CN117991699A - Equipment control system and method based on digital simulation target - Google Patents
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Abstract
The invention relates to the field of equipment control, in particular to a digital simulation target-based equipment control system and a digital simulation target-based equipment control method.
Description
Technical Field
The invention relates to the field of equipment control, in particular to a system and a method for controlling equipment based on a digital simulation target.
Background
The unmanned plane is called as unmanned plane for short, is a unmanned plane which is controlled by using radio remote control equipment and a self-provided program control device, has wide application range and novel application scene, is the largest product of current intelligent development, and promotes social progress and development
In the prior art, the unmanned aerial vehicle has the following main problems in the flight process: the unmanned aerial vehicle is avoided in the flight and is influenced the vibration that produces because of external environmental factor, when the unmanned aerial vehicle fuselage vibration surpassed controllable threshold value, then not only can influence unmanned aerial vehicle flight stability, also can influence unmanned aerial vehicle's normal operating simultaneously.
There is a great need for a device control system and method based on digital analog targets to solve the above problems.
Disclosure of Invention
The invention aims to provide a device control system and a method based on a digital simulation target, which are used for solving the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme:
A device control method based on a digital analog target, the method comprising the steps of:
S1, receiving a target signal through an unmanned aerial vehicle signal receiving and transmitting device;
S2, processing target signals received by the unmanned aerial vehicle signal receiving and transmitting device, namely, taking the position of the unmanned aerial vehicle as an origin, taking the north-south direction of the origin as a horizontal axis, taking the west-east direction of the origin as a vertical axis, taking the bottom-up direction of the origin as a vertical axis direction, constructing a space rectangular coordinate system, setting the position of the simulated target above the unmanned aerial vehicle and the height difference as H, processing according to the target signals received by the unmanned aerial vehicle signal receiving and transmitting device, obtaining the position of the simulated target, which is in a straight line corresponding to the corresponding target signal and has the height difference as H, of the corresponding target signal, taking the position as the initial position of the preset path of the moving track, inquiring vectors corresponding to the historical track path through a database, randomly obtaining vectors corresponding to the initial position of the simulated target as the initial position, and obtaining the preset path;
S3, analyzing the relation between the stability of the unmanned aerial vehicle body and external factors in the moving process of the unmanned aerial vehicle in real time, so that the instability degree of the unmanned aerial vehicle signal receiving and transmitting device for receiving the target signal and transmitting the target interference signal is obtained through analysis;
S4, correcting the stability of the unmanned aerial vehicle body in real time by combining the analysis result in the S3, and adjusting the angle of the signal transceiver in real time according to the flight attitude of the unmanned aerial vehicle to ensure the stability of the signal transceiver;
And S5, performing echo processing according to the target signal received by the signal receiving module, performing simulation based on the current position of the unmanned aerial vehicle, generating a target simulation echo corresponding to the simulation target, and transmitting the generated target simulation echo corresponding to the simulation target to corresponding target equipment through the unmanned aerial vehicle signal receiving and transmitting device.
Further, the method for analyzing the relationship between the stability of the unmanned plane body and the external factors in the moving process of the unmanned plane in the step S3 comprises the following steps:
step 1000, acquiring the real-time flying relative speed v of the unmanned aerial vehicle;
step 1001, analyzing the size of the windward resistance of the unmanned aerial vehicle by combining the air flow direction, and when the air flow direction is in the same direction as the flight direction of the unmanned aerial vehicle, the corresponding expression of the size of the windward resistance of the unmanned aerial vehicle is:
wherein F sf represents the size of the windward stress of the unmanned aerial vehicle when the air flow is in the same direction relative to the flight direction of the unmanned aerial vehicle, C represents the induction coefficient corresponding to the induction resistance generated under the action of the lifting force of the unmanned aerial vehicle, ρ represents the density of air fluid, V 1 represents the relative speed of the unmanned aerial vehicle relative to the air fluid when the air flow direction is in the same direction relative to the flight direction of the unmanned aerial vehicle, and S represents the size of the windward area of the unmanned aerial vehicle;
When the air flow direction is opposite to the flying direction of the unmanned aerial vehicle, the following expression is corresponding to the resistance of the unmanned aerial vehicle:
wherein F nf represents the size of the head-on stress of the unmanned aerial vehicle when the air flow is opposite to the flying direction of the unmanned aerial vehicle, and V 2 represents the relative speed of the unmanned aerial vehicle relative to the air fluid when the air flow is opposite to the flying direction of the unmanned aerial vehicle;
Step 1002, obtaining the vibration condition of the unmanned aerial vehicle body by analyzing the influence of the air flow direction relative to the unmanned aerial vehicle flight direction and the environmental factors where the unmanned aerial vehicle flies.
According to the method, the windward resistance of the unmanned aerial vehicle is obtained according to an air resistance formula, so that data reference is provided for the impact force of the unmanned aerial vehicle under the influence of different air flow directions on environmental factors in subsequent analysis, and data reference is provided according to the windward resistance of the unmanned aerial vehicle and the impact of the unmanned aerial vehicle under different environmental factors under different air flow directions, wherein the windward resistance is the same as or opposite to the flight direction of the unmanned aerial vehicle.
Further, the method for obtaining the vibration condition of the unmanned aerial vehicle body by analyzing the influence of the air flow direction relative to the unmanned aerial vehicle flight direction and the environmental factors where the unmanned aerial vehicle flies comprises the following steps:
step 1002-1, obtaining the influence condition of the environmental factors of the unmanned aerial vehicle, namely H, wherein the influence condition of the environmental factors of the unmanned aerial vehicle comprises rain, snow and hail;
Step 1002-2, analyzing impact force generated by object falling relative to the unmanned aerial vehicle under the influence of environment by combining the influence condition of the environmental factors where the unmanned aerial vehicle flies, wherein the expression is as follows:
Wherein F HS represents the impact force of an object on the unmanned aerial vehicle under the influence of corresponding environmental factors when the air flow direction is in the same direction as the unmanned aerial vehicle flight direction, F HN represents the impact force of an object on the unmanned aerial vehicle under the influence of corresponding environmental factors when the air flow direction is opposite to the unmanned aerial vehicle flight direction, C K represents the air resistance coefficient, ρ H represents the density of an object under the influence of corresponding environmental factors, V SY represents the falling speed of an object under the influence of corresponding environmental factors when the air flow direction is in the same direction as the unmanned aerial vehicle flight direction, V NY represents the falling speed of an object under the influence of corresponding environmental factors when the air flow direction is opposite to the unmanned aerial vehicle flight direction, and S H represents the effective sectional area of an object under the influence of corresponding environmental factors;
step 1002-3, using the center point of the unmanned plane as the origin, marking as O, marking the vector corresponding to the air flow direction as The vector corresponding to the gravity direction of the object under the influence of the corresponding environmental factors is recorded as/>The falling speed of the object under the influence of the corresponding environmental factors can be expressed as
The falling speed of the object under the influence of the environmental factors can be obtained through the corresponding sensor;
Step 1002-4, analyzing the vibration condition of the unmanned aerial vehicle body caused by the external force by combining the value of the resistance of the head-on of the unmanned aerial vehicle under the different air flow directions in step 1001 and the impact force generated by the corresponding object under the influence of different environmental factors in step 1002-2.
According to the invention, analysis is performed according to the influence conditions of different environmental factors, namely, when the unmanned aerial vehicle flies under the influence of rain, snow or hail, the falling direction and the falling speed change of the unmanned aerial vehicle are changed by analyzing the influence of the air flow direction of the rain, the snow or the hail, so that the impact degree of the unmanned aerial vehicle is changed, the flying stability of the unmanned aerial vehicle is influenced, and the data reference is provided for the follow-up analysis of the instability of the unmanned aerial vehicle caused by the resistance of the unmanned aerial vehicle caused by the air flow and the impact force influenced by the environmental factors under the severe environmental flight, thereby correcting the instability of the unmanned aerial vehicle.
Further, the method for analyzing the vibration condition of the unmanned aerial vehicle body under the action of external force comprises the following steps:
Step 1002-4-1, marking the influence factors corresponding to the vibration condition of the unmanned aerial vehicle under the action of external force as U, wherein the U is divided into air flow influence factors and external environment influence factors which are respectively marked as F f and F H, wherein F f comprises F sf and F nf,FH comprises F HS and F HN;
step 1002-4-2, marking an evaluation finger corresponding to the vibration condition of the unmanned aerial vehicle as V, wherein the V performs grade evaluation according to the vibration generated by the external force condition of the unmanned aerial vehicle, namely I represents severe vibration, II represents severe vibration and III represents slight vibration;
Step 1002-4-3, respectively using the influence factors corresponding to the vibration condition of the unmanned aerial vehicle generated by the external force action and the evaluation indexes corresponding to the vibration condition of the unmanned aerial vehicle as the first column data and the second column data of the matrix, marking as an index value matrix Q UV,
QUV＝(Xij)m×2，
When the resistance generated by the air flow direction and the corresponding air flow direction relative to the horizontal plane included angle are i, the index value j of vibration conditions generated by external environment factors on the unmanned aerial vehicle is represented by X ij, m×2, wherein the index value matrix Q UV has m rows of data and 2 columns of data, the first column of data values in the index matrix represent the head-on resistance generated by different air flow directions of the unmanned aerial vehicle and the impact force generated by the environment factors under the influence of the corresponding air flow directions, and the second column of data values in the index matrix are used for carrying out first evaluation indexes aiming at the values in the first column of data, wherein the first column of data of the index matrix is acquired through a database;
Step 1002-4-4, performing standardization processing on the index value matrix in step 1002-4-3 to obtain a standard index matrix R UV＝(Rij)m×2, wherein R ij represents data corresponding to the standardized X ij;
Step 1002-4-5, constructing an unmanned aerial vehicle vibration condition evaluation index according to step 1002-4-3, wherein the expression is:
Wherein maxR ij-minRij noteq0,
And S UV represents the resistance of the unmanned aerial vehicle caused by air flow and the evaluation index value corresponding to the vibration condition of the unmanned aerial vehicle, wherein the evaluation index of the vibration condition of the unmanned aerial vehicle is used for carrying out second evaluation by combining the evaluation index of the corresponding stress in the index matrix, namely judging whether the vibration condition of the unmanned aerial vehicle affects the transmission condition of the interference signal or not, and carrying out real-time adjustment on the flight attitude of the unmanned aerial vehicle according to the analysis result.
According to the invention, the influence of the resistance of the unmanned aerial vehicle in the flight state on the stability of the fuselage is evaluated by constructing the index value matrix, the fuselage vibration caused by different stress states is judged, the first evaluation is performed according to the stress states, and whether the flight attitude calibration is needed or not is judged according to the corresponding evaluation, so that the flight attitude of the unmanned aerial vehicle is further processed according to the judgment result, and the unmanned aerial vehicle is enabled to interfere with the target in the severe environment.
Further, in S4, in combination with the analysis result in S3, the method for correcting the stability of the unmanned aerial vehicle body in real time and adjusting the angle of the signal transceiver in real time according to the flight attitude of the unmanned aerial vehicle includes the following steps:
2000, recording the initial flight angle between the horizontal parallelism of the unmanned plane body and the ground as theta, namely, when the unmanned plane flies horizontally parallel to the ground, the initial flight angle of the unmanned plane body relative to the ground is 0 degree;
step 2001, obtaining the unmanned aerial vehicle vibration condition evaluation index result in step 1002-4-5, and correcting the unmanned aerial vehicle flight stability according to the evaluation result, wherein the expression is as follows:
Wherein the method comprises the steps of Represents the inclination degree of the airplane body after real-time adjustment according to the vibration condition evaluation index of the unmanned aerial vehicle,Representing a corresponding horizontal inclination angle value of the unmanned aerial vehicle under a corresponding condition;
Step 2002, based on RBM, marking the stress corresponding to the resistance direction angle delta of the unmanned aerial vehicle as a state Q, marking the vibration condition evaluation finger of the unmanned aerial vehicle corresponding to the state Q as a state G, taking the state Q as a visible layer, taking the state G as a hidden layer, taking a as a bias coefficient of the visible layer, taking b as a bias coefficient of the hidden layer, taking a and b as preset values in advance, and calculating the flight correction state of the unmanned aerial vehicle through a formula, wherein the expression is as follows:
wherein n represents the number of corresponding stress values when the resistance direction angle of the unmanned aerial vehicle is delta, Representing the corresponding stress magnitude of the ith resistance direction angle delta of the unmanned plane,/>The vibration condition evaluation index generated by the corresponding stress under the condition that the ith resistance direction angle of the unmanned plane is delta is represented,
Step 2003, performing probability distribution operation according to the step 2002, wherein the expression is as follows:
Wherein the method comprises the steps of Representing the normalization factor;
Step 2004, taking { the external force applied to the unmanned aerial vehicle, the external force applied direction of the unmanned aerial vehicle, and the unmanned aerial vehicle vibration condition evaluation index S UV } as training samples, and randomly acquiring T sample data pairs Training is performed, wherein T represents a constant, and the expression is:
wherein θ * represents the maximum likelihood function processed A value;
Step 2005, iterating the normalization factor in step 2003 for a plurality of times until the value of θ * in step 2004 is within the set threshold τ, then corresponding to that time Corresponding inclination angle values under the condition of corresponding influence factors;
Step 2006, after the posture of the unmanned aerial vehicle is adjusted in real time according to step 2001, the angle of the signal transceiver of the unmanned aerial vehicle is adjusted in real time, the straight line where the target transmitting radio frequency signal is located is used as the angle adjustment basis of the signal transceiver, and the straight line where the signal transceiver transmits the signal and the straight line where the target transmitting radio frequency signal is located are located in the same straight line through adjusting the angle of the signal transceiver in real time.
According to the unmanned aerial vehicle vibration condition evaluation index result, unmanned aerial vehicle flight attitude correction processing is carried out, when the unmanned aerial vehicle is horizontally parallel to the ground and flies, the initial flight angle of the unmanned aerial vehicle body relative to the ground is set to be 0 degrees, the stress magnitude corresponding to the resistance direction angle delta of the unmanned aerial vehicle is analyzed based on RBM, the stress magnitude condition corresponding to the delta is processed through formula operation, and accordingly the unmanned aerial vehicle vibration generated according to the stress condition is corrected, namely the inclination angle is adjusted according to the initial flight angle of the unmanned aerial vehicle, so that the unmanned aerial vehicle vibration is always kept in a controllable range.
A device control system based on digital analog targets, the system comprising the following modules:
a signal receiving module: the signal receiving module receives a target signal according to a signal receiving and transmitting device carried by the unmanned aerial vehicle;
The simulation target track presetting module: the simulation target track preset module is used for processing the target signals received by the unmanned aerial vehicle signal receiving and transmitting device and obtaining a movement track preset route of the simulation target through processing;
the external factor comprehensive analysis module: the external factor comprehensive analysis module generates instability of the unmanned aerial vehicle due to the influence of environmental factors in the real-time moving process of the unmanned aerial vehicle, so that the unmanned aerial vehicle signal receiving and transmitting device receives the target signal and transmits the target interference signal;
Stability correction module: the stability correction module is used for correcting the flight stability of the unmanned aerial vehicle in real time by combining with an external factor comprehensive analysis result, and adjusting the angle of the signal receiving and transmitting device in real time by combining with the flight attitude of the unmanned aerial vehicle so as to ensure the stability of receiving and transmitting signals of the signal receiving and transmitting device of the unmanned aerial vehicle;
an echo signal identification module: the echo signal recognition module is used for carrying out echo processing according to the target signal received by the signal receiving module, carrying out simulation based on the current position of the unmanned aerial vehicle, generating a target simulation echo corresponding to the simulation target, and sending the generated target simulation echo corresponding to the simulation target to corresponding target equipment through the unmanned aerial vehicle signal receiving and sending device.
Further, the simulation target track preset module comprises a signal processing unit and a track preset simulation unit:
the signal processing unit is used for processing the target signal received by the unmanned aerial vehicle signal receiving and transmitting device;
the track preset simulation unit is used for acquiring a moving track preset route of the simulation target according to the processing result of the signal processing unit.
Further, the external factor comprehensive analysis module comprises an airflow analysis unit and an environmental factor analysis unit:
The air flow analysis unit is used for analyzing the windward stress of the unmanned aerial vehicle by combining the air flow direction and the flight direction of the unmanned aerial vehicle;
The environment factor analysis unit is used for analyzing the relationship between the stability of the unmanned aerial vehicle body and external factors in the moving process of the unmanned aerial vehicle in real time.
Further, the stability correction module comprises a body posture correction unit and a signal receiving and transmitting device angle adjustment unit:
The fuselage attitude correction unit is used for adjusting the flight attitude of the unmanned aerial vehicle in real time according to the analysis result of the environmental factor analysis unit;
The angle adjusting unit of the signal receiving and transmitting device is used for adjusting the angle of the signal receiving and transmitting device according to the aircraft state processed by the aircraft body posture correcting unit.
According to the method, the unmanned aerial vehicle is controlled in real time based on the path of the target simulation target, the influence of the resistance generated by air flow and the impact force influenced by external environmental factors on the stability of the unmanned aerial vehicle body in the flight process of the unmanned aerial vehicle is analyzed, and then the unmanned aerial vehicle is corrected in real time, namely, when the environment of the unmanned aerial vehicle is severe, the vibration generated by the flight of the unmanned aerial vehicle is influenced by the resistance generated by the air flow, and the impact force generated by the influence of the air flow direction on the severe environmental factors is also influenced, so that the unmanned aerial vehicle is unstable in the severe environment, the influence of the blocked force of the unmanned aerial vehicle in the flight is obtained through comprehensive analysis, and the horizontal inclination angle of the flight attitude of the unmanned aerial vehicle is adjusted in real time, so that the unmanned aerial vehicle is influenced by the severe environmental factors and can also interfere the target.
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Fig. 1 is a flow chart of a device control method based on a digital simulation target according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one: referring to fig. 1, in this embodiment:
The device control method based on the digital simulation target is realized, and the unmanned aerial vehicle control method comprises the following steps:
S1, receiving a target signal through an unmanned aerial vehicle signal receiving and transmitting device;
s2, processing a target signal received by the unmanned aerial vehicle signal receiving and transmitting device, and obtaining a preset path of a moving track of the simulation target through processing;
S3, analyzing the relationship between the stability of the unmanned aerial vehicle body and external factors in the moving process of the unmanned aerial vehicle in real time;
s4, correcting the stability of the unmanned aerial vehicle body in real time by combining the analysis result in the S3, and adjusting the angle of the signal transceiver in real time according to the flight attitude of the unmanned aerial vehicle;
And S5, performing echo processing according to the target signal received by the signal receiving module, performing simulation based on the current position of the unmanned aerial vehicle, generating a target simulation echo corresponding to the simulation target, and transmitting the generated target simulation echo corresponding to the simulation target to corresponding target equipment through the unmanned aerial vehicle signal receiving and transmitting device.
The method for analyzing the relationship between the stability of the unmanned aerial vehicle body and external factors in the moving process of the unmanned aerial vehicle in the S3 comprises the following steps:
step 1000, acquiring the real-time flying relative speed v of the unmanned aerial vehicle;
step 1001, analyzing the size of the windward resistance of the unmanned aerial vehicle by combining the air flow direction, and when the air flow direction is in the same direction as the flight direction of the unmanned aerial vehicle, the corresponding expression of the size of the windward resistance of the unmanned aerial vehicle is:
wherein F sf represents the size of the windward stress of the unmanned aerial vehicle when the air flow is in the same direction relative to the flight direction of the unmanned aerial vehicle, C represents the induction coefficient corresponding to the induction resistance generated under the action of the lifting force of the unmanned aerial vehicle, ρ represents the density of air fluid, V 1 represents the relative speed of the unmanned aerial vehicle relative to the air fluid when the air flow direction is in the same direction relative to the flight direction of the unmanned aerial vehicle, and S represents the size of the windward area of the unmanned aerial vehicle;
When the air flow direction is opposite to the flying direction of the unmanned aerial vehicle, the following expression is corresponding to the resistance of the unmanned aerial vehicle:
wherein F nf represents the size of the head-on stress of the unmanned aerial vehicle when the air flow is opposite to the flying direction of the unmanned aerial vehicle, and V 2 represents the relative speed of the unmanned aerial vehicle relative to the air fluid when the air flow is opposite to the flying direction of the unmanned aerial vehicle;
Step 1002, obtaining the vibration condition of the unmanned aerial vehicle body by analyzing the influence of the air flow direction relative to the unmanned aerial vehicle flight direction and the environmental factors where the unmanned aerial vehicle flies.
The method for obtaining the vibration condition of the unmanned aerial vehicle body by analyzing the influence of the air flow direction relative to the flight direction of the unmanned aerial vehicle and the environmental factors where the unmanned aerial vehicle flies comprises the following steps:
step 1002-1, obtaining the influence condition of the environmental factors where the unmanned aerial vehicle flies, and marking as H;
Step 1002-2, analyzing impact force generated by object falling relative to the unmanned aerial vehicle under the influence of environment by combining the influence condition of the environmental factors where the unmanned aerial vehicle flies, wherein the expression is as follows:
Wherein F HS represents the impact force of an object on the unmanned aerial vehicle under the influence of corresponding environmental factors when the air flow direction is in the same direction as the unmanned aerial vehicle flight direction, F HN represents the impact force of an object on the unmanned aerial vehicle under the influence of corresponding environmental factors when the air flow direction is opposite to the unmanned aerial vehicle flight direction, C K represents the air resistance coefficient, ρ H represents the density of an object under the influence of corresponding environmental factors, V SY represents the falling speed of an object under the influence of corresponding environmental factors when the air flow direction is in the same direction as the unmanned aerial vehicle flight direction, V NY represents the falling speed of an object under the influence of corresponding environmental factors when the air flow direction is opposite to the unmanned aerial vehicle flight direction, and S H represents the effective sectional area of an object under the influence of corresponding environmental factors;
step 1002-3, using the center point of the unmanned plane as the origin, marking as O, marking the vector corresponding to the air flow direction as The vector corresponding to the gravity direction of the object under the influence of the corresponding environmental factors is recorded as/>The falling speed of the object under the influence of the corresponding environmental factors can be expressed as
Step 1002-4, analyzing the vibration condition of the unmanned aerial vehicle body caused by the external force by combining the value of the resistance of the head-on of the unmanned aerial vehicle under the different air flow directions in step 1001 and the impact force generated by the corresponding object under the influence of different environmental factors in step 1002-2.
The method for analyzing the vibration condition of the unmanned aerial vehicle under the action of external force comprises the following steps:
Step 1002-4-1, marking the influence factors corresponding to the vibration condition of the unmanned aerial vehicle under the action of external force as U, wherein the U is divided into air flow influence factors and external environment influence factors which are respectively marked as F f and F H, wherein F f comprises F sf and F nf,FH comprises F HS and F HN;
step 1002-4-2, marking an evaluation finger corresponding to the vibration condition of the unmanned aerial vehicle as V;
Step 1002-4-3, respectively using the influence factors corresponding to the vibration condition of the unmanned aerial vehicle generated by the external force action and the evaluation indexes corresponding to the vibration condition of the unmanned aerial vehicle as the first column data and the second column data of the matrix, marking as an index value matrix Q UV,
QUV＝(Xij)m×2，
Wherein X ij represents resistance generated by air flow direction and index value j of vibration condition generated by external environment factor to unmanned plane when corresponding air flow direction relative to horizontal plane included angle is i, m×2 represents index value matrix Q UV has m rows of data and 2 columns of data;
Step 1002-4-4, performing standardization processing on the index value matrix in step 1002-4-3 to obtain a standard index matrix R UV＝(Rij)m×2, wherein R ij represents data corresponding to the standardized X ij;
Step 1002-4-5, constructing an unmanned aerial vehicle vibration condition evaluation index according to step 1002-4-3, wherein the expression is:
Wherein maxR ij-minRij noteq0,
Wherein S UV represents an evaluation index value corresponding to the vibration condition of the unmanned aerial vehicle, which is generated by the impact force of the unmanned aerial vehicle under the influence of the air flow and the corresponding environmental factors.
In S4, in combination with the analysis result in S3, the method for correcting the stability of the unmanned aerial vehicle body in real time and adjusting the angle of the signal transceiver in real time according to the flight attitude of the unmanned aerial vehicle comprises the following steps:
2000, recording the initial flight angle between the horizontal parallelism of the unmanned plane body and the ground as theta, namely, when the unmanned plane flies horizontally parallel to the ground, the initial flight angle of the unmanned plane body relative to the ground is 0 degree;
step 2001, obtaining the unmanned aerial vehicle vibration condition evaluation index result in step 1002-4-5, and correcting the unmanned aerial vehicle flight stability according to the evaluation result, wherein the expression is as follows:
Wherein the method comprises the steps of Represents the inclination degree of the airplane body after real-time adjustment according to the vibration condition evaluation index of the unmanned aerial vehicle,Representing a corresponding horizontal inclination angle value of the unmanned aerial vehicle under a corresponding condition;
Step 2002, based on RBM, marking the stress corresponding to the resistance direction angle delta of the unmanned aerial vehicle as a state Q, marking the vibration condition evaluation finger of the unmanned aerial vehicle corresponding to the state Q as a state G, taking the state Q as a visible layer, taking the state G as a hidden layer, taking a as a bias coefficient of the visible layer, taking b as a bias coefficient of the hidden layer, taking a and b as preset values in advance, and calculating the flight correction state of the unmanned aerial vehicle through a formula, wherein the expression is as follows:
wherein n represents the number of corresponding stress values when the resistance direction angle of the unmanned aerial vehicle is delta, Representing the corresponding stress magnitude of the ith resistance direction angle delta of the unmanned plane,/>The vibration condition evaluation index generated by the corresponding stress under the condition that the ith resistance direction angle of the unmanned plane is delta is represented,
Step 2003, performing probability distribution operation according to the step 2002, wherein the expression is as follows:
Wherein the method comprises the steps of Representing the normalization factor;
Step 2004, taking { the external force applied to the unmanned aerial vehicle, the external force applied direction of the unmanned aerial vehicle, and the unmanned aerial vehicle vibration condition evaluation index S UV } as training samples, and randomly acquiring T sample data pairs Training is performed, wherein T represents a constant, and the expression is:
wherein θ * represents the maximum likelihood function processed A value;
Step 2005, iterating the normalization factor in step 2003 for a plurality of times until the value of θ * in step 2004 is within the set threshold τ, then corresponding to that time Corresponding inclination angle values under the condition of corresponding influence factors;
Step 2006, after the posture of the unmanned aerial vehicle is adjusted in real time according to step 2001, the angle of the signal transceiver of the unmanned aerial vehicle is adjusted in real time, the straight line where the target transmitting radio frequency signal is located is used as the angle adjustment basis of the signal transceiver, and the straight line where the signal transceiver transmits the signal and the straight line where the target transmitting radio frequency signal is located are located in the same straight line through adjusting the angle of the signal transceiver in real time.
In this embodiment:
disclosed is a device control system based on digital simulation targets, the system comprising the following modules:
a signal receiving module: the signal receiving module receives a target signal according to a signal receiving and transmitting device carried by the unmanned aerial vehicle;
The simulation target track presetting module: the simulation target track preset module is used for processing the target signals received by the unmanned aerial vehicle signal receiving and transmitting device and obtaining a movement track preset route of the simulation target through processing;
the external factor comprehensive analysis module: the external factor comprehensive analysis module generates instability of the unmanned aerial vehicle due to the influence of environmental factors in the real-time moving process of the unmanned aerial vehicle, so that the unmanned aerial vehicle signal receiving and transmitting device receives the target signal and transmits the target interference signal;
Stability correction module: the stability correction module is used for correcting the flight stability of the unmanned aerial vehicle in real time by combining with an external factor comprehensive analysis result, and adjusting the angle of the signal receiving and transmitting device in real time by combining with the flight attitude of the unmanned aerial vehicle so as to ensure the stability of receiving and transmitting signals of the signal receiving and transmitting device of the unmanned aerial vehicle;
an echo signal identification module: the echo signal recognition module is used for carrying out echo processing according to the target signal received by the signal receiving module, carrying out simulation based on the current position of the unmanned aerial vehicle, generating a target simulation echo corresponding to the simulation target, and sending the generated target simulation echo corresponding to the simulation target to corresponding target equipment through the unmanned aerial vehicle signal receiving and sending device.
The simulated target track preset module comprises a signal processing unit and a track preset simulation unit:
the signal processing unit is used for processing the target signal received by the unmanned aerial vehicle signal receiving and transmitting device;
the track preset simulation unit is used for acquiring a moving track preset route of the simulation target according to the processing result of the signal processing unit.
The external factor comprehensive analysis module comprises an airflow analysis unit and an environmental factor analysis unit:
The air flow analysis unit is used for analyzing the windward stress of the unmanned aerial vehicle by combining the air flow direction and the flight direction of the unmanned aerial vehicle;
The environment factor analysis unit is used for analyzing the relationship between the stability of the unmanned aerial vehicle body and external factors in the moving process of the unmanned aerial vehicle in real time.
The stability correction module comprises a machine body posture correction unit and a signal receiving and transmitting device angle adjustment unit:
The fuselage attitude correction unit is used for adjusting the flight attitude of the unmanned aerial vehicle in real time according to the analysis result of the environmental factor analysis unit;
The angle adjusting unit of the signal receiving and transmitting device is used for adjusting the angle of the signal receiving and transmitting device according to the aircraft state processed by the aircraft body posture correcting unit.
In the embodiment, when the environmental factor is rain, analysis is performed, when the air flow direction is the same as the flight direction of the unmanned aerial vehicle, the impact force of the rainwater falling to the unmanned aerial vehicle is F HS according to an object impact force formula, wherein the speed of the rainwater falling is the acceleration V SY corresponding to the resultant force caused by the gravity direction and the air flow direction, the total external force of the unmanned aerial vehicle is set to be U=F sf+Fnf, a standard index matrix, namely [ UV ], is constructed, wherein the first column data of the matrix represents the total external force of the unmanned aerial vehicle, the second column data of the matrix represents the total external force of the unmanned aerial vehicle to evaluate the vibration condition of the unmanned aerial vehicle body, and when the evaluation index is I;
The flight attitude inclination angle calibration is required according to the vibration condition of the unmanned aerial vehicle, otherwise, the unmanned aerial vehicle will be seriously affected by the interference to the target, namely according to the vibration condition When the obtained value is within the threshold τ, the value is determined according to θ * Performing unmanned aerial vehicle attitude calibration, namely performing/>, by using initial inclination angle of unmanned aerial vehicleDeflection reduces the vibration that unmanned aerial vehicle surface received rainwater striking to the unmanned aerial vehicle vibration is in controllable scope, and then adjusts unmanned aerial vehicle signal transceiver angle, realizes that the target received interfering signal.
Embodiment two: in the second embodiment, the part of content is the same as that in the first embodiment, and the difference between the first embodiment and the second embodiment is that the analysis is performed when the environmental factor is rain, when the air flow direction is opposite to the unmanned aerial vehicle flight direction, the impact force generated by the falling of the rain to the unmanned aerial vehicle is obtained according to an object impact force formula, namely F HN, wherein the falling speed of the rain is the acceleration V NY corresponding to the resultant force caused by the gravity direction and the air flow direction, the total external force applied to the unmanned aerial vehicle is set to be U=F HN+VNY, a standard index matrix, namely [ UV ], wherein the first column data of the matrix represents the total external force applied to the unmanned aerial vehicle, the second column data of the matrix represents the total external force applied to the unmanned aerial vehicle to evaluate the vibration condition of the unmanned aerial vehicle body, and when the evaluation index is III;
The vibration condition of the unmanned aerial vehicle body has small influence on the shake of the signal receiving and transmitting device, and at the moment, the target can normally receive signals sent by the unmanned aerial vehicle signal receiving and transmitting device, so that the movement of the simulation target is realized to move according to a preset route.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A method of controlling a device based on a digital analog target, the method comprising the steps of:
S1, receiving a target signal through an unmanned aerial vehicle signal receiving and transmitting device;
s2, processing a target signal received by the unmanned aerial vehicle signal receiving and transmitting device, and obtaining a preset path of a moving track of the simulation target through processing;
S3, analyzing the relationship between the stability of the unmanned aerial vehicle body and external factors in the moving process of the unmanned aerial vehicle in real time;
s4, correcting the stability of the unmanned aerial vehicle body in real time by combining the analysis result in the S3, and adjusting the angle of the signal transceiver in real time according to the flight attitude of the unmanned aerial vehicle;
And S5, performing echo processing according to the target signal received by the signal receiving module, performing simulation based on the current position of the unmanned aerial vehicle, generating a target simulation echo corresponding to the simulation target, and transmitting the generated target simulation echo corresponding to the simulation target to corresponding target equipment through the unmanned aerial vehicle signal receiving and transmitting device.
2. The method for controlling a device based on a digital simulation target according to claim 1, wherein the method for analyzing the relationship between the stability of the unmanned plane body and the external factors during the movement of the unmanned plane in S3 comprises the steps of:
step 1000, acquiring the real-time flying relative speed v of the unmanned aerial vehicle;
step 1001, analyzing the size of the windward resistance of the unmanned aerial vehicle by combining the air flow direction, and when the air flow direction is in the same direction as the flight direction of the unmanned aerial vehicle, the corresponding expression of the size of the windward resistance of the unmanned aerial vehicle is:
wherein F sf represents the size of the windward stress of the unmanned aerial vehicle when the air flow is in the same direction relative to the flight direction of the unmanned aerial vehicle, C represents the induction coefficient corresponding to the induction resistance generated under the action of the lifting force of the unmanned aerial vehicle, ρ represents the density of air fluid, V 1 represents the relative speed of the unmanned aerial vehicle relative to the air fluid when the air flow direction is in the same direction relative to the flight direction of the unmanned aerial vehicle, and S represents the size of the windward area of the unmanned aerial vehicle;
When the air flow direction is opposite to the flying direction of the unmanned aerial vehicle, the following expression is corresponding to the resistance of the unmanned aerial vehicle:
wherein F nf represents the size of the head-on stress of the unmanned aerial vehicle when the air flow is opposite to the flying direction of the unmanned aerial vehicle, and V 2 represents the relative speed of the unmanned aerial vehicle relative to the air fluid when the air flow is opposite to the flying direction of the unmanned aerial vehicle;
Step 1002, obtaining the vibration condition of the unmanned aerial vehicle body by analyzing the influence of the air flow direction relative to the unmanned aerial vehicle flight direction and the environmental factors where the unmanned aerial vehicle flies.
3. The method for controlling equipment based on digital simulation targets according to claim 2, wherein the method for obtaining the vibration condition of the unmanned aerial vehicle body by analyzing the air flow direction relative to the unmanned aerial vehicle flight direction and the influence of the environmental factors in which the unmanned aerial vehicle flies comprises the following steps:
step 1002-1, obtaining the influence condition of the environmental factors where the unmanned aerial vehicle flies, and marking as H;
Step 1002-2, analyzing impact force generated by object falling relative to the unmanned aerial vehicle under the influence of environment by combining the influence condition of the environmental factors where the unmanned aerial vehicle flies, wherein the expression is as follows:
Wherein F HS represents the impact force of an object on the unmanned aerial vehicle under the influence of corresponding environmental factors when the air flow direction is in the same direction as the unmanned aerial vehicle flight direction, F HN represents the impact force of an object on the unmanned aerial vehicle under the influence of corresponding environmental factors when the air flow direction is opposite to the unmanned aerial vehicle flight direction, C K represents the air resistance coefficient, ρ H represents the density of an object under the influence of corresponding environmental factors, V SY represents the falling speed of an object under the influence of corresponding environmental factors when the air flow direction is in the same direction as the unmanned aerial vehicle flight direction, V NY represents the falling speed of an object under the influence of corresponding environmental factors when the air flow direction is opposite to the unmanned aerial vehicle flight direction, and S H represents the effective sectional area of an object under the influence of corresponding environmental factors;
step 1002-3, using the center point of the unmanned plane as the origin, marking as O, marking the vector corresponding to the air flow direction as The vector corresponding to the gravity direction of the object under the influence of the corresponding environmental factors is recorded as/>The falling speed of the object under the influence of the corresponding environmental factors can be expressed as
Step 1002-4, analyzing the vibration condition of the unmanned aerial vehicle body caused by the external force by combining the value of the resistance of the head-on of the unmanned aerial vehicle under the different air flow directions in step 1001 and the impact force generated by the corresponding object under the influence of different environmental factors in step 1002-2.
4. A method for controlling a device based on a digital simulation target according to claim 3, wherein the method for analyzing the vibration of a body of a unmanned aerial vehicle under the action of an external force comprises the following steps:
Step 1002-4-1, marking the influence factors corresponding to the vibration condition of the unmanned aerial vehicle under the action of external force as U, wherein the U is divided into air flow influence factors and external environment influence factors which are respectively marked as F f and F H, wherein F f comprises F sf and F nf,FH comprises F HS and F HN;
step 1002-4-2, marking an evaluation finger corresponding to the vibration condition of the unmanned aerial vehicle as V;
Step 1002-4-3, respectively using the influence factors corresponding to the vibration condition of the unmanned aerial vehicle generated by the external force action and the evaluation indexes corresponding to the vibration condition of the unmanned aerial vehicle as the first column data and the second column data of the matrix, marking as an index value matrix Q UV,
QUV＝(Xij)m×2，
Wherein X ij represents resistance generated by air flow direction and index value j of vibration condition generated by external environment factor to unmanned plane when corresponding air flow direction relative to horizontal plane included angle is i, m×2 represents index value matrix Q UV has m rows of data and 2 columns of data;
Step 1002-4-4, performing standardization processing on the index value matrix in step 1002-4-3 to obtain a standard index matrix R UV＝(Rij)m×2, wherein R ij represents data corresponding to the standardized X ij;
Step 1002-4-5, constructing an unmanned aerial vehicle vibration condition evaluation index according to step 1002-4-3, wherein the expression is:
Wherein maxR ij-minRij noteq0,
Wherein S UV represents an evaluation index value corresponding to the vibration condition of the unmanned aerial vehicle, which is generated by the impact force of the unmanned aerial vehicle under the influence of the air flow and the corresponding environmental factors.
5. The method for controlling equipment based on a digital simulation target according to claim 4, wherein the method for correcting the stability of the unmanned aerial vehicle body in real time and adjusting the angle of the signal transceiver in real time according to the flying attitude of the unmanned aerial vehicle by combining the analysis result in S3 in S4 comprises the following steps:
2000, recording the initial flight angle between the horizontal parallelism of the unmanned plane body and the ground as theta, namely, when the unmanned plane flies horizontally parallel to the ground, the initial flight angle of the unmanned plane body relative to the ground is 0 degree;
step 2001, obtaining the unmanned aerial vehicle vibration condition evaluation index result in step 1002-4-5, and correcting the unmanned aerial vehicle flight stability according to the evaluation result, wherein the expression is as follows:
Wherein the method comprises the steps of Representing the inclination degree of the fuselage after real-time adjustment according to the vibration condition evaluation index of the unmanned aerial vehicle,/>Representing a corresponding horizontal inclination angle value of the unmanned aerial vehicle under a corresponding condition;
Step 2002, based on RBM, marking the stress corresponding to the resistance direction angle delta of the unmanned aerial vehicle as a state Q, marking the vibration condition evaluation finger of the unmanned aerial vehicle corresponding to the state Q as a state G, taking the state Q as a visible layer, taking the state G as a hidden layer, taking a as a bias coefficient of the visible layer, taking b as a bias coefficient of the hidden layer, taking a and b as preset values in advance, and calculating the flight correction state of the unmanned aerial vehicle through a formula, wherein the expression is as follows:
wherein n represents the number of corresponding stress values when the resistance direction angle of the unmanned aerial vehicle is delta, Representing the corresponding stress magnitude of the ith resistance direction angle delta of the unmanned plane,/>The vibration condition evaluation index generated by the corresponding stress under the condition that the ith resistance direction angle of the unmanned plane is delta is represented,
Step 2003, performing probability distribution operation according to the step 2002, wherein the expression is as follows:
Wherein the method comprises the steps of Representing the normalization factor;
Step 2004, taking { the external force applied to the unmanned aerial vehicle, the external force applied direction of the unmanned aerial vehicle, and the unmanned aerial vehicle vibration condition evaluation index S UV } as training samples, and randomly acquiring T sample data pairs Training is performed, wherein T represents a constant, and the expression is:
wherein θ * represents the maximum likelihood function processed A value;
Step 2005, iterating the normalization factor in step 2003 for a plurality of times until the value of θ * in step 2004 is within the set threshold τ, then corresponding to that time Corresponding inclination angle values under the condition of corresponding influence factors;
Step 2006, after the posture of the unmanned aerial vehicle is adjusted in real time according to step 2001, the angle of the signal transceiver of the unmanned aerial vehicle is adjusted in real time, the straight line where the target transmitting radio frequency signal is located is used as the angle adjustment basis of the signal transceiver, and the straight line where the signal transceiver transmits the signal and the straight line where the target transmitting radio frequency signal is located are located in the same straight line through adjusting the angle of the signal transceiver in real time.
6. A device control system based on digital analog targets, the system comprising the following modules:
a signal receiving module: the signal receiving module receives a target signal according to a signal receiving and transmitting device carried by the unmanned aerial vehicle;
The simulation target track presetting module: the simulation target track preset module is used for processing the target signals received by the unmanned aerial vehicle signal receiving and transmitting device and obtaining a movement track preset route of the simulation target through processing;
the external factor comprehensive analysis module: the external factor comprehensive analysis module generates instability of the unmanned aerial vehicle due to the influence of environmental factors in the real-time moving process of the unmanned aerial vehicle, so that the unmanned aerial vehicle signal receiving and transmitting device receives the target signal and transmits the target interference signal;
Stability correction module: the stability correction module is used for correcting the flight stability of the unmanned aerial vehicle in real time by combining with an external factor comprehensive analysis result, and adjusting the angle of the signal receiving and transmitting device in real time by combining with the flight attitude of the unmanned aerial vehicle so as to ensure the stability of receiving and transmitting signals of the signal receiving and transmitting device of the unmanned aerial vehicle;
an echo signal identification module: the echo signal recognition module is used for carrying out echo processing according to the target signal received by the signal receiving module, carrying out simulation based on the current position of the unmanned aerial vehicle, generating a target simulation echo corresponding to the simulation target, and sending the generated target simulation echo corresponding to the simulation target to corresponding target equipment through the unmanned aerial vehicle signal receiving and sending device.
7. The device control system based on a digital simulation target according to claim 6, wherein the simulation target trajectory presetting module comprises a signal processing unit and a trajectory presetting simulation unit:
the signal processing unit is used for processing the target signal received by the unmanned aerial vehicle signal receiving and transmitting device;
the track preset simulation unit is used for acquiring a moving track preset route of the simulation target according to the processing result of the signal processing unit.
8. The digital simulation target-based equipment control system according to claim 7, wherein the external factor integrated analysis module comprises an air flow analysis unit and an environmental factor analysis unit:
The air flow analysis unit is used for analyzing the windward stress of the unmanned aerial vehicle by combining the air flow direction and the flight direction of the unmanned aerial vehicle;
The environment factor analysis unit is used for analyzing the relationship between the stability of the unmanned aerial vehicle body and external factors in the moving process of the unmanned aerial vehicle in real time.
9. The digital simulation target-based device control system according to claim 8, wherein the stability correction module comprises a body posture correction unit and a signal transceiver angle adjustment unit:
The fuselage attitude correction unit is used for adjusting the flight attitude of the unmanned aerial vehicle in real time according to the analysis result of the environmental factor analysis unit;
The angle adjusting unit of the signal receiving and transmitting device is used for adjusting the angle of the signal receiving and transmitting device according to the aircraft state processed by the aircraft body posture correcting unit.
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