WO2020133105A1 - Procédé de synchronisation, procédé de commutation, appareil, système de commande et véhicule aérien sans pilote - Google Patents

Procédé de synchronisation, procédé de commutation, appareil, système de commande et véhicule aérien sans pilote Download PDF

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Publication number
WO2020133105A1
WO2020133105A1 PCT/CN2018/124482 CN2018124482W WO2020133105A1 WO 2020133105 A1 WO2020133105 A1 WO 2020133105A1 CN 2018124482 W CN2018124482 W CN 2018124482W WO 2020133105 A1 WO2020133105 A1 WO 2020133105A1
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signal
system time
time synchronization
synchronization pulse
pulse signal
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PCT/CN2018/124482
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English (en)
Chinese (zh)
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王一皿
周琦
丁鹏
王钧玉
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2018/124482 priority Critical patent/WO2020133105A1/fr
Priority to CN201880065463.2A priority patent/CN111279282A/zh
Publication of WO2020133105A1 publication Critical patent/WO2020133105A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L7/00—Arrangements for synchronising receiver with transmitter

Definitions

  • Embodiments of the present application relate to the field of flight control, and in particular, to a timing method, switching method, device, control system, and unmanned aerial vehicle.
  • the PPS signal is a synchronous pulse signal output by the UAV positioning system.
  • the UAV positioning system generates a time synchronization pulse by receiving the standard time from the satellite.
  • the embodiments of the present application provide a time signal timing method, which can achieve the consistency of the time synchronization signal between the functional units in the unmanned aerial vehicle, and at the same time reduce the error that occurs when the user selects the optimal synchronization pulse signal, thereby achieving no The consistency of the actions of the various functional modules in the UAV.
  • the first aspect of the embodiments of the present application provides a time signal timing method for an unmanned aerial vehicle, including: determining a synchronization pulse signal generated by a positioning module as a system time synchronization signal; The function unit of the UAV performs unified timing operation.
  • a second aspect of an embodiment of the present application provides a method for switching a system time synchronization signal of an unmanned aerial vehicle, including: at least one GNSS positioning module and/or wireless communication module respectively receiving synchronization pulse signals; The optimal synchronization pulse signal is determined as the system time synchronization signal.
  • the technical solution of the third aspect of the present application provides a time signal timing device for an unmanned aerial vehicle, including: a processor, wherein the processor is used to: determine a synchronization pulse signal generated by a positioning module as a system time synchronization signal; adopt a system The time synchronization signal performs unified timing operation on the functional units of the UAV.
  • the technical solution of the fourth aspect of the present application provides a time signal timing device for an unmanned aerial vehicle, including: a processor, wherein the processor is used for: at least one GNSS positioning module and/or a wireless communication module to receive synchronization pulse signals, respectively;
  • the optimal synchronization pulse signal among the synchronization pulse signals is determined as the system time synchronization signal.
  • the technical solution of the fifth aspect of the present application provides a control system for an unmanned aerial vehicle, including: a central processor, configured to use a system time synchronization signal to perform unified timing operation on functional units of the unmanned aerial vehicle.
  • the technical solution of the sixth aspect of the present application provides an unmanned aerial vehicle, including: the time signal timing device of the unmanned aircraft described in the technical solution of the third aspect, and the system time synchronization signal described in the technical solution of the fourth aspect At least one of the switching device and the unmanned aerial vehicle control system provided by the technical solution of the fifth aspect.
  • the technical solution of the seventh aspect of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the time service method as provided in the technical solution of the first aspect of the present application are implemented And/or the steps of the method for switching the system time synchronization signal provided by the technical solution of the second aspect.
  • the optimal synchronization pulse signal is comprehensively selected as the system time synchronization signal by itself, so as to provide the same timing to the functional unit
  • it can achieve the consistency of time synchronization signals between the various functional units in the UAV, such as controlling the time consistency of driving flight and system positioning, and controlling the time consistency of data collection and system positioning, thereby improving flight control
  • the control accuracy of data acquisition and other operations reduces the probability of errors and/or delays when the user selects the optimal synchronization pulse signal, so as to achieve the consistency of the time synchronization signal of each functional module of the UAV.
  • FIG. 1 shows a schematic architectural block diagram of an unmanned aerial vehicle system according to an embodiment of the present application
  • FIG. 2 shows a schematic flowchart of a time signal timing method according to an embodiment of the present application
  • FIG. 3 shows a schematic flowchart of a signal switching method according to an embodiment of the present application
  • FIG. 4 shows a schematic flowchart of a signal switching method according to another embodiment of the present application.
  • FIG. 5 shows a schematic architectural block diagram of a time signal timing device according to an embodiment of the present application
  • FIG. 6 shows a schematic structural block diagram of a control system of an unmanned aerial vehicle according to an embodiment of the present application
  • FIG. 7 is a schematic block diagram of a time signal timing device according to an embodiment of the present application.
  • FIG. 8 shows a schematic block diagram of a signal switching device according to an embodiment of the present application.
  • FIG. 9 shows a schematic flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the invention.
  • FIG. 10 is a schematic flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the present invention.
  • FIG. 11 shows a schematic flowchart of a control method of an unmanned aerial vehicle according to yet another embodiment of the present invention.
  • FIG. 12 shows a schematic architecture block diagram of a time signal control device according to an embodiment of the present invention
  • FIG. 13 shows a schematic structural block diagram of a time signal control device according to another embodiment of the present invention.
  • FIG. 14 shows a schematic structural block diagram of a time signal control device according to still another embodiment of the present invention.
  • FIG. 15 shows a schematic structural block diagram of a control system of an unmanned aerial vehicle according to another embodiment of the present invention.
  • FIG. 16 shows a schematic flowchart of a method for controlling an unmanned aerial vehicle according to another embodiment of the invention.
  • FIG. 17 shows a schematic flowchart of a method for controlling an unmanned aerial vehicle according to yet another embodiment of the present invention.
  • FIG. 18 shows a schematic block diagram of a control system of an unmanned aerial vehicle according to still another embodiment of the present invention.
  • 19 shows a schematic diagram of signal transmission of a switching scheme of a system time synchronization signal of an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 20 shows a schematic diagram of signal transmission according to different load types of an unmanned aerial vehicle according to an embodiment of the present invention.
  • a component when a component is said to be “fixed” to another component, it can be directly on another component or there can also be a centered component. When a component is considered to be “connected” to another component, it can be directly connected to another component or there may be a centered component at the same time.
  • FIG. 1 is a schematic architectural diagram of an unmanned aerial vehicle system 10 according to an embodiment of the present application.
  • the unmanned aerial vehicle system 10 may include an unmanned aerial vehicle flight control system 110, a positioning assembly 120, and a load device for collecting sensory data.
  • the positioning component includes multiple positioning modules, positioning module 122, positioning module 124, positioning module 12n and the like.
  • the flight control system 110 includes a central processor 112, a flight controller, and a built-in sensing system 116.
  • the positioning information, signal strength, signal-to-noise ratio and other information of multiple positioning modules are transmitted to the central processor 112 through serial data communication.
  • the central processor 112 can collect the positioning information collected by itself and the built-in sensing system 116 according to the received positioning information.
  • the environmental data determines the optimal synchronization pulse signal in the positioning module, and transmits the optimal synchronization pulse signal to the flight controller 114, the built-in sensing system 116, and the load device.
  • the load device includes a shooting device 136, which can be installed on the unmanned aerial vehicle 100 through the load interface 152.
  • the shooting device 136 can be a device such as a camera or a video camera for capturing images, which is captured by the optimal synchronization pulse signal received The shooting signal of the device 136 is aligned with the optimal synchronization pulse signal.
  • the load device further includes a gimbal 130.
  • the gimbal 130 may include a motor 134.
  • the gimbal 130 is used to carry the shooting device 136.
  • the load interface 152 may be provided on the body of the UAV or the gimbal 130.
  • the load device further includes a radar 142, which can be installed on the unmanned aerial vehicle 100 through the load interface 154, and the detection signal of the radar 142 is aligned with the optimal synchronization pulse signal through the received optimal synchronization pulse signal.
  • a radar 142 which can be installed on the unmanned aerial vehicle 100 through the load interface 154, and the detection signal of the radar 142 is aligned with the optimal synchronization pulse signal through the received optimal synchronization pulse signal.
  • the radar 142 realizes the rotation function by connecting the motor 144.
  • An embodiment of the present application provides a time signal timing method. As shown in FIG. 2, the unified timing of the functional units inside the UAV is limited, including:
  • Step 202 Determine the synchronization pulse signal generated by the positioning module as the system time synchronization signal
  • Step 204 Use the system time synchronization signal to perform unified timing operation on the functional units of the UAV.
  • the control functional unit works with the system time synchronization signal as the standard time signal.
  • the functional unit of the unmanned aircraft except the positioning module Can also include data processing unit, sensor data acquisition unit, route control unit, power unit and remote control unit, etc., according to the method of determining the optimal synchronization pulse signal to determine the system time synchronization signal, in order to achieve the UAV shooting module,
  • the flight control module and image processing module provide unified timing to ensure the control of the unmanned aerial vehicle, the flight route planning, the attitude of the unmanned aerial vehicle, the real-time positioning of the unmanned aerial vehicle, and the time when the sensor is triggered to collect the sensor data. Consistent, while achieving high-efficiency flight, the sensor data collection time should be consistent with the actual location time to improve the collection efficiency. Furthermore, it can also determine whether to correct the flight route based on the sensor data. The revised feedback is more timely.
  • the above step 204 specifically further includes: performing time alignment processing on the sensor data collected by the unmanned aerial vehicle using the system time synchronization signal.
  • the following data can be obtained by collecting the sensing data, determining the current attitude of the UAV by the attitude sensor, determining the flying height of the UAV by sending the longitudinal sensing signal, and acquiring the surrounding environment sensor by sending the detection signal Information, when the sensor data is collected, if the operation pulse signal at the time of operation of the sensor data is inconsistent with the time pulse signal in the positioning module, there will be a deviation between the collected sensor data and the data that needs to be collected , Which has an impact on the data collection efficiency and collection effect. For example, the image information of the specified location needs to be collected by the camera.
  • the pulse signal of the positioning and the pulse signal of the collection operation and the real-time attitude of the UAV are inconsistent, it will lead to the collection There is a deviation in the image of the image. Therefore, by aligning the sensor data with the system time synchronization signal determined according to the positioning module, the positioning position, the attitude of the unmanned aerial vehicle and the height of the acquisition operation are aligned, thereby improving the efficiency and accuracy of data collection Sexual purpose.
  • the above step 204 specifically further includes: when collecting the sensing data through the load device, determining the type of the corresponding indication signal according to the type of the load device, so as to The time synchronization signal performs time alignment processing, and the instruction signal is used to instruct the load device to perform an acquisition action.
  • the time alignment process is performed on the sensor data, that is, the trigger pulse signal that triggers the execution of the acquisition action and the system time synchronization pulse signal, and the type of the indicator signal is also different due to the type of the load device, so by identifying the load The type determines the type of the corresponding indicator signal, so as to perform a consistent operation through the indicator signal and the system time synchronization signal to achieve alignment processing.
  • the instruction signal for instructing imaging is a hot shoe signal.
  • determining the type of the corresponding indication signal according to the type of the load device specifically includes: extracting the type information carried in the pulse signal transmitted from the load interface of the load device to the flight controller; central The processor delays to receive the type information transmitted by the flight controller; when the type information is identified as a load device requiring a pulse width modulation signal, the type information includes identification process information and identification result information, and controls output and identification to the corresponding data selection switch The level selection signal of the pulse width modulation signal corresponding to the result information; when the type information is identified as a load device requiring a system time synchronization signal, the type information includes the identification result information, and the control outputs the corresponding data selection switch corresponding to the identification result information The level selection signal of the system time synchronization signal.
  • the above step 204 specifically further includes: performing time track correction on the stored image data according to the system time synchronization signal.
  • the saved sensor data (including image data, etc.) can also be corrected in time orbit to achieve consistency of the image data collected before and after.
  • performing the time-track correction on the stored image data according to the system time synchronization signal specifically includes: according to the difference between the system time synchronization signal and the time signal at the time of image data acquisition To perform the time track correction operation.
  • the above step 204 specifically further includes: controlling the image sensor carried by the unmanned aerial vehicle to perform an image acquisition operation synchronously according to the system time synchronization signal, wherein the image sensor includes a shooting device.
  • image information is collected by a shooting device.
  • the hot shoe signal of the shooting device that controls the imaging is time-aligned according to the system time synchronization signal to achieve The designated position is the same as the obtained positioning information and the moment when the shooting operation is performed, thereby ensuring the accuracy of image information collection.
  • each hot shoe signal corresponds to a captured image
  • each set of hot shoe signals corresponds to the video acquisition time and the end of the acquisition time.
  • the time axis of the image data collected by the camera is aligned with the time axis of the flight control system and the time axis of the positioning module, so that the synchronization pulse signal of the positioning module, the control information in the flight control system and the image acquisition signal Highly aligned, it does not require the user to perform differential operations for errors, which simplifies the user's surveying and mapping activities and improves the user's surveying and mapping efficiency, and the switching of the synchronous pulse signal does not require manual control by the user.
  • the UAV passes its own sensors and positioning module signal strength and other data
  • the signal source of the synchronization pulse signal is comprehensively selected by itself, which improves the user experience and the synchronization accuracy of the system PPS signal.
  • the hot shoe signal interface when the load interface is a hot shoe signal interface, while transmitting the universal time synchronization signal to the shooting device through the hot shoe signal interface, when performing the shooting operation, the hot shoe signal interface is used to receive the signal sent by the shooting device Shoot indication pulse signal.
  • the above step 204 specifically further includes: controlling the attitude sensor to acquire attitude information synchronously according to the system time synchronization signal.
  • the time synchronization pulse is realized by performing the acquisition time of the attitude sensor according to the system time synchronization signal
  • the signal is time-aligned with the posture information in the posture sensor, so that it can accurately sense the user's posture information at a certain position.
  • the desired sensor can be collected at the specified position and specified posture Data (including image data, radar detection data, etc.) to achieve accurate collection of sensor data.
  • the above step 204 specifically further includes: performing time alignment processing on the sensor data collected by the UAV using the system time synchronization signal, specifically including: according to the system time synchronization signal Controlling the radar carried by the UAV to send wireless detection signals.
  • radar detection includes at least static radar detection and dynamic radar detection (radar detection is the (Detection of surrounding static obstacles) and dynamic radar tracking, when performing radar detection, the radar trigger pulse signal is sent according to the determined system time synchronization signal, to trigger the radar detection signal to be sent by the radar trigger pulse signal, based on the feedback of the detection signal The signal obtains the radar detection information, and sends the radar trigger pulse signal synchronously according to the system time synchronization signal to achieve the time alignment of the UAV's position information and the radar detection information to improve the accuracy of radar detection.
  • radar detection is the (Detection of surrounding static obstacles)
  • dynamic radar tracking when performing radar detection, the radar trigger pulse signal is sent according to the determined system time synchronization signal, to trigger the radar detection signal to be sent by the radar trigger pulse signal, based on the feedback of the detection signal The signal obtains the radar detection information, and sends the radar trigger pulse signal synchronously according to the system time synchronization signal to achieve the time alignment of the UAV's position information and the radar detection information to improve the accuracy
  • the system time synchronization signal to align the radar detection process has a better and more obvious effect in the process of dynamic radar detection and dynamic radar tracking.
  • the information uses the system time synchronization signal to trigger the radar to send wireless detection signals to ensure the consistency of the location of the UAV carrying the radar and the consistency of the wireless detection signals.
  • it can reduce the error of dynamic radar detection and radar tracking, on the other hand As the error of the UAV's position information is reduced, the accuracy of tracking is correspondingly improved.
  • the position information of the tracking target can be determined more accurately.
  • the above step 204 specifically further includes: controlling the surveying instrument carried by the unmanned aerial vehicle to collect surveying and mapping data according to the system time synchronization signal.
  • the sensor device may also be a detector, and the radar may be used as a detector Equipment, detectors can also include metal detectors, life detectors, according to the accurate position information and detection information, can improve the detection accuracy, especially in the detection of vital signs, combined with RTK positioning module, can accurately detect life position.
  • the above step 204 specifically further includes: controlling the microphone carried by the unmanned aerial vehicle to collect audio data according to the system time synchronization signal.
  • the system time synchronization signal realizes synchronous sound pickup to meet the needs of radio reception in the same period.
  • the above step 204 specifically further includes: controlling the flight position, flight attitude, and image capturing actions of the unmanned aerial vehicle to be executed synchronously according to the system time synchronization signal.
  • the flight control, flight attitude acquisition, and image shooting actions are highly aligned.
  • the flight control module can directly obtain the optimal synchronization pulse signal, and use the signal to the attitude sensor and
  • the image sensors are time aligned to determine the real-time position and real-time attitude of the unmanned aerial vehicle, and simultaneously perform image acquisition to obtain the most accurate detection image, thereby eliminating the need for user correction steps.
  • the above step 204 specifically further includes: controlling the flight controller, the image sensor, and the associated visual sensor to perform time alignment according to the system time synchronization signal.
  • the visual sensor includes one or more graphic sensors, light projectors and necessary auxiliary equipment. After the image is obtained through the graphic sensor or the image sensor, the image detected by the visual sensor is compared with the set image information to determine the Whether the image meets the requirements.
  • the above step 202 specifically includes: at least one GNSS (Global Navigation Satellite System, generally referred to as all satellite navigation systems) positioning module and/or wireless communication module respectively receive synchronization pulse signals; specifically , Including the following setting methods: (1) carrying a GNSS positioning module, at this time, the synchronization pulse signal obtained by the GNSS positioning module is directly used as the system time synchronization signal, (2) carrying a wireless communication module, at this time, Directly obtain the network time from the wireless network through the wireless communication module as the system time synchronization signal, (3) equipped with multiple GNSS positioning modules, and use the synchronized pulse signal obtained by the best signal GNSS among the multiple GNSS positioning modules as the system time synchronization Signal, (4) equipped with multiple wireless communication modules, using the time signal obtained by the wireless communication module with the best communication quality as the system time synchronization signal, (5) equipped with a GNSS positioning module and a wireless communication module, because the satellite can output accurate And the signal with high stability, so in most cases, the synchronization pulse signal
  • a GNSS positioning module and a wireless communication module can form an RTK positioning module (Real-time Kinematic , Real-time dynamic difference method), specifically, its application depends on the differential signal of the base station, and then find the difference on the receiver to solve the coordinate position, the data positioning accuracy of this solution can reach the centimeter level, such as having a known position
  • the base station is relatively close to the unmanned aerial vehicle, so the atmospheric influence they receive when receiving satellite signals is also basically close. Because the base station itself has known position coordinates, it is new to the original position coordinates after obtaining the coordinates provided by the satellite. Difference, and inform the unmanned aerial vehicle of the difference result through wireless communication to achieve the effect of improving the positioning accuracy of the unmanned aerial vehicle.
  • the optimal synchronization pulse signal in the synchronization pulse signal there may be many different optimal selection rules to determine the optimal synchronization pulse signal in the synchronization pulse signal, for example, according to the signal strength received by each positioning module, the optimal synchronization pulse is determined Signal, and/or according to the size of the signal-to-noise ratio carried by each positioning module, determine the optimal synchronization pulse signal, for example, according to the properties of the satellite source of the communication in the GNSS positioning module, the optimal synchronization pulse signal can also be determined according to The number of satellites communicating in the GNSS positioning module determines the optimal synchronization pulse signal.
  • the time between the functional units in the UAV can be realized Consistency of synchronization signals, such as controlling the time consistency of driving flight and system positioning, and controlling the time consistency of data collection and system positioning, thereby improving the control accuracy of operations such as flight control and data collection, on the other hand, reducing the user's own The error and/or the probability of delay when selecting the optimal synchronization pulse signal, so as to achieve the consistency of the actions of the various functional modules in the UAV.
  • the system time synchronization signal further includes: real-time detection of the signal-to-noise ratio of the system time synchronization signal and real-time detection of the system time synchronization signal during the unified timing operation of the functional units of the UAV using the system time synchronization signal The signal-to-noise ratio of the synchronization pulse signals in other positioning modules; when a synchronization pulse signal with a higher signal-to-noise ratio is detected, the synchronization signal with a higher signal-to-noise ratio is switched to the system time synchronization signal.
  • the central processor outputs a low level to the data selection switch to use the synchronization pulse signal of the positioning module 1 as the system time synchronization signal; when the SNR in the positioning module 2 is high (such as the second half of the signal) , The central processor outputs a high level to the data selection switch to use the synchronization pulse signal of the positioning module 2 as the system time synchronization signal.
  • one processor control signal is used to select between two different positioning modules as the synchronization signal of the system time. When there are multiple positioning modules, multiple processor control signals are used to select between two different positioning modules as the synchronization signal of the system time.
  • switching the synchronization signal with a higher signal-to-noise ratio to the system time synchronization signal includes: sending a switching instruction of a high and low level signal to the corresponding data selection switch to control the input of the system time synchronization signal. source.
  • the above determination of the optimal synchronization pulse signal in the synchronization pulse signal as the system time synchronization signal specifically includes: for a GNSS positioning module, a satellite that parses the positioning signal received by each GNSS positioning module Source attribute, number of satellite sources, signal strength and signal-to-noise ratio; determine the optimal synchronization pulse signal according to at least one of satellite source attribute, number of satellite sources, signal strength and signal-to-noise ratio.
  • different positioning modules use different positioning systems, they may include a GPS positioning module, a Beidou satellite navigation module, a GLONASS positioning module, and a Galileo satellite navigation module, etc. Due to different satellite sources, the area where the UAV is located is not At the same time, the accuracy of the positioning information obtained through different positioning modules will also be different. In addition, the strength of the positioning signal and the signal-to-noise ratio will also affect the accuracy of the positioning information. Since the positioning information carries a synchronization pulse signal, Determining the optimal synchronization pulse signal based on the signal information at the sending end is beneficial to improve the accuracy of the system time synchronization signal, thereby reducing the error of the system synchronization operation.
  • the determination of the optimal synchronization pulse signal according to at least one of satellite source attributes, satellite source number, signal strength and signal-to-noise ratio specifically includes: according to signal strength and corresponding weight value, and signal-to-noise ratio And the corresponding weight value determines the optimal synchronization pulse signal.
  • the accuracy of the positioning signal can be judged based on only the signal strength and the preset weight value, the signal-to-noise ratio and the preset weight value to determine
  • the above determination of the optimal synchronization pulse signal in the synchronization pulse signal as the system time synchronization signal specifically includes: determining a plurality of positioning modules according to the working condition information of the unmanned aerial vehicle and the environmental sensing information
  • the preferred positioning module in is to determine the synchronization pulse signal of the preferred positioning module as the optimal synchronization pulse.
  • the working condition information of the aircraft includes flight speed, flight attitude and flight altitude, etc.
  • the environmental sensing information is obtained through an environmental sensor installed on the unmanned aerial vehicle.
  • the environmental sensor may include an air humidity sensor, an atmospheric environmental sensor, and a rainfall sensor As well as detection radar, etc., the optimal synchronization pulse signal is determined based on the working condition information of the UAV and the environmental sensing information, which has better environmental adaptability.
  • the above determination of the optimal synchronization pulse signal in the synchronization pulse signal as the system time synchronization signal specifically includes: according to the signal strength of the synchronization pulse signal, the signal-to-noise ratio, and the unmanned The working condition information of the aircraft and the environmental sensing information determine the optimal synchronization pulse signal.
  • At least one positioning module includes a GNSS positioning module RTK positioning module.
  • the GNSS positioning module includes at least one of a GPS positioning module, a Beidou satellite navigation module, a GLONASS positioning module, and a Galileo satellite navigation module.
  • the embodiment of the present application also provides a method for switching the system time synchronization signal.
  • the method for switching the system time synchronization signal in a scenario with at least one positioning module is defined, including:
  • Step 302 The at least one GNSS positioning module and/or the wireless communication module respectively receive synchronization pulse signals
  • Step 304 Determine the optimal synchronization pulse signal in the synchronization pulse signal as the system time synchronization signal.
  • step 302 specifically includes: Step 402: For the GNSS positioning module, parse the satellite source attributes, number of satellite sources, and signals of the positioning signals received by each of the GNSS positioning modules Intensity and signal-to-noise ratio; step 404, determining the optimal synchronization pulse signal according to at least one of the attributes of the satellite source, the number of satellite sources, the signal strength and the signal-to-noise ratio.
  • step 404 specifically includes: determining the optimal synchronization pulse signal according to the signal strength and the corresponding weight value, and the signal-to-noise ratio and the corresponding weight value.
  • step 302 specifically includes: determining a preferred positioning module among the plurality of positioning modules according to the operating condition information of the unmanned aerial vehicle and environmental sensing information, so as to synchronize the preferred positioning module
  • the pulse signal is determined to be the optimal synchronization pulse.
  • step 302 specifically includes: determining the optimal synchronization pulse signal according to the signal strength, signal-to-noise ratio of the synchronization pulse signal, working condition information of the UAV, and environmental sensing information.
  • At least one positioning module includes a GNSS positioning module and an RTK positioning module.
  • the GNSS positioning module includes at least one of a GPS positioning module, a Beidou satellite navigation module, a GLONASS positioning module, and a Galileo satellite navigation module.
  • an embodiment of the present application provides a control system, including: a central processor 602, which is used to perform a unified timing operation on a functional unit 608 of an unmanned aerial vehicle using a system time synchronization signal.
  • the GNSS positioning module at least one GNSS positioning module and/or wireless communication module are respectively electrically connected to the central processor 602 for receiving synchronization pulse signals; data selection switch 606, data selection switch 606 The input of the is connected with at least one GNSS positioning module and/or wireless communication module connected in parallel.
  • the data selection switch 606 is also electrically connected to the central processor 602, which is used to: After the synchronization pulse signal, the control data selection switch 606 is connected to the GNSS positioning module corresponding to the optimal synchronization pulse signal to determine the optimal synchronization pulse signal as the system time synchronization signal.
  • the positioning module 604, the positioning module 606, and the positioning module 608 may be included to receive different satellite signals respectively.
  • At least one sensor module is connected to the output of the data selection switch 606, and is used to receive a system time synchronization signal, and use the system time synchronization signal to perform time alignment on the sensor data collected by the sensor module deal with.
  • the sensor module includes at least one of a camera, a video camera, a visual sensor, an attitude sensor, a pickup, a radar, and a measuring instrument.
  • the central processor 602 is further used to: analyze the satellite source attributes, number of satellite sources, signal strength, and signal-to-noise ratio of the positioning signals received by each GNSS positioning module; according to the satellite source attributes, satellites At least one of the number of sources, signal strength, and signal-to-noise ratio determines the optimal synchronization pulse signal.
  • the central processor 602 is further configured to: determine the preferred positioning module among the plurality of positioning modules according to the working condition information of the unmanned aerial vehicle and the environmental sensing information, so as to synchronize the pulse signal of the preferred positioning module Determined as the best sync pulse signal.
  • it further includes: a flight control module, connected to the output of the data selection switch 606, for receiving a system time synchronization signal, and performing time alignment processing on the flight control using the system time synchronization signal.
  • each function module in the UAV system communicates with the positioning module in the UAV to implement PPS signal communication;
  • the positioning module communicates with the satellite, the satellite can output the most accurate and long-term stability signal from the satellite, the number of satellites, position, ephemeris and other information and push it to the UAV;
  • each functional module After the processor in each functional module receives the selected optimal synchronization pulse signal, it processes the received sensor information and performs time correspondence in the information stored by itself;
  • the sensory data collected after the unmanned aerial vehicle has landed on the ground such as surveying and mapping can be highly aligned with the position information of the collected position points.
  • the intelligent selection of the optimal synchronous pulse signal is to carry out serial data communication through the UAV's central processor 602 and each positioning module of the aircraft.
  • the central processor 602 transmits the types and number of satellites returned by each positioning module, positioning received signal strength, Receive the corresponding current flight status and surrounding environment sensing information such as signal-to-noise ratio, and control the data selection switch 606 after data synthesis to dynamically select the best synchronization pulse signal in multiple positioning modules, thereby achieving dynamic and intelligent without user intervention.
  • Comprehensive, accurate PPS signal automatic selection is to carry out serial data communication through the UAV's central processor 602 and each positioning module of the aircraft.
  • the central processor 602 transmits the types and number of satellites returned by each positioning module, positioning received signal strength, Receive the corresponding current flight status and surrounding environment sensing information such as signal-to-noise ratio, and control the data selection switch 606 after data synthesis to dynamically select the best synchronization pulse signal in multiple positioning modules, thereby achieving dynamic and intelligent without user intervention.
  • the UAV is equipped with a shooting device, and the connector between the shooting device and the UAV is provided with a hot shoe signal interface.
  • the hot shoe signal interface is multiplexed to transmit signals including system time synchronization At least two kinds of pulse signals; the data selection switch is connected to the hot shoe signal interface, and the data selection switch is also used to select the time synchronization pulse signal and/or the shooting instruction pulse signal for transmission through the hot shoe signal interface.
  • the at least two types of pulse signals are a unified time synchronization signal (that is, an optimal time synchronization pulse signal) and a shooting instruction pulse signal instructing to perform a shooting action, wherein the time synchronization pulse signal is made by no one
  • the aircraft is transmitted to the shooting device via the hot shoe signal interface, and the shooting instruction pulse signal is transmitted to the unmanned aerial vehicle via the hot shoe signal interface to indicate imaging.
  • the data rotary switch in this embodiment may be shared with the above-mentioned data selection switch for selecting the optimal synchronization pulse signal, or may be a separately provided data selection switch.
  • the UAV is also provided with a standardized load interface.
  • the standardized load interface is used to install a load device.
  • the central processor determines the load by receiving the type information of the load device transmitted by the standardized load interface.
  • the type of signal to be transmitted on the interface; the data selection switch is also connected to the standardized load interface.
  • the data selection switch is also used to select the pulse width modulation signal or the system time synchronization signal to be transmitted by the load interface according to the signal type.
  • the type information of the load device that matches the type is determined by receiving the type information of the load device, such as For the load equipment that requires time timing, the system time synchronization signal or flight control sensing signal needs to be transmitted, and for the load equipment that does not require time timing, the pulse width modulation signal can be directly transmitted.
  • An embodiment of the present application provides a time service device.
  • 7 is a structural diagram of a time signal timing device provided by an embodiment of the present application.
  • the control device described in this embodiment can execute the time service method as described above.
  • the apparatus in this embodiment may include: a memory 702 and a processor 704.
  • the processor 704 may be a central processing unit (Central Processing Unit, CPU).
  • the processor 704 may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), application specific integrated circuits (Application Specific Integrated Circuits, ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the memory 702 is used to store the time service method described in the program code steps 202 to 204.
  • FIG. 8 is a structural diagram of a signal switching device provided by an embodiment of the present application.
  • the signal switching device described in this embodiment may perform the switching method described above.
  • the apparatus in this embodiment may include: a memory 802 and a processor 804.
  • the processor 804 may be a central processing unit (Central Processing Unit, CPU).
  • the processor 804 may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), application specific integrated circuits (Application Specific Integrated Circuits, ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the memory 802 is used to store program codes
  • the system time synchronization signal needs to be used for timing to synchronize the shooting operation with the actual position.
  • the embodiment of the present application provides a control method for an unmanned aerial vehicle, as shown in FIG.
  • the method of the signal interface is limited, including:
  • Step 902 when the shooting device performs the shooting operation, the multiplexed hot shoe signal interface transmits at least two pulse signals.
  • the shooting device is installed on the unmanned aerial vehicle through a connecting device to realize the transmission of electrical signals between the shooting device and the unmanned aerial vehicle through the connecting device, wherein the standardized connector has a hot shoe
  • the signal interface can be a set of pulse signal transmission pins (that is, the original hot shoe signal pins) in a connector in the form, or a separate connection port.
  • At least two types of pulse signals are transmitted through the same standardized connector.
  • the at least two types of pulse signals may include a pulse signal for indicating imaging and a signal from the positioning module. Time synchronization pulse signal.
  • the time alignment of the at least two signals can be achieved to meet the time synchronization between the functional modules corresponding to the at least two pulse signals in the UAV system, to improve the Synchronization of operations within the human-machine system.
  • the multiplexing of at least two pulse signals can be realized through the form of multiplexing of the hot shoe signal interface, thereby achieving compatibility for the application of existing products .
  • multiplexing includes pin multiplexing, time division multiplexing, statistical time division multiplexing, and wavelength division multiplexing.
  • the same transmission pins can be multiplexed for pulse signal transmission.
  • the existing transmission pins can be further classified to separately transmit pulse signals.
  • the multiplexed hot shoe signal interface transmits at least two pulse signals. Depending on the nature of the pulse signal, it can be transmitted in the same direction or reversely.
  • the at least two pulse signals include the above-mentioned When the imaging pulse signal and the time synchronization pulse signal from the positioning module, these two signals are transmitted in reverse.
  • the above-mentioned unmanned aerial vehicle control method further includes: when the shooting device performs the shooting operation, multiplexing the hot shoe signal interface to transmit at least two pulse signals, specifically including: step 1002, in When the shooting device performs the shooting operation, the hot shoe signal interface is used to transmit the time synchronization pulse signal to the shooting device; step 1004, and the hot shoe signal interface is used to receive the shooting instruction pulse signal sent by the shooting device.
  • the two pulse signals can be transmitted synchronously or asynchronously.
  • the shooting device directly guides the hot shoe signal through the received time synchronization pulse signal to achieve high alignment between the image shooting and the satellite time.
  • the shooting device corrects the running clock through the received time synchronization pulse signal, so as to achieve the alignment between the hot shoe signal generated during image shooting and the time synchronization pulse signal.
  • the at least two pulse signals may include a pulse signal for indicating imaging (ie, a hot shoe signal) and a time synchronization pulse signal from the positioning module, wherein the hot shoe signal is transmitted from the camera to the UAV processor After the time synchronization pulse signal is transmitted from the positioning module to the processor, the processor transmits it to the shooting device.
  • a pulse signal for indicating imaging ie, a hot shoe signal
  • a time synchronization pulse signal from the positioning module
  • the processor transmits it to the shooting device.
  • the transmission method of the time synchronization pulse signal is shown in Figure 12. From the perspective of the UAV's central processor, it is a simple time synchronization pulse signal output mode when the shooting operation is not performed.
  • the time synchronization pulse signal passes through the hot shoe signal
  • the pin is transmitted to the camera controller inside the shooting device.
  • the transmission mode of the shooting instruction pulse signal is shown in FIG. 13, when the shooting operation is performed, the shooting instruction pulse signal output mode is used.
  • the hot shoe signal pin is multiplexed to transmit the time synchronization pulse signal to the camera inside the camera
  • the cathode receives the hot shoe signal sent by the camera controller inside the shooting device through the hot shoe signal pin.
  • FIG. 14 shows the manner in which the shooting instruction pulse signal and the time synchronization pulse signal are transmitted synchronously.
  • the signal transmitted from the unmanned aerial vehicle to the shooting device is a time synchronization pulse signal
  • the signal transmitted from the shooting device to the unmanned aerial vehicle is the shooting instruction pulse.
  • Signal ie hot shoe signal
  • the method further includes: using a first group of pulse signal transmission pins on the hot shoe signal interface to transmit time synchronization pulse signals; and using a second group of pulse signal transmission pins on the hot shoe signal interface to transmit shooting instruction pulses signal.
  • the pulse signal transmission pins in the interface can be divided into two groups, one of which performs time synchronization pulse signal transmission, and the other performs shooting instruction pulse Signal (hot shoe signal) transmission, two sets of signals are transmitted in parallel to achieve multiplexing of the hot shoe signal interface, and using this transmission method, the transmission of time synchronization pulse signal and hot shoe signal is relatively independent, so it will not be transmitted Disturbance in the process.
  • the method further includes: controlling the pulse signal transmission pin on the hot shoe signal interface to transmit the time synchronization pulse signal and the shooting instruction pulse signal by using pin multiplexing.
  • the same transmission pin is used to transmit the time synchronization pulse signal and the shooting instruction pulse signal (hot shoe signal) using the pin multiplexing method, where A register is used to separately record different users corresponding to different states of the transmission pins, so as to separately transmit the hot shoe signal and the time synchronization pulse signal by controlling the multiplexing of the transmission pins.
  • the method further includes: controlling the pulse signal transmission pin on the hot shoe signal interface to transmit the time synchronization pulse signal and the shooting instruction pulse signal respectively in a time division multiplexing manner.
  • time-division multiplexing can also be used to transmit and transmit the time synchronization pulse signal and the shooting instruction pulse signal (hot shoe signal) respectively.
  • the time-division multiplexing finger will provide The transmission time for the entire channel (wired pin formed by the transmission pin structure) is divided into several time slices (time slots) to allocate these time slots to each signal source for use, and each signal is in its own time slot
  • the exclusive signal is used for data transmission, and this multiplexing method is adopted to facilitate adjustment control according to the pulse signal.
  • Step 1102 when the shooting device is in an idle state, using a hot shoe signal interface to transmit a time synchronization pulse signal to the shooting device.
  • the hot shoe signal transmission pin only needs to be sent from the processor of the drone to the controller of the shooting device Transmit the time synchronization pulse signal, so that the shooting execution time of the shooting device and the positioning module with the time synchronization pulse signal are time aligned, so that the image to be captured can be accurately captured at the specified position, thereby improving the accuracy of the shooting control .
  • the UAV is provided with a positioning module, the positioning module receives a time synchronization pulse signal; and the time synchronization pulse signal is used to perform a unified timing operation on the shooting device.
  • the positioning module receives positioning information sent by the satellite, and the positioning information carries a time synchronization pulse signal representing the satellite time.
  • the control functional unit uses the system time synchronization signal as a standard The time signal works.
  • the functional unit of the UAV can also include a data processing unit, a sensor data acquisition unit, a route control unit, a power unit, and a remote control unit.
  • the method of determining the optimal synchronization pulse signal Determine the system time synchronization signal to achieve unified timing of the drone's shooting module, flight control module, image processing module, etc., so as to ensure the control of the unmanned aerial vehicle, the planning of the flight route, the attitude of the unmanned aerial vehicle, and the unmanned aerial vehicle
  • the real-time positioning of the aircraft and the time when the sensor is triggered to collect sensor data are consistent. While achieving efficient flight, the sensor data collection time is consistent with the actual location time to improve the collection efficiency. Further, it can also be based on The sensory data determines whether to correct the flight path, and due to the consistency of time, the feedback of the correction is more timely.
  • the positioning module includes a wireless communication module and/or at least one GNSS positioning module to receive time synchronization pulse signals sent by satellites and/or base stations.
  • At least one GNSS (Global Navigation Satellite System, global navigation satellite system, generally refers to all satellite navigation systems) positioning module and/or wireless communication module respectively receive synchronization pulse signals; specifically, including the following setting methods: (1) A GNSS positioning module, at this time, the synchronization pulse signal obtained by the GNSS positioning module is directly used as the system time synchronization signal, (2) carrying a wireless communication module, at this time, the network time is directly obtained from the wireless network through the wireless communication module As a system time synchronization signal, (3) equipped with multiple GNSS positioning modules, the synchronization pulse signal obtained by the GNSS with the best signal among the multiple GNSS positioning modules is used as the system time synchronization signal, (4) equipped with multiple wireless communication modules, The time signal obtained by the wireless communication module with the best communication quality is used as the system time synchronization signal.
  • GNSS Global Navigation Satellite System, global navigation satellite system, generally refers to all satellite navigation systems
  • GNSS positioning module It is equipped with a GNSS positioning module and a wireless communication module. Since the satellite can output a signal with high accuracy and high stability, in most cases The synchronization pulse signal in the GNSS positioning module is preferably used as the system time synchronization signal.
  • a GNDD positioning module and a wireless communication module can form an RTK positioning module (Real-time Kinematic, real-time dynamic differential method). Specifically, its application Rely on the difference signal of the base station, and then find the difference solution coordinate position on the receiver. The data positioning accuracy of this solution can reach the centimeter level. For example, there is a base station with a known position, and the distance between the base station and the UAV is compared. The influence of the atmosphere when receiving satellite signals is also close.
  • Aircraft to achieve the effect of improving the positioning accuracy of unmanned aerial vehicles (6) carrying a GNSS positioning module and multiple wireless communication modules, and extracting the time signal by determining the optimal signal between a GNSS positioning module and multiple wireless communication modules As the system time synchronization signal, (7) equipped with multiple GNSS positioning modules and one wireless communication module, by determining the synchronization pulse signal among the signals with the highest accuracy among the multiple GNSS positioning modules as the system time synchronization signal, (8) equipped with multiple The GNSS positioning module and multiple wireless communication modules determine the synchronization pulse signal among the signals with the highest accuracy among the multiple GNSS positioning modules as the system time synchronization signal.
  • the optimal selection rules to determine the optimal synchronization pulse signal in the synchronization pulse signal, for example, to determine the optimal synchronization pulse signal according to the signal strength received by each positioning module, and /Or determine the optimal synchronization pulse signal according to the size of the signal noise carried by each positioning module, for example, according to the properties of the satellite source of the communication in the GNSS positioning module, determine the optimal synchronization pulse signal, or according to the GNSS positioning module
  • the number of satellites in communication determines the optimal synchronization pulse signal.
  • the optimal synchronization pulse signal as the system time synchronization signal to time the functional units at the same time, on the one hand, it can achieve The consistency of the time synchronization signals, such as the time consistency of controlling flight and system positioning, and the time consistency of controlling data collection and system positioning, thereby improving the control accuracy of flight control, data collection and other operations, on the other hand, reducing the The user selects the error and/or the probability of delay when the optimal synchronization pulse signal is selected, so as to achieve the consistency of the actions of the various functional modules in the UAV.
  • it further includes: using a data selection switch to control and adjust the conduction direction of the pulse signal transmission pin in the hot shoe signal interface to respectively transmit the time synchronization pulse signal and the shooting instruction pulse signal.
  • the data selection switch can be added to determine the transmission direction of the pulse signal pin and the signal transmission type in different transmission modes.
  • the data selection switch is based on the given input Address code, select a specified one from a group of input signals and send it to the logic combination circuit of the output terminal.
  • the data selection switch may not be added, and the two pins on the controller inside the shooting device may be directly connected, but complex program logic is required to control the up and down of the processor interface Ensure the normal transmission of the signal.
  • the method further includes: acquiring the status identification of the shooting device by using a bus communication protocol; determining the status information of the shooting device according to the status identification, so as to control the data selection switch according to the status information to perform a selection operation.
  • the status identification of the shooting device can also be obtained through bus communication, such as determining whether the shooting device is on by detecting whether the shooting device is at a high level output or a low level output Or off state, so that the signal transmission state of the hot shoe signal interface can be determined according to the obtained state identification information, thereby realizing the function of controlling the data selection switch based on the state detection of the shooting device, thereby achieving the accuracy of different pulse signals transmission.
  • the method further includes: after sending a shooting instruction to the shooting device, triggering the flash of the shooting device to generate a shooting instruction pulse signal according to the shooting instruction to generate a shooting image according to the shooting instruction pulse signal.
  • the flash of the shooting device sends a pulse prompt signal to the image processor, that is, the hot shoe signal, indicating that the shooting device has completed the imaging action at this moment, so as to freeze the shooting time, through the above hot shoe signal
  • the operation of aligning with the time synchronization pulse signal aligns the fixed shooting time with the satellite time, and then obtains the accurate shooting image at that moment to obtain high-precision detection information for detection.
  • the unmanned aerial vehicle is provided with a shooting device, and through the multiplexing of the hot shoe signal interface on the connector between the shooting device and the unmanned aerial vehicle, combined with the added data selection switch, a high-precision detection function is realized.
  • the method further includes: the shooting device generates a shot image according to the shooting instruction pulse signal; or the unmanned aerial vehicle generates a shot image according to the shooting instruction pulse signal.
  • the imaging module there may be two ways of setting the imaging module, one is to directly image on the shooting device, and the other is to transmit the shooting data to the unmanned aerial vehicle, and the unmanned aerial vehicle realizes the imaging.
  • an image processor is set on the unmanned aerial vehicle.
  • the image data Based on the shooting instruction pulse signal (hot shoe signal), the image data can be obtained on the shooting device or on the unmanned aerial vehicle.
  • the image data is obtained on the above to further derive the data, combined with the time synchronization pulse signal transmitted to the shooting device, to achieve high alignment of the image shooting operation and real-time positioning.
  • using the time synchronization pulse signal to perform a unified timing operation on the shooting device specifically includes: recording the generation time of the shooting instruction pulse signal according to the time synchronization pulse signal to synchronize the signal between the positioning module and the shooting device.
  • the generation time of the shooting instruction pulse signal can be recorded by the time synchronization pulse signal to achieve time alignment, and in addition, the controller of the shooting device can be modified by the time synchronization pulse signal. Control the clock to achieve time alignment.
  • the camera is carried by a gimbal configured on the fuselage of the UAV to adjust the attitude of the camera according to the attitude of the gimbal.
  • the connector can be set On unmanned aerial vehicles, it can also be set on the gimbal.
  • an embodiment of the present application provides an unmanned aerial vehicle, including: an aircraft body 150, including a power system 1502 and a control system 1504, the power system 1502 is used to provide flight power; a shooting device 160, the shooting device 160 can pass
  • the connector is electrically connected to the UAV.
  • the connector includes a hot shoe signal interface 1506; a control system 1504 is specifically configured to: when the shooting device 160 performs a shooting operation, multiplex the hot shoe signal interface 1506 to transmit at least two pulse signals.
  • the unmanned aerial vehicle may include an aircraft body 150 and a load device.
  • the load device is specifically a shooting device 160.
  • the aircraft body 150 further includes a power system 1502 and a control system 1504, wherein the hot shoe signal interface 1506 is controlled by the control system 1504. Multiplexing to use the same signal interface to perform the transmission of at least two pulse signals.
  • the existing signal transmission module there is no need to change the above standard connectors and the hardware structure connected to the connectors.
  • the time alignment of the at least two signals can be achieved to meet the time synchronization between the functional modules corresponding to the at least two pulse signals in the UAV system, to improve the Synchronization of the operation and execution in the man-machine system.
  • the shooting device 160 applicable to the original hot shoe signal interface 1506 can be multiplexed through the hot shoe signal interface 1506 to achieve at least two pulse signal transmission. To achieve compatibility with existing product applications.
  • control system 1504 is specifically configured to: when the shooting device 160 performs a shooting operation, use the hot shoe signal interface 1506 to transmit the time synchronization pulse signal to the shooting device 160; and use the hot shoe signal interface 1506 to receive The imaging instruction pulse signal sent by the imaging device 160.
  • the at least two pulse signals may include a pulse signal for indicating imaging (ie, a hot shoe signal) and a time synchronization pulse signal from the positioning module, wherein the hot shoe signal is directed by the camera 160 to the UAV processor After transmission, the time synchronization pulse signal is transmitted from the positioning module to the processor, and then transmitted from the processor to the shooting device 160.
  • a pulse signal for indicating imaging ie, a hot shoe signal
  • a time synchronization pulse signal from the positioning module
  • the processor transmitted from the positioning module to the processor, and then transmitted from the processor to the shooting device 160.
  • control system 1504 includes: a positioning module for receiving a time synchronization pulse signal.
  • the positioning module receives positioning information sent by the satellite, and the positioning information carries a time synchronization pulse signal representing the satellite time.
  • the control functional unit uses the system time synchronization signal as a standard The time signal works.
  • the functional unit of the UAV can also include a data processing unit, a sensor data acquisition unit, a route control unit, a power unit, and a remote control unit.
  • the method of determining the optimal synchronization pulse signal Determine the system time synchronization signal to achieve unified timing of the drone's shooting module, flight control module, image processing module, etc., so as to ensure the control of the unmanned aerial vehicle, the planning of the flight route, the attitude of the unmanned aerial vehicle, and the unmanned aerial vehicle
  • the real-time positioning of the aircraft and the time when the sensor is triggered to collect sensor data are consistent. While achieving efficient flight, the sensor data collection time is consistent with the actual location time to improve the collection efficiency. Further, it can also be based on The sensory data determines whether to correct the flight path, and due to the consistency of time, the feedback of the correction is more timely.
  • the positioning module includes a wireless communication module and/or at least one GNSS positioning module to receive the time synchronization pulse signal sent by the satellite and/or the base station.
  • control system 1504 further includes: a central processor 15042, which is electrically connected to the positioning module and used to obtain a time synchronization pulse signal.
  • the control system 1504 may specifically include a central processor 15042 and a flight controller, wherein the flight controller is used to guide the flight of the unmanned aerial vehicle, and the central processor 15042 is used to process various data, wherein the central processor 15042 receives After the time synchronization pulse signal transmitted by the positioning module, the time synchronization pulse signal is transmitted to the camera 160 through the hot shoe signal interface 1506.
  • the photographing device 160 includes: an internal controller 1602; the control system 1504 further includes: a microcontroller 15044, electrically connected to the internal controller 1602, for receiving the photographing device 160 sent by the microcontroller 15044 State information, and generate a selection instruction according to the state information.
  • the selection instruction is used to control the transmission direction of the time synchronization pulse signal and the shooting instruction pulse signal.
  • the internal controller 1602 of the shooting device 160 generates a state identification by detecting the current state of the shooting device 160, and the microcontroller 15044 in the drone acquires the state identification of the shooting device 160 through bus communication, for example, by detecting the shooting device Whether 160 is a high-level output or a low-level output determines whether the shooting device 160 is in the on state or the off state, so that the state of the shooting device 160 can be determined according to the acquired state identifier, to further generate a selection instruction according to the state, and determine the
  • the signal transmission state of the hot shoe signal interface 1506 realizes the function of controlling the transmission of the pulse signal based on the state detection of the photographing device 160.
  • control system 1504 further includes: a data selection switch 15048, which can be communicatively coupled to the central processing unit 15042, the microcontroller 15044, and the connector, and the data selection switch 15048 is used to select instructions Control and adjust the conduction direction of the pulse signal transmission pin in the hot shoe signal interface 1506 to respectively transmit the time synchronization pulse signal and the shooting instruction pulse signal.
  • a data selection switch 15048 which can be communicatively coupled to the central processing unit 15042, the microcontroller 15044, and the connector, and the data selection switch 15048 is used to select instructions Control and adjust the conduction direction of the pulse signal transmission pin in the hot shoe signal interface 1506 to respectively transmit the time synchronization pulse signal and the shooting instruction pulse signal.
  • the data selection switch 15048 can be added to determine the transmission direction of the pulse signal pin and the signal transmission type in different transmission modes.
  • the data selection switch 15048 is based on the Select the specified input address code, select a specified one from a group of input signals and send it to the logic combination circuit of the output terminal.
  • the function of controlling the data selection switch 15048 to select the pulse signal is realized, and finally different pulse signals are realized. Accurate transmission.
  • control system 1504 further includes: an image processor 15046, configured to receive a shooting instruction pulse signal and generate a shooting image according to the shooting instruction pulse signal.
  • the imaging module there may be two ways of setting the imaging module, one is to directly image on the shooting device 160, and the other is to transmit the shooting data to the unmanned aerial vehicle, and the unmanned aerial vehicle realizes the imaging.
  • An image processor 15046 is provided in the shooting device 160.
  • an image processor 15046 is provided on the unmanned aerial vehicle. Based on the shooting instruction pulse signal (hot shoe signal), the image data is obtained on the shooting device 160 Or obtain the image data on the UAV to further derive the data, combined with the time synchronization pulse signal transmitted to the shooting device 160, to achieve high alignment of the image shooting operation and real-time positioning.
  • the shooting device 160 further includes a flash 1604, which is electrically connected to the internal controller 1602, and is used to generate a shooting instruction pulse signal.
  • the flash 1604 of the shooting device 160 sends a pulse prompt signal to the image processor 15046, that is, a hot shoe signal, indicating that the shooting device 160 has completed the imaging action at this moment, thereby freezing the shooting time.
  • the alignment operation of the hot shoe signal and the time synchronization pulse signal aligns the fixed shooting time with the satellite time, and then obtains the accurate shooting image at that moment to obtain high-precision detection information for detection.
  • the unmanned aerial vehicle further includes a gimbal 170 for carrying the photographing device 160, and a connector is provided on the gimbal 170.
  • the camera 160 is carried by the gimbal 170 disposed on the fuselage of the UAV to adjust the attitude of the camera 160 according to the attitude of the gimbal 170.
  • the connector may be installed on the UAV or the gimbal 170.
  • an embodiment of the present application further provides a method for controlling an unmanned aerial vehicle, as shown in FIG. 16, including:
  • Step 1602 identifying the type information of the load equipment
  • Step 1604 Determine the signal type transmitted by the designated port on the load interface according to the type information.
  • the type identification of the load device is used to determine the output of the flight control sensing synchronization signal or pulse for indicating synchronization to the load device Width-modulated signal, or not output, to achieve multiplexing of the standardized interface.
  • the load in addition to running the software development kit on the flight control system to achieve identification, the load can also push its own load information to the mobile connected to the remote control through the wireless communication link of the remote control and the aircraft
  • the application program of the device such as a mobile phone
  • the load is recognized in the application of the mobile device.
  • this method has a long communication delay. When the surrounding communication channel environment is not good, communication data errors or communication failure may occur, affecting the user experience.
  • This application uses the designated port pins to multiplex and receive the load type information transmitted through the designated port pins for intelligent load identification, which realizes the need to meet the requirements of the flight control sensing synchronization signal output without changing the designated port, and through communication Automatic switching by means of intelligent load identification eliminates the trouble of users switching output modes by themselves, and eliminates the risk of damage to the load in the case of mismatched load modes, saving the cost of changing designated ports and improving the user experience.
  • it further includes: detecting the status of the load designated port to determine whether the load designated port is connected to the load device according to the detection result.
  • the state of the load designated port is detected to determine whether the load designated port is connected to the load device according to the detection result, which specifically includes: detecting whether the load designated port is connected to a high-impedance state, when it is detected that the load designated port does not display a high When in resistance state, make sure that the designated port of the load is connected to the load device.
  • identifying the type information of the load device specifically includes: acquiring the device information of the load device, and determining the type information according to the device information.
  • obtaining the device information of the load device and determining the type information according to the device information specifically includes: detecting whether the device parameter in the device information matches the pre-stored type parameter, so that when it is detected that the device parameter matches the type parameter, Determine the type information according to the type parameter.
  • obtaining the device information of the load device and determining the type information according to the device information specifically further includes: determining whether the load device is an inductive load according to the device information.
  • the signal type transmitted by the designated port on the load interface is determined according to the type information, which specifically includes: the signal type includes a flight control sensing synchronization signal and a pulse width modulation signal; when the load device is determined to be an inductive load, by specifying The port transmits the flight control sensing synchronization signal to the load device.
  • This application uses the method of pin multiplexing and intelligent identification switch control.
  • the pin multiplexing method realizes the need to meet the output of the flight control sensing synchronization signal without changing the interface, and performs automatic load identification through communication.
  • Switching eliminates the trouble of users switching the output mode by themselves, and also eliminates the risk of damage to the load in the case of mismatched load modes.
  • This application adds a data selection switch to the pin of the designated port of the UAV standardization.
  • a pulse width modulation signal designated port in the standard definition of the designated port.
  • a pulse width modulation signal pin of the flight control is connected to the data selection switch , That is, the flight control sensing synchronization signal is multiplexed with the pulse width modulation signal output by the flight control.
  • the designated port When the accessory load is not connected, the designated port does not output and assumes a high-impedance state.
  • the external load transmits its own device information to the flight control through the serial port data on the original standardized designated port.
  • the flight control system runs the software development kit.
  • the software development kit confirms the load type and transfers the load. The recognition result is provided to the UAV microcontroller. If it is a load requiring a flight control sensing synchronization signal (such as an external vision module), the microcontroller controls the data selection switch to output the flight control sensing synchronization signal; if it is confirmed that the load is a demand For the load of the pulse width modulation signal, the microcontroller controls the data selection switch to output the pulse width modulation signal.
  • a flight control sensing synchronization signal such as an external vision module
  • the entire multiplexed signal link that can output a pulse width signal/flight control synchronization signal is shown in FIG. 18.
  • the program flow chart of the software development kit inside the flight control is shown in Figure 17 below.
  • a load identification method includes:
  • Step 1702 detect whether there is a load signal access, when the detection result is "Yes”, go to step 1704, when the detection result is "No", go to step 1714;
  • Step 1704 according to the load signal, it is detected whether the load equipment needs the flight control sensing synchronization signal.
  • the detection result is "Yes”, go to step 1706, and when the detection result is "No”, go to step 1710;
  • Step 1706 the load device needs the flight control to sense the synchronization signal, and it goes to step 1708;
  • Step 1708 output the flight control sensing synchronization signal to the load device
  • Step 1710 the load device requires a pulse width modulation signal, and it goes to step 1712;
  • Step 1712 output a pulse width modulation signal to the load device
  • Step 1714 the load device does not need the adjustment signal, and it goes to step 1716;
  • Step 1716 no output.
  • the method further includes: using the flight control sensing synchronization signal to control the inductive load to collect the sensing information to guide the flight control according to the sensing information.
  • the flight control sensing synchronous signal is used to control the inductive load to collect the sensing information to guide the flight control according to the sensing information.
  • the inductive load includes visual information sensing load
  • the flight control sensing signal is used to control the visual information sensing load Collect visual information to adjust flight control signals synchronously based on visual information.
  • the flight control sensing synchronous signal is used to control the inductive load to collect the sensing information to guide the flight control according to the sensing information.
  • the inductive load includes a detection information sensing load
  • the flight control sensing signal is used to control the detection information sensing load Collect detection information to adjust flight control signals synchronously according to the detection information.
  • the flight control sensing synchronous signal is used to control the inductive load to collect the sensing information to guide the flight control according to the sensing information.
  • the inductive load includes attitude information sensing load
  • the flight control sensing signal is used to control the attitude information sensing load Collect the attitude information of the UAV to adjust the flight control signal synchronously according to the attitude information.
  • determining the type of the signal transmitted by the designated port on the load interface according to the type information specifically includes: when it is determined that the load device is a non-inductive load, transmitting a pulse width adjustment signal to the load device through the designated port.
  • the non-inductive load includes a motor.
  • it further includes: using a data selection switch to select the type of signal transmitted through the designated port.
  • the load interface is a standard interface for unmanned aerial vehicles.
  • the designated port is a serial port.
  • an unmanned aerial vehicle including: an aircraft body, including a power system and a control system, the power system is used to provide flight power; a load interface can be set at The aircraft body is electrically connected to the power system; the load device can be installed on the aircraft body through the load interface, and the control system is specifically used to: identify the type information of the load device; determine the transmission by the specified port on the load interface according to the type information signal type.
  • the load device includes an inductive load, wherein when it is determined that the load device is an inductive load, a flight control sensing synchronization signal is transmitted to the load device through a designated port, and when it is determined that the load device is a non-inductive load, The designated port transmits the pulse width adjustment signal to the load device.
  • the inductive load includes at least one of a visual information inductive load, a detection information inductive load, and a gesture information inductive load.
  • control system further includes: a central processor, configured to determine and generate a flight control sensing synchronization signal or a pulse width adjustment signal according to the type information of the load device.
  • control system further includes: a microcontroller, electrically connected to the central processor, for receiving type information to generate a corresponding control signal according to the type information; and a data selection switch, respectively connected to the central processor and the micro controller The device and the load interface are electrically connected, and the data selection switch is used to control the transmission of the flight control sensing synchronization signal or pulse width adjustment signal through the designated port according to the control signal.
  • the load interface is a standard interface for unmanned aerial vehicles.
  • the designated port is a serial port.
  • An embodiment of the present application further provides an unmanned aerial vehicle, including the control system of the unmanned aerial vehicle described in any of the foregoing embodiments.
  • Embodiments of the present application provide a computer-readable storage medium on which a computer program is stored.
  • the computer program is executed by a processor, the steps of the time service method and/or the signal switching method in the above embodiment are implemented.
  • any process or method description in the flowchart or otherwise described herein can be understood as representing executable instructions including one or more steps for implementing a specific logical function or process Modules, fragments, or parts of the code, and the scope of the preferred embodiment of the present application includes additional implementations, which may not be in the order shown or discussed, including in a substantially simultaneous manner or in the reverse order according to the functions involved The order to perform the functions should be understood by those skilled in the art to which the embodiments of the present application belong.
  • a "computer-readable medium” may be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.
  • computer-readable media include the following: electrical connections (electronic devices) with one or more wires, portable computer cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable and editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable means if necessary Process to obtain the program electronically and then store it in computer memory.
  • each part of the present application may be implemented by hardware, software, firmware, or a combination thereof.
  • multiple steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system.
  • a logic gate circuit for implementing a logic function on a data signal
  • PGA programmable gate arrays
  • FPGA field programmable gate arrays
  • a person of ordinary skill in the art can understand that all or part of the steps carried in the method of the above embodiments can be completed by instructing relevant hardware through a program.
  • the program can be stored in a computer-readable storage medium, and when the program is executed , Including one of the steps of the method embodiment or a combination thereof.
  • each functional unit in each embodiment of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or software function modules. If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.
  • the storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk.

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Abstract

La présente invention concerne un procédé de synchronisation de signal de temps, un procédé de commutation de signal, un appareil, un système de commande et un véhicule aérien sans pilote. Le procédé de synchronisation de signal de temps comprend: la détermination d'un signal d'impulsion de synchronisation généré par un module de positionnement en tant que signal de synchronisation de temps du système; et la réalisation d'une opération de synchronisation unifiée sur des unités fonctionnelles d'un véhicule aérien sans pilote à l'aide du signal de synchronisation de temps du système. La solution technique de la présente invention est capable de réaliser la cohérence de signaux de synchronisation de temps entre des unités fonctionnelles d'un véhicule aérien sans pilote, par exemple, la commande de la cohérence temporelle du positionnement de vol et du système, et la commande de la cohérence temporelle de l'acquisition de données et du positionnement du système, ce qui permet d'améliorer la précision de commande d'opérations telles que la commande de vol et l'acquisition de données.
PCT/CN2018/124482 2018-12-27 2018-12-27 Procédé de synchronisation, procédé de commutation, appareil, système de commande et véhicule aérien sans pilote WO2020133105A1 (fr)

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CN201880065463.2A CN111279282A (zh) 2018-12-27 2018-12-27 授时方法、切换方法、装置、控制系统及无人飞行器

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CN113922910B (zh) * 2021-10-09 2023-09-19 广东汇天航空航天科技有限公司 传感器时间同步处理方法、装置和系统

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