WO2019227330A1 - Procédé et dispositif d'émulation pour véhicule aérien sans pilote - Google Patents

Procédé et dispositif d'émulation pour véhicule aérien sans pilote Download PDF

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Publication number
WO2019227330A1
WO2019227330A1 PCT/CN2018/088988 CN2018088988W WO2019227330A1 WO 2019227330 A1 WO2019227330 A1 WO 2019227330A1 CN 2018088988 W CN2018088988 W CN 2018088988W WO 2019227330 A1 WO2019227330 A1 WO 2019227330A1
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Prior art keywords
model
sensor model
simulation
sensor
flight controller
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PCT/CN2018/088988
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English (en)
Chinese (zh)
Inventor
陈超彬
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2018/088988 priority Critical patent/WO2019227330A1/fr
Priority to CN201880014874.9A priority patent/CN110383186A/zh
Publication of WO2019227330A1 publication Critical patent/WO2019227330A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/455—Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines

Definitions

  • the invention relates to the field of unmanned aerial vehicles, in particular to a method and a device for simulating unmanned aerial vehicles.
  • the control terminal of the drone is generally equipped with a simulator.
  • the simulator supports the simulation of the drone. Users can familiarize themselves with the basic functions of the drone and exercise the flying operation technology through the simulator. Test the drone's flight performance through the simulator function.
  • Embodiments of the present invention provide a method and a device for simulating an unmanned aerial vehicle, so as to realize the simulation of an unmanned aerial vehicle configured with redundant sensors.
  • a first aspect of the embodiments of the present invention provides a drone simulation method, including:
  • the simulated flight state data output by the simulation model is transmitted to a flight controller, wherein the simulated flight state data is determined according to the simulated sensor data output by the redundant sensor model.
  • a second aspect of the embodiments of the present invention provides a drone simulation device, including:
  • Memory for storing executable instructions
  • a processor configured to call the executable instructions stored in the memory to perform the following operations:
  • the simulated flight state data output by the simulation model is transmitted to a flight controller, wherein the simulated flight state data is determined according to the simulated sensor data output by the redundant sensor model.
  • a third aspect of the embodiments of the present invention provides a computer-readable storage medium that stores executable instructions that, when executed by one or more processors, implement the simulation method according to the first aspect.
  • a fourth aspect of the embodiments of the present invention provides an unmanned aerial vehicle, including the simulation device according to the second aspect.
  • a fifth aspect of the embodiments of the present invention provides a control terminal, which is communicatively connected with a flight controller of an unmanned aerial vehicle, and includes the simulation device according to the second aspect.
  • a power signal output by the flight controller is obtained, and a simulation model of the UAV is operated according to the power signal, wherein the simulation model includes redundant data.
  • the remaining sensor model transmits the simulated flight state data output by the simulation model to a flight controller to drive the simulation process to continue. In this way, simulation of unmanned aerial vehicles equipped with redundant sensors is realized to improve flight safety.
  • FIG. 1 schematically illustrates a simulation principle of a drone according to an embodiment of the present invention.
  • FIG. 2 schematically illustrates a block diagram of an embodiment in which a simulation device is located in a flight controller.
  • FIG. 3 schematically illustrates a block diagram of an embodiment in which a simulation device is located at a control terminal.
  • FIG. 4 schematically illustrates steps of a simulation method of a drone according to an embodiment of the present invention.
  • FIG. 5 schematically illustrates a flowchart of adjusting a redundant sensor model according to an embodiment of the present invention.
  • FIG. 6 schematically illustrates a block diagram of a simulation apparatus according to an embodiment of the present invention.
  • FIG. 7 schematically illustrates the structure of a computer-readable medium of the present invention.
  • a component when a component is called “fixed to” another component, it may be directly on another component or a centered component may exist. When a component is considered to be “connected” to another component, it can be directly connected to another component or a centered component may exist at the same time.
  • more and more drones are configured with redundant sensors, that is, configured with multiple sensors of the same type, for example, drones are configured with multiple gyroscopes, multiple compasses, and multiple accelerometers.
  • multiple satellite positioning devices One or more of multiple satellite positioning devices.
  • multiple sensors of the same type are redundantly backed up to each other.
  • the drone's flight controller obtains sensor data from a sensor. When this sensor works abnormally, the flight controller will perform a sensor switching operation, that is, the flight controller can switch to a redundant backup with the sensor. Another sensor from which sensor data is obtained.
  • the flight controller may perform a selection operation from multiple sensors of the same type, that is, the flight controller may separately evaluate the operating states of multiple sensors of the same type, And select the sensor whose working condition meets the preset requirements, that is, the flight controller obtains sensor data from the sensor whose working condition meets the preset requirements.
  • the flight controller can evaluate the measurement accuracy of multiple sensors of the same type separately, and the flight controller chooses to select the sensor with the highest measurement accuracy.
  • the control terminal can have a built-in drone simulator.
  • the simulator can support the simulation of drones. Users can familiarize themselves with the basic functions of drones and exercise flight operation techniques through the simulators. Developers of drones can Function tests the drone's flight performance.
  • the control terminal may include one or more of a remote controller, a smart phone, a tablet computer, a laptop computer, a desktop computer, and a wearable device.
  • the simulators in the prior art do not support the simulation of unmanned aerial vehicles configured with redundant sensors. In this way, it cannot be determined through simulation when the environmental factors change or the working state of the redundant sensors changes.
  • embodiments of the present invention provide a simulation method and device for a drone, so as to implement simulation of a drone configured with redundant sensors.
  • the simulation model of the drone includes at least a physical model 101 and a redundant sensor model 102 of the drone.
  • the physical model 101 of the drone is a software module that represents the physical mode of the drone.
  • the physical model 101 of the UAV receives the power signal, wherein the power signal may be a PWM signal, and the physical model 101 of the UAV responds to the received power signal and outputs the true value of the simulated flight state data, The value can represent the flying state of the drone after the influence of the dynamic signal on the drone model physics 101.
  • the UAV physical model 101 includes one of a motor-propeller model, a dynamic model, a kinematics model, and an object model (the object model is used to characterize the physical structure of the UAV, such as power, structure, weight, electromechanical, etc.) Or more.
  • the redundant sensor model 102 may include one or more types of sensor models, and each type of sensor model includes at least two sensor models, for example, 3 gyroscope models, 2 satellite positioning device models, 3 accelerometer models, and 3 compass models.
  • the redundant sensor model 102 may be a software module. After the redundant sensor model 102 receives the true value of the simulated flight state data of the physical model 101 of the drone, each type of sensor model in the redundant sensor model 102 may be targeted at simulated flight The state data truth value outputs the corresponding analog sensor data.
  • the simulated sensor data may be output to the fusion module 103, and the fusion module 103 may determine simulated flight state data according to the simulated sensor data, that is, the fusion module 103 may fuse the simulated sensor data Calculate to determine simulated flight status data.
  • the fusion module 103 may be a software model.
  • the simulation model of the UAV includes the fusion module 103.
  • the simulated flight state data is simulated sensor data
  • the simulated sensor data is directly determined as simulated flight state data without being fused.
  • the real sensor data can be directly determined as the real flight status data.
  • the controller 104 is an important component or software module of the flight controller. When the flight controller is in the simulation mode, it can receive simulated flight status data. In addition, the flight controller can receive the amount of joystick of the control terminal 105, where the amount of joystick is controlled by the control terminal 105 by detecting the user's drone. By operating the determined control instruction, the controller 104 can generate a power signal according to the simulated flight state data and / or the amount of the joystick. The physical model 101 of the drone can receive the power signal output by the controller 104. In this way, the unmanned person can be driven. The simulation of the machine continues.
  • the controller 104 may receive the real flight status data, wherein the controller 104 may generate a power signal according to the real flight status data and / or the amount of the control lever output by the control terminal 105 ,
  • the real power system of the drone may receive the power signal and perform corresponding operations.
  • the power system may include one or more of an ESC, a motor, a propeller, and an engine.
  • the control terminal 105 can obtain simulated flight status data, where the control terminal 105 includes an interactive device and the interactive device includes a display device, wherein the display device may be a display screen, a touch display screen, or an LED One or more of the display devices, the control terminal 105 may display the simulated flight status data on the display device, so that the user can know the flight status of the drone in the simulation mode through the display device.
  • the control terminal 105 can obtain the real flight status data, and the control terminal 105 can display the simulated flight status data on the display device, so that the user can know the drone in the normal working mode through the display device. Flight status.
  • the control terminal 105 may detect a parameter configuration operation of the user's redundant sensor model 102, and the parameter configuration operation may be a user's operation on multiple sensor models of the same type.
  • the physical parameters of each model are set, wherein the parameters are initialization parameters.
  • the parameters may include at least one of a redundancy parameter of a sensor model of the same type and an attribute parameter of the sensor model.
  • the redundancy parameter of the sensor models of the same type is the number of multiple sensor models of the same type.
  • the attribute parameters of the sensor model may be used to characterize any physical characteristics of the sensor model.
  • the attribute parameters may include one of noise, delay, zero drift, temperature drift, non-linearity, and installation position. Or more.
  • the control terminal 105 may determine a redundant sensor model parameter configuration instruction according to the detected parameter configuration operation, and the redundant sensor model parameter configuration instruction may be used to configure parameters of each of a plurality of sensor models of the same type.
  • the control terminal 105 can detect the user's redundant sensor model adjustment operation and determine the redundancy based on the detected adjustment operation.
  • the adjustment instruction is used to adjust the redundant sensor model 102.
  • the adjustment instruction includes at least one of an attribute parameter adjustment instruction of the sensor model and a fault injection instruction of the sensor model.
  • the adjustment instruction includes an attribute parameter adjustment instruction of the sensor model, and the attribute parameter adjustment instruction may be used to adjust an attribute parameter of one or more sensor models in a plurality of sensor models of the same type.
  • the adjustment instruction includes a fault injection instruction for a sensor model, and the fault injection instruction is used to inject a fault for one or more sensor models of a plurality of sensor models of the same type.
  • the redundant sensor model 102 may be adjusted. Specifically, one or more of a plurality of sensor models of the same type may be adjusted, where the adjustment includes adjusting the sensor model. Attribute parameters, and in some cases, the adjustment includes injecting a fault into the sensor model. Further, after adjusting the redundant sensor model 102, the simulation working state of the flight controller may be determined, that is, the response of the flight controller to the adjustment of the redundant sensor model 102 may be determined. In this way, It can be determined whether the flight controller has performed certain response operations for the adjustment of the redundant sensor model 102.
  • the flight controller of the UAV performs a preset response operation. Specifically, when the redundant sensor model is adjusted, under normal circumstances, the flight controller should perform a preset response operation. Among them, when the flight controller is in the normal working mode, the flight controller obtains data from one of the redundant sensors. When this sensor works abnormally, the flight controller performs a sensor switching operation, that is, flight control. The sensor can be switched to another sensor that is redundantly backed up with this sensor.
  • the flight controller When the flight controller is in simulation mode, when the flight controller controller 104 obtains simulated sensor data from a sensor model in the redundant sensor model 102, when this sensor model works abnormally, the flight controller should execute a preset The sensor model switching operation, that is, the flight controller can switch to another sensor model redundantly backed up with the sensor module, so that the controller 104 can obtain simulated sensor data from the another sensor model.
  • the preset response operation is determined according to the adjustment instruction, and the preset response operation is different for different adjustment instructions.
  • determining whether the flight controller of the drone performs a preset response operation may include: determining whether the flight controller of the drone performs At least one of a sensor model selection operation and a sensor model switching operation.
  • the working state of the redundant sensor model 102 changes.
  • the flight controller should perform pre-planning based on the change of the working state. Set operation. For example, after a fault is injected into the satellite positioning device model 1, under normal circumstances, the flight controller should perform a sensor model switching operation to switch to the satellite positioning device model 2. At this time, in order to confirm whether the flight controller works normally, the flight Whether the controller has performed a sensor model switching operation to switch to the satellite positioning device model 2.
  • the simulation model may be built into the flight controller.
  • the drone 200 includes a flight controller 2001.
  • the simulation model 2002 may be built in the flight controller 2001.
  • the flight controller 2001 When the flight controller 2001 is in a simulation mode, the flight controller 2001 may be controlled by flight.
  • the internal data link of the controller or the external data link obtains the power signal generated by the controller, and runs the simulation model 2002 according to the power signal.
  • the power signal is the power signal generated by the controller.
  • the flight controller 2001 can transmit the simulated flight state data output by the simulation model 2002 to the controller in the flight controller 2001 through the internal data link or external data link of the flight controller. / Or
  • the simulated flight state data generates a power signal, and the power signal is transmitted to the simulation model 2002 through an internal data link or an external data link of the flight controller 2001.
  • the process of running the simulation model 2002 is as described above. Specifically, the physical model of the UAV outputs the true value of the simulated flight state data according to the dynamic signal, the redundant sensor model obtains the true value of the simulated flight state data and outputs the simulated sensor data, and the simulated flight state can be determined according to the simulated sensor data data.
  • the flight controller 2001 may send the simulated flight state data to the control terminal 201, and the control terminal 201 may obtain the simulated flight state data and display the simulated flight state data on a display device.
  • the flight controller 2001 may obtain a redundant sensor model parameter configuration instruction sent by the control terminal 201, and configure parameters of the redundant sensor model according to the configuration instruction.
  • the flight controller 2001 may also obtain an adjustment instruction of the redundant sensor model sent by the control terminal 201, and adjust the redundant sensor model according to the adjustment instruction.
  • the simulation working state of the flight controller 2001 is determined, and the specific process of determining the simulation working state is as described above.
  • the flight controller 2001 may send the simulation work status to the control terminal 201 so that the control terminal 201 displays the simulation work status.
  • the drone image 2012 can be displayed, which is used to display the current attitude, position, battery power and other information of the drone 200, but also other information in the environment where the drone 200 is currently located.
  • Object images such as tree images 2011, building images 2013, etc., thereby facilitating the user to further operate the drone 200 according to the environment.
  • the simulation model may be built into the control terminal.
  • the control terminal 301 has a built-in simulation model 3011 of the drone.
  • the control terminal 301 obtains a power signal from the flight controller 3001 through a wireless data link or a wired data link.
  • the simulation model 3011 is run according to a power signal.
  • the power signal is a power signal generated by a controller.
  • the control terminal 301 can transmit the simulated flight state data output by the simulation model 3011 to the controller of the flight controller 3001 of the drone 300 through a wireless data link or a wired data link.
  • the simulated flight state data generates a power signal
  • the control terminal 301 receives the power signal and transmits the power signal to the simulation model 3011 to drive the simulation to continue.
  • the process of running the simulation model 3011 is as described above. Specifically, the physical model of the UAV outputs the true value of the simulated flight state data according to the dynamic signal, the redundant sensor model obtains the true value of the simulated flight state data and outputs the simulated sensor data, and the simulated flight state can be determined according to the simulated sensor data data.
  • control terminal 301 may acquire the simulated flight state data and display the simulated flight state data on a display device.
  • the control terminal 301 may configure parameters of the redundant sensor model according to the configuration instruction.
  • control terminal 301 may also adjust a redundant sensor model according to the adjustment instruction, and after adjusting the redundant sensor model, determine a simulation working state of the flight controller. Specifically, as described above, under normal circumstances, after adjusting the redundant sensor model, the flight controller performs a response operation to the change of the redundant sensor model, and the simulation working state of the flight controller changes.
  • the flight controller may send the simulation work status to the control terminal 301 so that the control terminal 301 determines the simulation work status of the flight controller.
  • the drone image 3012 can be displayed, which is used to display the current attitude, position, battery power, and other information of the drone 300, but also the current environment of the drone.
  • Other object images such as a tree image 3011, a building image 3013, etc., thereby facilitating the user to further operate the drone according to the environment.
  • FIG. 4 schematically illustrates steps of a method for simulating a drone according to an embodiment of the present invention. As shown in FIG. 4, the method includes:
  • step S401 the flight controller of the UAV is in a simulation mode, and a power signal output by the flight controller is obtained.
  • the execution subject of the simulation method is a simulation device of a drone, and further, the execution subject of the simulation method is a processor of the simulation device, wherein the processor may be one or more, the One or more work individually or in concert to implement the simulation method.
  • the flight controller may include a simulation device; in some cases, the control terminal may include the simulation device.
  • the drone's flight controller can have two modes: simulation mode and normal working mode.
  • a control terminal in communication with the flight controller sends a simulation start instruction to the flight controller to instruct the flight controller to enter a simulation mode.
  • the simulation device After the flight controller enters the simulation mode, the simulation device obtains the power signal output by the flight controller.
  • the simulation device obtains the power signal output by the flight controller through an internal data link or an external data link;
  • the control terminal includes a simulation device, the simulation device uses a wireless data link or a wired data link Obtain the power signal output by the flight controller. See the previous section for specific principles.
  • the unmanned aerial vehicle includes a redundant sensor. Accordingly, in the simulation method of the unmanned aerial vehicle, the simulation instruction carries a redundant sensor model parameter configuration instruction.
  • Step S402 Run a simulation model of the drone according to the power signal, wherein the simulation model includes a redundant sensor model, and wherein the redundant sensor model includes at least two sensor models of the same type.
  • the simulation device has a built-in simulation model of the drone. After the simulation device obtains the power signal, it can run the simulation model according to the power signal, wherein the simulation model includes a redundant sensor model, and the simulation model is running. Data on simulated flight status can then be obtained.
  • the simulation device obtains the power signal, it can run the simulation model according to the power signal, wherein the simulation model includes a redundant sensor model, and the simulation model is running. Data on simulated flight status can then be obtained.
  • the redundant sensor model receives the true value output by the UAV physical model and performs simulation.
  • the redundant sensor model may include one or more of at least two satellite positioning (GPS) device models, at least two compass models, at least two accelerometer models, and at least two gyroscope models, This allows analog sensor data to be determined in real time, including acceleration, position information, angular velocity and / or linear velocity.
  • the redundant sensor model may include an air pressure sensor model, a magnetic field sensor model, an altitude sensor model, or other sensor models in addition to the aforementioned satellite positioning device model, compass model, accelerometer model, and gyroscope model.
  • the number of which sensor model or sensor models is redundant may be selected according to actual needs, and the attribute parameters of each sensor model of the same type of sensor model should be different.
  • the specific principle please refer to the previous section, which will not be repeated here.
  • step S403 the simulated flight state data output by the simulation model is transmitted to a flight controller, wherein the simulated flight state data is determined according to the simulated sensor data output by the redundant sensor model.
  • the simulated flight state data may be obtained by merging the simulated sensor data.
  • the simulated flight state data may be simulated sensor data output by a redundant sensor model.
  • the simulation method further includes: acquiring a redundant sensor model parameter configuration instruction; and configuring parameters of the redundant sensor model of the UAV according to the parameter configuration instruction.
  • the simulation device may obtain a redundant sensor model parameter configuration instruction, wherein the redundant sensor model parameter configuration instruction is used for parameter configuration of one or more of a plurality of sensor models of the same type in the redundant sensor model.
  • the simulation device receives a parameter configuration instruction sent by the control terminal, and the simulation device may configure parameters of the one or more sensor models according to the parameter configuration instruction.
  • the control terminal includes a simulation device
  • the control terminal detects a parameter configuration operation of the user, and determines a parameter configuration instruction according to the parameter configuration operation.
  • the simulation device obtains the parameter configuration instruction and configures the parameter according to the parameter configuration instruction. Parameters for one or more sensor models. See the previous section for specific principles.
  • step S402 may also be performed. Including steps S4021 to S4023.
  • step S4021 an adjustment instruction of the redundant sensor model is obtained.
  • the adjustment instruction of the redundant sensor model is sent by the user to the flight controller through the control terminal based on the attribute parameters adjusted by the user or the type of injection failure.
  • the adjustment instruction includes an operation code and an operand.
  • the operation code determines an attribute parameter or a type of an injection fault.
  • the operand determines an operation object, that is, each sensor model in the redundant sensor model.
  • the adjustment instruction includes at least one of an attribute parameter adjustment instruction of the sensor model and a fault injection instruction of the sensor model.
  • the attribute parameter adjustment instruction and the fault injection instruction of the sensor model also include an operation code and an operand.
  • the operation code of the attribute parameter adjustment instruction determines the attribute parameter, and the operand determines each sensor model in the redundant sensor model; the sensor model
  • the operation code of the fault injection instruction determines the type of injection fault, and the operand determines each sensor model in the redundant sensor model.
  • the attribute parameter adjustment instruction is used to adjust one or more of the attribute parameters of the sensor model, that is, noise, delay, zero drift, temperature drift, non-linearity, and installation position;
  • the fault injection instruction is used to adjust the injection into the sensor model.
  • Faults, faults include one or more of data stuck and disconnected.
  • the specific operation objects of the attribute parameter adjustment instruction and the fault injection instruction can be selected according to actual conditions.
  • step S4022 the redundant sensor model is adjusted according to the adjustment instruction.
  • the simulation device may adjust the attribute parameters of the built-in simulation model. For example, the simulation device may adjust the installation position of one or more sensor models in the redundant sensor model. . As another example, a simulation device injects a fault into one or more sensors in a redundant sensor model.
  • step S4023 after adjusting the redundant sensor model, a simulation working state of the flight controller of the UAV is determined.
  • the simulation device receives an adjustment instruction of the redundant sensor model sent by the control terminal, and the simulation device may adjust attributes and fault injection of the one or more sensor models according to the adjustment instruction.
  • the control terminal includes a simulation device
  • the control terminal detects a user's adjustment operation and determines an adjustment instruction according to the adjustment operation.
  • the simulation device obtains the adjustment instruction and adjusts the one or more sensors according to the adjustment instruction. Model attribute parameters and fault injection. See the previous section for specific principles.
  • the simulation working state of the flight controller refers to whether the flight controller of the UAV performs a preset response operation, that is, whether the flight controller of the UAV performs at least one of a sensor model selection operation and a sensor model switching operation.
  • the preset response operation is determined according to the adjustment instruction. For example, when the adjustment instruction is an attribute parameter adjustment instruction, the preset response operation may be a sensor model selection operation. When the adjustment instruction is a fault injection instruction, the preset response operation may be a sensor model switching operation.
  • simulation model may be built in the flight controller or in a control terminal (mobile smart device or computer) that is communicatively connected with the flight controller, and may be selected according to the needs of the user.
  • the simulation device 600 includes: a memory 601 for storing executable instructions; and a processor 602 for executing the memory 601.
  • the executable instructions stored in FIG. 4 are shown in detail.
  • the simulation method specifically includes: obtaining a power signal output by the flight controller when the flight controller of the UAV is in a simulation mode; and operating the unmanned according to the power signal.
  • a simulation model of the aircraft wherein the simulation model includes a redundant sensor model, wherein the redundant sensor model includes at least two sensor models of the same type; and transmitting the simulated flight state data output by the simulation model to The flight controller, wherein the simulated flight state data is determined according to the simulated sensor data output by the redundant sensor model.
  • the memory 601 may be a non-volatile or volatile readable storage medium, such as an electrically erasable and programmable read-only memory (EEPROM), a flash memory, and / or a hard disk drive.
  • EEPROM electrically erasable and programmable read-only memory
  • the readable storage medium includes a computer program including code / computer-readable instructions that, when executed by the processor 602, enables a hardware structure and / or a device including the hardware structure to execute, for example, the above described in conjunction with FIG. 4 Process and any distortions.
  • the processor 602 may be a single CPU (Central Processing Unit), but may also include two or more processing units.
  • the processor may include a general-purpose microprocessor, an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (eg, an application-specific integrated circuit (ASIC)).
  • ASIC application-specific integrated circuit
  • the redundant sensor model includes one or more of at least two satellite positioning device models, at least two compass models, at least two accelerometer models, and at least two gyroscope models. Species.
  • the method further includes: acquiring a redundant sensor model parameter configuration instruction; and configuring parameters of the redundant sensor model of the UAV according to the parameter configuration instruction.
  • the parameters include at least one of redundancy parameters of sensor models of the same type and attribute parameters of the sensor models.
  • the at least two sensor models of the same type include at least a first sensor model and a second sensor model of the same type as the first sensor model, wherein attribute parameters of the first sensor model are different from Attribute parameters of the second sensor model.
  • the method further includes: obtaining an adjustment instruction of the redundant sensor model; adjusting the redundant sensor model according to the adjustment instruction; after adjusting the redundant sensor model To determine the simulation working status of the drone's flight controller.
  • the adjustment instruction includes at least one of an attribute parameter adjustment instruction of the sensor model and a fault injection instruction of the sensor model.
  • the attribute parameters of the sensor model include one or more of noise, delay, zero drift, temperature drift, non-linearity, and installation position.
  • determining the simulation working state of the flight controller of the UAV includes: after adjusting the redundant sensor model, Determines whether the drone's flight controller performs a preset response operation.
  • the preset response operation is determined according to the adjustment instruction.
  • determining whether the flight controller of the UAV performs a preset response operation includes: determining whether the flight controller of the UAV performs At least one of a sensor model selection operation and a sensor model switching operation.
  • the simulation model is built into the flight controller. At this time, the simulation model receives parameter configuration instructions and adjustment instructions sent by the control terminal, configures parameters of the sensor model, and adjusts attributes and fault injection of the sensor model. See the previous section for specific principles.
  • the simulation model is built in a control terminal that is communicatively connected with a flight controller.
  • the control terminal detects the parameter configuration operation and adjustment operation of the user, and determines the parameter configuration instruction and adjustment instruction according to the parameter configuration operation and adjustment operation.
  • the simulation model obtains and configures the sensor model based on the parameter configuration instruction and adjustment instruction. Parameters, and adjusting properties and fault injection of the one or more sensor models. See the previous section for specific principles.
  • a computer-readable storage medium may be any medium capable of containing, storing, transmitting, propagating, or transmitting instructions.
  • computer-readable storage media may include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, devices, or propagation media.
  • Specific examples of computer-readable storage media include: magnetic storage devices such as magnetic tapes or hard disk drives (HDD); optical storage devices such as optical disks (CD-ROM); memories such as random access memory (RAM) or flash memory; and / or Wired / wireless communication link.
  • the computer-readable medium stores executable instructions.
  • the one or more processors can be caused to execute the instructions shown in FIG. 4.
  • a simulation method which specifically includes: obtaining a power signal output by the flight controller when the UAV's flight controller is in a simulation mode; and running a simulation model of the UAV according to the power signal, wherein the simulation model A redundant sensor model is included, wherein the redundant sensor model includes at least two sensor models of the same type; and the simulated flight state data output by the simulation model is transmitted to a flight controller, wherein the simulated flight state The data is determined based on the simulated sensor data output by the redundant sensor model.
  • the redundant sensor model includes one or more of at least two satellite positioning device models, at least two compass models, at least two accelerometer models, and at least two gyroscope models. Species.
  • the method further includes: acquiring a redundant sensor model parameter configuration instruction; and configuring parameters of the redundant sensor model of the UAV according to the parameter configuration instruction.
  • the parameters include at least one of redundancy parameters of sensor models of the same type and attribute parameters of the sensor models.
  • the at least two sensor models of the same type include at least a first sensor model and a second sensor model of the same type as the first sensor model, wherein attribute parameters of the first sensor model are different from Attribute parameters of the second sensor model.
  • the method further includes: obtaining an adjustment instruction of the redundant sensor model; adjusting the redundant sensor model according to the adjustment instruction; after adjusting the redundant sensor model To determine the simulation working status of the drone's flight controller.
  • the adjustment instruction includes at least one of an attribute parameter adjustment instruction of the sensor model and a fault injection instruction of the sensor model.
  • the attribute parameters of the sensor model include one or more of noise, delay, zero drift, temperature drift, non-linearity, and installation position.
  • determining the simulation working state of the flight controller of the UAV includes: after adjusting the redundant sensor model, Determines whether the drone's flight controller performs a preset response operation.
  • the preset response operation is determined according to the adjustment instruction.
  • determining whether the flight controller of the UAV performs a preset response operation includes: determining whether the flight controller of the UAV performs At least one of a sensor model selection operation and a sensor model switching operation.
  • the simulation model is built into the flight controller.
  • the simulation model is built in a control terminal that is communicatively connected with a flight controller.
  • an embodiment of the present invention further provides a drone, which includes the aforementioned simulation device for the drone for simulation; the embodiment of the present invention also provides A control terminal is provided, which includes the aforementioned UAV simulation device for simulation.
  • the simulation model is built into the flight controller, and the simulation model receives parameter configuration instructions and adjustment instructions sent by the control terminal, configures parameters of the sensor model, and adjusts the sensor model. Properties and fault injection. See the previous section for specific principles.
  • the simulation model is built in the control terminal that is communicatively connected with the flight controller, and the control terminal detects a user's parameter configuration operation and adjustment operation, and determines according to the parameter configuration operation and adjustment operation.
  • the parameter configuration instruction and the adjustment instruction, the simulation model obtains and configures the parameters of the sensor model according to the parameter configuration instruction and the adjustment instruction, and adjusts the attributes and fault injection of the one or more sensor models. See the previous section for specific principles.
  • the embodiment of the present invention can simulate the operation of a redundant sensor without adding a hardware entity by using a simulation model including a redundant sensor model, and at the same time, an adjustment function is added to verify whether the redundant UAV model can Executing predetermined processing logic, thereby improving the function and performance of the drone in the case of redundancy, and improving flight safety.

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Abstract

Procédé d'émulation d'un véhicule aérien sans pilote comprenant : lorsqu'un contrôleur de vol d'un véhicule aérien sans pilote est dans un mode d'émulation, l'acquisition d'un signal de mouvement délivré par le contrôleur de vol; l'exécution d'un modèle d'émulation du véhicule aérien sans pilote selon le signal de mouvement, le modèle d'émulation comprenant un modèle de capteurs redondant (102), et le modèle de capteurs redondants (102) comprend au moins deux modèles de capteur du même type; et la transmission, au contrôleur de vol, de données d'état de vol simulé délivrées par le modèle d'émulation, les données d'état de vol simulé étant déterminées selon des données de capteur simulé délivrées par le modèle de capteurs redondants (102). La présente invention concerne un également un dispositif d'émulation (600) pour un véhicule aérien sans pilote, comprenant : un dispositif de stockage (601) utilisé pour stocker une instruction exécutable; et un processeur (602) utilisé pour exécuter l'instruction exécutable stockée dans le dispositif de stockage (601) afin d'exécuter le procédé d'émulation pour un véhicule aérien sans pilote.
PCT/CN2018/088988 2018-05-30 2018-05-30 Procédé et dispositif d'émulation pour véhicule aérien sans pilote WO2019227330A1 (fr)

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CN201880014874.9A CN110383186A (zh) 2018-05-30 2018-05-30 一种无人机的仿真方法及装置

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