measured; x is the sampling point of the acoustic signal, K is the discrete point number of the acoustic signal; k is the acoustic signal discrete point variable.
In fig. 5, a portion having a sound pressure level of 60dB or less is taken as effective sound signal data based on the calculation result.
In summary, according to the scheme, the unmanned aerial vehicle accelerates to rise firstly, and stops after reaching the maximum speed, so that the microphone can pick up the sound for a longer time; because the scheme is to collect the audio signal in the free falling time period after the unmanned aerial vehicle propeller stalls, longer audio signal data with high signal to noise ratio can be obtained.
Claims (7)
1. The method for controlling the sound detection of the self-noise-reducing rotor unmanned aerial vehicle is characterized by comprising the following steps:
s1, after receiving a sound source orientation instruction, the unmanned aerial vehicle enters a working state;
s2, controlling the unmanned aerial vehicle to rise in an accelerating way, and controlling the unmanned aerial vehicle to stop when the unmanned aerial vehicle reaches the maximum rising speed and the height is greater than the safety height;
s3, when the unmanned aerial vehicle enters a free falling state, starting a microphone array to collect audio signals;
s4, starting the unmanned aerial vehicle propeller to work at maximum power and stopping audio signal acquisition after the unmanned aerial vehicle stops for a preset time;
S5, cutting the collected audio signals to obtain effective sound signals.
2. The self-noise-reducing rotor unmanned aerial vehicle sound detection control method according to claim 1, wherein the maximum rising speed acquisition method comprises:
According to the air pressure collected by the air pressure sensor and the local ground air pressure, calculating the average vertical speed of the unmanned aerial vehicle:
Wherein is the time interval/> average vertical velocity within ; the/> is the time interval/> number of test points within ; the time interval between test points is denoted by/(); the height at test point/> is,/> , and the local ground pressure is,/> ∈[0,/>-1];/>; Atmospheric pressure at the nth test point;
when the average vertical speed is maintained at a variation amplitude within a preset proportion for a plurality of continuous time intervals T, the unmanned aerial vehicle reaches a maximum rising speed.
3. The self-noise-reducing rotor unmanned aerial vehicle sound detection control method according to claim 1, wherein the method for calculating the safety height comprises:
Dividing the calculation of the safety height into three phases, setting the time consumption of the whole flight process of the three phases as t, and respectively calculating the time of the unmanned aerial vehicle in the three phases:
is the downtime of the unmanned aerial vehicle after reaching the maximum vertical lifting speed and stopping; the time from restarting of the unmanned aerial vehicle to the maximum rotation speed of the propeller, which is obtained through experiments, is indicated by ''; the time of achieving the maximum rotating speed and decelerating and stopping of the unmanned aerial vehicle propeller is indicated by ''; maximum lift of the/> unmanned aerial vehicle;
The quality of the whole unmanned aerial vehicle is that of the unmanned aerial vehicle; a gravitational acceleration of/> ; the maximum rising speed of the unmanned aerial vehicle is indicated by the letter ''; the/> is the time length of the effective acoustic signal which is determined according to the actual condition of the project; the times for decreasing and increasing sound pressure levels to nominal values are obtained experimentally for/> and/> , respectively;
The safety height needs to satisfy the following conditions:
Wherein is the drop height; the variable quantity of the unmanned plane height in the/> phase, the/> phase and the/> phase are respectively indicated by the/> 、/>;
according to the unmanned aerial vehicle dynamic model corresponding to the three time phases, the height of each phase is obtained through the Euler method, and the unmanned aerial vehicle dynamic models of the three time phases are respectively:
wherein is an acceleration component of the unmanned aerial vehicle in a vertical direction; the/> is the velocity component of the unmanned aerial vehicle in the vertical direction; the/> is the drag coefficient in the vertical direction; the/> is a signed function; the lift force provided by the propeller of the unmanned aerial vehicle is obtained by utilizing the method of/> ; and/> is the maximum lift that can be provided by the propeller.
4. A method of controlling acoustic detection of a self-denoising rotary wing unmanned aerial vehicle according to claim 3, wherein the method of obtaining the height of each stage by the solution of the euler method comprises:
in the dynamics equation corresponding to the stage, neglecting/> , the dynamics models corresponding to the/> and/> stages can be expressed as follows:
the differential equation for the -stage kinetic model is converted to the following differential equation using the finite difference method:
Wherein 、/> is the velocity and displacement value in the vertical direction at the/> point, respectively; the/> and/> are the velocity and displacement values in the vertical direction at the/> points, respectively; the/> is the differential time step;
The height value/> at any moment is calculated by the differential equation of stage , where the initial value is set as: /> ,, and/> , />;、/> are the height values corresponding to the ending time/> and the starting time/> of the/> phases, respectively; And/> are height values corresponding to the ending time/> and the starting time/> of the/> phase, respectively;
The differential equation for the -stage kinetic model is converted to the following differential equation using the finite difference method:
The height value/> at any moment is calculated through a differential equation of the stage, and/> , and/> are the height values corresponding to the ending time/> and the starting time/> of the/> stage respectively.
5. The self-noise-reducing rotor unmanned aerial vehicle sound detection control method according to claim 1, wherein the method for clipping the collected audio signal is as follows:
Calculating the sound pressure level of the audio signal, and recording the time when the sound pressure level of the unmanned aerial vehicle drops to the highest interference noise sound pressure level after the unmanned aerial vehicle is stopped; recording time/> when the sound pressure level rises to the highest interference noise sound pressure level after the unmanned aerial vehicle is restarted; the acoustic signals/> to/> are intercepted from the whole acquired audio signal as effective acoustic signals.
6. The self-noise-reducing rotary-wing unmanned aerial vehicle sound detection control method according to claim 5, wherein the expression for calculating the sound pressure level of the audio signal is:
,/>
Wherein is an audio signal; the sound pressure is referred to as ''; the effective value of sound pressure to be measured is indicated by ''; x is the sampling point of the acoustic signal, K is the discrete point number of the acoustic signal; k is the acoustic signal discrete point variable.
7. The self-noise-reducing rotor unmanned aerial vehicle sound detection control method according to claim 3, wherein the expression of the drag coefficient is:
Wherein is the maximum ascent speed of the unmanned aerial vehicle.
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