WO2022057015A1

WO2022057015A1 - Course anomaly detection and safety protection method, and device and storage medium

Info

Publication number: WO2022057015A1
Application number: PCT/CN2020/124268
Authority: WO
Inventors: 蒋元庆; 王鹭
Original assignee: 拓攻（南京）机器人有限公司
Priority date: 2020-09-21
Filing date: 2020-10-28
Publication date: 2022-03-24
Also published as: CN112162307A; CN112162307B

Abstract

Disclosed are a course anomaly detection and safety protection method, and a device and a storage medium The method comprises: when an unmanned aerial vehicle is in a flight scenario, acquiring magnetic compass associated data, at least one piece of real-time kinematic (RTK) associated data, and gyroscope data; according to the magnetic compass associated data, determining whether a magnetic course of the unmanned aerial vehicle is anomalous, and according to the at least one piece of RTK associated data, determining whether an RTK course of the unmanned aerial vehicle is anomalous, and according to the gyroscope data and the magnetic course, determining whether a real-time fusion course of the unmanned aerial vehicle is anomalous; and when it is determined that at least one of the magnetic course, the RTK course and the real-time fusion course is anomalous, executing a safety protection measure for at least one of the magnetic course, the RTK course and the real-time fusion course which is anomalous.

Description

Heading anomaly detection and safety protection method, device and storage medium

This application claims the priority of a Chinese patent application with application number 202010995661.8 filed with the China Patent Office on September 21, 2020, the entire contents of which are incorporated herein by reference.

technical field

The present disclosure relates to unmanned aerial vehicle technology, for example, to a heading anomaly detection and safety protection method, device and storage medium.

Background technique

During the flight operation of the UAV, the heading needs to be detected in real time, so that the heading can be corrected in time and the flight safety can be improved.

For micro and small UAVs mainly operating in low-altitude areas, the heading is usually measured by observing the initial heading angle by a magnetic compass, by observing the yaw angular velocity by a gyroscope, and then calculating the heading angle error, or by RTK (Real-time kinematic, real-time Dynamic) dual antenna direction finding technology to measure heading. RTK dual-antenna direction finding technology calculates the current heading by calculating the angle between the line connecting the phase centers of the two antennas and the true north direction in real time. In the method of measuring heading in the related art, when encountering interference from changes in the internal or external magnetic field of the fuselage, or when the heading measuring equipment is abnormal, the measurement accuracy will decrease, thereby affecting the flight safety of the UAV.

SUMMARY OF THE INVENTION

The present disclosure provides a heading abnormality detection and safety protection method, device, equipment and storage medium, so as to realize accurate and stable UAV heading detection, and timely and effective safety protection when the heading is abnormal, so as to improve the performance of the UAV. flight safety.

Provided is a heading anomaly detection and safety protection method, the method comprising:

When the UAV is in the flight scene, obtain magnetic compass correlation data, at least one real-time dynamic RTK correlation data and gyroscope data;

According to the magnetic compass associated data, it is judged whether the magnetic heading of the drone is abnormal, and according to the at least one RTK correlation data, it is judged whether the RTK heading of the drone is abnormal, and according to the gyroscope data and Magnetic heading, to judge whether the real-time fusion heading of the UAV is abnormal;

When it is determined that at least one of the magnetic heading, the RTK heading, and the real-time fusion heading is abnormal, at least one safety protection measure of the abnormal magnetic heading, the RTK heading, and the real-time fusion heading is performed.

Also provided is a heading anomaly detection and safety protection method, the method comprising:

When the drone is in the ground scene, obtain the magnetic compass associated data and at least one RTK associated data;

According to the magnetic compass correlation data, determine whether the magnetic heading of the drone is abnormal, and judge whether the RTK heading of the drone is abnormal according to the at least one RTK correlation data;

When it is determined that both the magnetic heading and the RTK heading are abnormal, the user is prompted for the abnormal heading, and the flying device of the UAV is locked.

Also provided is a heading abnormality detection and safety protection device, the device comprising:

The flight scene data acquisition module is set to acquire magnetic compass associated data, at least one item of real-time dynamic RTK associated data and gyroscope data when the UAV is in a flight scene;

The flight scene heading abnormality judgment module is configured to judge whether the magnetic heading of the UAV is abnormal according to the magnetic compass associated data, and judge whether the RTK heading of the UAV is abnormal according to the at least one RTK related data , and according to the gyroscope data and the magnetic heading, determine whether the real-time fusion heading of the UAV is abnormal;

The flight scene safety protection module is set to execute the safety protection of at least one of the abnormal magnetic heading, RTK heading and real-time fusion heading when it is determined that at least one of the magnetic heading, RTK heading and real-time fusion heading is abnormal measure.

The ground scene data acquisition module is set to acquire magnetic compass associated data and at least one RTK associated data when the UAV is in the ground scene;

The ground scene heading abnormality judgment module is configured to judge whether the magnetic heading of the UAV is abnormal according to the magnetic compass associated data, and judge whether the RTK heading of the UAV is abnormal according to the at least one RTK related data ;

The ground scene safety protection module is configured to prompt the user for abnormal heading and lock the flying device of the UAV when it is determined that both the magnetic heading and the RTK heading are abnormal.

A computer device is also provided, including a memory, a processor, and a computer program stored in the memory and running on the processor, the processor implementing the program according to any one of the embodiments of the present invention when the processor executes the program. Heading anomaly detection and safety protection method.

A storage medium containing computer-executable instructions is also provided, and when executed by a computer processor, the computer-executable instructions are used to execute the heading anomaly detection and security protection method according to any one of the embodiments of the present invention.

Description of drawings

1 is a flowchart of a method for detecting abnormal headings and a safety protection method in Embodiment 1 of the present invention;

FIG. 2 is a flowchart of a method for abnormal heading detection and safety protection in Embodiment 2 of the present invention;

Fig. 3a is a flow chart of a method for abnormal heading detection and safety protection in Embodiment 3 of the present invention;

Fig. 3b is a flow chart of a ground safety protection method in applicable scenario 1;

Fig. 3c is the flow chart of a kind of multi-magnetic compass detection method in applicable scenario 1;

Fig. 3d is a flow chart of a single magnetic compass detection method in applicable scenario 1;

Fig. 3e is the flow chart of a kind of air safety protection method in applicable scenario 1;

4 is a schematic structural diagram of a heading abnormality detection and safety protection device in Embodiment 4 of the present invention;

5 is a schematic structural diagram of a heading abnormality detection and safety protection device in Embodiment 5 of the present invention;

FIG. 6 is a schematic structural diagram of a computer device in Embodiment 6 of the present invention.

detailed description

The present disclosure will be described below with reference to the accompanying drawings and embodiments. The specific embodiments described herein are only used to explain the present disclosure, but not to limit the present disclosure.

Example 1

FIG. 1 is a flowchart of a method for detecting abnormal heading and safety protection provided in Embodiment 1 of the present invention. This embodiment can be applied to detecting abnormal heading during the flight of an unmanned aerial vehicle, and carrying out safety protection when the heading is abnormal. In some cases, the method can be performed by a heading anomaly detection and safety protection device, which can be implemented by software and/or hardware, and is generally integrated in computer equipment and used in conjunction with detection equipment such as magnetic compass, gyroscope, and RTK equipment. .

As shown in Figure 1, the technical solution of the embodiment of the present invention includes the following steps:

S110. When the drone is in a flight scene, acquire magnetic compass associated data, at least one item of real-time dynamic RTK associated data, and gyroscope data.

The magnetic compass correlation data is the data observed by the magnetic compass. RTK-linked data refers to data related to RTK devices.

In the embodiment of the present invention, the current scene of the drone is different, and the data related to judging whether the heading is abnormal are also different. When the UAV is in the flight scene, it is necessary to obtain the associated data of the magnetic compass, the associated data of RTK, and the data of the gyroscope.

S120. Determine whether the magnetic heading of the UAV is abnormal according to the magnetic compass associated data, and determine whether the RTK heading of the UAV is abnormal according to the at least one RTK associated data, and determine whether the RTK heading of the UAV is abnormal according to the gyroscope data and magnetic heading to determine whether the real-time fusion heading of the UAV is abnormal.

Magnetic heading refers to the UAV heading obtained from the associated data of the magnetic compass, RTK heading refers to the UAV heading obtained from the RTK associated data, and real-time fusion heading refers to the calculation of the UAV heading based on the gyroscope data and magnetic heading according to the navigation fusion algorithm and other methods. The resulting heading, also known as the true heading, is the heading used by the drone for flight control operations.

In the embodiment of the present invention, the magnetic heading, RTK heading and real-time fusion heading are combined to comprehensively judge whether the current heading of the unmanned aerial vehicle is abnormal, which can ensure that the headings of the unmanned aerial vehicle obtained by the three methods are complementary to each other, and improve the performance of the unmanned aerial vehicle. The accuracy of heading detection.

In an optional embodiment of the present disclosure, determining whether the RTK heading of the drone is abnormal according to the at least one item of RTK-related data includes: if it is determined that at least one item of the acquired RTK-related data is abnormal , then determine that the RTK heading of the drone is abnormal; the at least one item of RTK-related data includes: RTK heading status data and RTK heading equipment installation status data, and the RTK heading status data includes equipment presence status data, equipment communication status Data and data exception status data.

RTK heading status data is used to judge whether RTK heading may be abnormal. The installation status data of RTK heading equipment is used to judge whether the installation status of RTK equipment is normal.

In the embodiment of the present invention, the calculation of the RTK heading is related to the RTK dual-antenna measurement position. If the installation positions of the two antennas are reversed, the RTK heading data will be reversed. Therefore, it is necessary to judge the RTK heading based on the installation status data of the RTK heading equipment. Check whether the installation status of the dual antennas is normal. Exemplarily, the judgment can be made by judging whether the difference between the magnetic heading and the RTK heading is within the preset error range, and if the difference between the magnetic heading and the RTK heading is within the preset error range, it means that the RTK dual antenna The installation is normal. If the difference between the magnetic heading and the RTK heading is not within the preset error range, the RTK dual antenna installation is abnormal.

The device existence status data is used to determine whether the RTK device exists, and the device communication status data is used to determine whether the RTK heading data stream is interrupted, so as to determine whether the communication status of the RTK device is abnormal. Data abnormality status data is used to judge the validity status of RTK heading by RTK heading standard deviation.

In this embodiment of the present invention, as long as at least one item of RTK-related data is abnormal, it means that the RTK heading is also abnormal.

S130. If it is determined that at least one of the magnetic heading, the RTK heading, and the real-time fusion heading is abnormal, execute a safety protection measure for at least one of the abnormal magnetic heading, the RTK heading, and the real-time fusion heading.

In the embodiment of the present invention, different safety protection measures are implemented according to different heading abnormality levels. This setting can improve the controllability of the drone in the event of an abnormal heading during flight.

In an optional embodiment of the present invention, if it is determined that at least one of the magnetic heading, the RTK heading and the real-time fusion heading is abnormal, the safety of at least one of the abnormal magnetic heading, the RTK heading and the real-time fusion heading is performed. Protection measures, including: if it is determined that the magnetic heading or RTK heading is abnormal, prompting the user for abnormal heading; if it is determined that both the magnetic heading and the RTK heading are abnormal, control weakening and/or mode degradation of the UAV If it is determined that there is an abnormality in the real-time fusion heading, control weakening processing and mode degradation processing are performed on the UAV, and a heading abnormality prompt is given to the user.

Mode degradation refers to the process of gradually switching the drone from the autonomous flight mode to the manual operation mode when the heading is abnormal. Control weakening refers to the process of weakening the position and attitude control of the UAV when the heading is abnormal, thereby reducing the flight maneuverability of the UAV.

In the embodiment of the present invention, when the drone is in a flight scene, different safety protection measures are performed according to the level of abnormal conditions. When one of the magnetic heading and RTK heading is abnormal, since the heading data source without abnormality can operate normally, the user will be prompted for heading abnormality, and the UAV heading detection can be continued accurately, ensuring the safety of the UAV flight. At the same time, the basic flight ability of the UAV can be guaranteed. When the magnetic heading and RTK heading are abnormal at the same time, the UAV cannot continue to fly. Therefore, the UAV is subjected to mode degradation processing and/or control weakening processing, and abnormal prompts are provided to ensure the flight safety of the UAV. Regardless of whether the magnetic heading and RTK heading are abnormal, as long as the real-time fusion heading is abnormal, it means that the UAV can no longer perform flight control operations based on the real-time fusion heading. Abnormal prompts to ensure the flight safety of the drone.

The technical solution of this embodiment is to obtain magnetic compass associated data, RTK associated data, and gyroscope data during the flight of the UAV, and determine whether the magnetic heading, RTK heading, and real-time fusion heading are abnormal, and when at least one of them is abnormal , and implement the corresponding safety protection measures. The method of measuring the heading in the related technology has solved the problem that the measurement accuracy is reduced and the safety is poor when encountering abnormal conditions such as magnetic field change interference or abnormal measurement equipment, and realizes accurate and stable UAV heading detection, and Timely and effective safety protection is carried out when the heading is abnormal, which improves the flight safety of the UAV.

Embodiment 2

2 is a flowchart of a method for detecting abnormal heading and safety protection provided in Embodiment 2 of the present invention. On the basis of the above-mentioned embodiment, the embodiment of the present invention provides a process for judging whether the magnetic heading is abnormal according to the magnetic compass associated data, The process of judging whether the RTK heading is abnormal based on the RTK-related data, the process of judging whether the real-time fusion heading is abnormal according to the gyroscope data and the magnetic heading, and the process of implementing safety protection measures when abnormal are described.

As shown in Figure 2, the technical solution of the embodiment of the present invention includes the following steps:

S210. When the drone is in a flight scene, acquire the magnetic field intensity of the surrounding environment of the drone as the magnetic compass correlation data.

In the embodiment of the present invention, during the flight of the unmanned aerial vehicle, it is necessary to comprehensively detect the heading of the unmanned aerial vehicle according to the data obtained from the three data sources of the magnetic compass, the gyroscope and the RTK device.

S220. Acquire at least one item of real-time dynamic RTK associated data.

The at least one item of RTK-related data includes: RTK heading status data and RTK heading equipment installation status data, where the RTK heading status data includes equipment presence status data, equipment communication status data, and data abnormality status data.

S230, acquiring the heading deflection angular velocity of the UAV as gyroscope data.

The heading deflection angular velocity is the data detected by the gyroscope, and the heading deflection angular velocity is used to assist in judging whether the real-time fusion heading of the UAV is normal.

S240. Calculate the modulus value of the magnetic field strength according to the magnetic field strength.

Exemplarily, the modulus value of the magnetic field strength can be calculated by the following formula:

In the formula, M is the modulus value of the magnetic field strength, and mag _x , mag _y and mag _z are the magnetic field strengths calibrated by the calibration parameter matrix.

S250. Obtain a calibration parameter matrix, and calculate the magnetic heading according to the magnetic field strength and the calibration parameter matrix.

The calibration parameter matrix is pre-stored and is a parameter matrix used for magnetic field strength calibration. After the magnetic field strength is calibrated by the calibration parameter matrix, the magnetic heading can be obtained through the preset trigonometric function operation.

S260, determine whether the magnetic field strength modulus value and the magnetic heading satisfy the threshold condition, if the magnetic field strength modulus value and/or the magnetic heading do not satisfy the threshold condition, execute S270, and if both the magnetic field strength modulus value and the magnetic heading satisfy the threshold condition, execute S280 .

In this embodiment of the present invention, when the magnetic heading is greater than or equal to a preset magnetic heading threshold, the magnetic heading satisfies the threshold condition. When the difference between the magnetic field strength modulus value and the pre-stored standard magnetic field strength modulus value is greater than or equal to a preset difference threshold, the magnetic field strength modulus value satisfies the threshold condition. When at least one of the magnetic field strength modulus value and the magnetic heading does not meet the threshold condition, it is determined that the magnetic heading of the UAV is abnormal.

It should be noted that in S240-S260, the magnetic heading and the magnetic field strength modulus value are calculated at the same time, and whether the magnetic heading is abnormal is judged comprehensively through the magnetic heading and the magnetic field strength modulus value. It is set to only calculate the magnetic heading or only the modulus value of the magnetic field strength, and when it satisfies the threshold condition, it is determined that the magnetic heading is abnormal, which is not limited in this embodiment of the present invention.

S270, determine that the magnetic heading is abnormal.

S280. Determine whether at least one item of the acquired RTK associated data is abnormal. If at least one item of the acquired RTK associated data is abnormal, perform S290. If none of the acquired RTK associated data is abnormal, perform S2100.

S290, determine that the RTK heading of the UAV is abnormal.

In this embodiment of the present invention, when at least one item of RTK-related data is abnormal, the RTK heading of the drone is abnormal.

S2100. Input the heading yaw rate and the magnetic heading into the Kalman observer, and obtain the magnetic heading residual output by the Kalman observer.

The Kalman observer is used to output the real-time fusion heading and the magnetic heading residual. The magnetic heading residual refers to the difference between the observed value of the magnetic heading and the real-time fusion heading. The magnitude of the magnetic heading residual can be used to represent the real-time fusion heading. Reliability.

S2110. Determine whether the magnetic heading residual is greater than or equal to the preset residual threshold, if the magnetic heading residual is greater than or equal to the preset residual threshold, execute S2120, and if the magnetic heading residual is less than the preset residual threshold, then Execute S2130.

S2120. Determine that the real-time fusion heading of the UAV is abnormal.

In the embodiment of the present invention, when the magnetic heading residual is greater than or equal to the preset residual threshold, it is determined that the real-time fusion heading of the UAV is abnormal.

S2130: Determine whether the real-time fusion heading is abnormal, if the real-time fusion heading is abnormal, perform S2140, and if the real-time fusion heading is not abnormal, perform S2150.

In the embodiment of the present invention, the abnormality of the real-time fusion heading is the highest level of heading abnormality. When the abnormality of the real-time fusion heading is determined, the control weakening processing and the mode degradation processing are directly performed on the UAV, and the abnormal heading is prompted to the user.

S2140. Perform control weakening processing and mode degradation processing on the UAV, and prompt the user for abnormal heading.

S2150. Determine whether the magnetic heading and the RTK heading are abnormal. If both the magnetic heading and the RTK heading are abnormal, execute S2160. If both the magnetic heading and the RTK heading are abnormal, execute S2170.

In the embodiment of the present invention, the real-time fusion heading is normal, but when the magnetic heading and the RTK heading are abnormal, control weakening processing and/or mode degradation processing are carried out to the unmanned aerial vehicle, and a heading abnormality prompt is carried out to the user.

S2160. Perform control weakening processing and/or mode degradation processing on the UAV, and prompt the user for abnormal heading.

S2170. Determine whether the magnetic heading is abnormal or the RTK heading is abnormal. If the magnetic heading is abnormal or the RTK heading is abnormal, execute S2180. If both the magnetic heading and the RTK heading are normal, execute S2190.

In the embodiment of the present invention, the real-time fusion heading is normal, and one of the magnetic heading or RTK heading is abnormal, which is a low-level heading abnormality. At this time, there are still available data sources, and the UAV is still in a controllable state. , you can only prompt the user for abnormal heading.

S2180. Prompt the user of abnormal heading.

S2190. End.

The technical solution of this embodiment is to obtain magnetic compass associated data, RTK associated data and gyroscope data during the flight of the UAV, and determine whether the magnetic heading is abnormal according to the magnetic compass associated data, and judge whether the RTK heading is abnormal according to the RTK associated data. abnormality, and judge whether the real-time fusion heading is abnormal according to the gyroscope data and the magnetic heading. When at least one item is abnormal, implement corresponding safety protection measures according to the abnormality level. The method of measuring the heading in the related technology has solved the problem that the measurement accuracy is reduced and the safety is poor when encountering abnormal conditions such as magnetic field change interference or abnormal measurement equipment, and realizes accurate and stable UAV heading detection, and Timely and effective safety protection is carried out when the heading is abnormal, which improves the flight safety of the UAV.

Embodiment 3

3a is a flow chart of a method for abnormal heading detection and safety protection provided in Embodiment 3 of the present invention. This embodiment is applicable to detecting abnormal headings when the UAV is on the ground, and carrying out safety protection when the heading is abnormal. In some cases, the method can be performed by a heading anomaly detection and safety protection device, which can be implemented by software and/or hardware, and is generally integrated in computer equipment to be used in conjunction with detection equipment such as magnetic compass and RTK equipment.

As shown in Figure 3a, the technical solution of the embodiment of the present invention includes the following steps:

S310. When the drone is in a ground scene, acquire magnetic compass associated data and at least one item of RTK associated data.

Optionally, acquiring the magnetic compass correlation data may include: acquiring the magnetic field intensity of the surrounding environment of the drone as the magnetic compass correlation data.

In the embodiment of the present invention, when the drone is in the ground scene, the magnetic field strength is used as the magnetic compass correlation data to detect the interference of the ground magnetic field on the magnetic heading.

S320. Determine whether the magnetic heading of the drone is abnormal according to the magnetic compass correlation data, and determine whether the RTK heading of the drone is abnormal according to the at least one item of RTK correlation data.

Optionally, judging whether the magnetic heading of the drone is abnormal according to the magnetic compass correlation data may include: according to the magnetic field strength, using an abnormality detection algorithm that matches the number of magnetic compasses of the drone, Determine whether the magnetic heading is abnormal.

In the embodiment of the present invention, the current number of magnetic compasses of the UAV is detected, and when the UAV is configured with multiple magnetic compasses, the multi-magnetic compass detection method is used to determine whether the magnetic heading is normal; when the UAV is configured with only one magnetic compass , using the single magnetic compass detection method to judge whether the magnetic heading is normal.

When the multi-magnetic compass detection method is used to judge whether the magnetic heading is normal, the magnetic field strengths detected by the two magnetic compasses set at different heights of the UAV are obtained, and the corresponding magnetic heading and magnetic field strength modulus values are calculated respectively according to the two magnetic field strengths. The calculation process is the same as above. When the difference between the two magnetic headings is greater than or equal to the preset magnetic heading difference threshold, and/or when the difference between the two magnetic field strength modulo values is greater than or equal to the preset magnetic field strength modulo value difference threshold, Determine magnetic heading anomalies.

When the single magnetic compass detection method is used to judge whether the magnetic heading is normal, the magnetic field strength is obtained, and the magnetic field strength modulus value is calculated. When the difference between the magnetic field strength modulus value and the pre-stored standard magnetic field strength modulus value is greater than or equal to the preset difference threshold , the user will be prompted for anomaly detection. In a preset time period, a plurality of uniformly selected magnetic field intensities are acquired, a magnetic field intensity modulus value corresponding to each magnetic field intensity is calculated according to each magnetic field strength, and a mean square error of the modulus values is calculated according to the plurality of magnetic field strength modulus values. When the mean square error of the modulus value is greater than or equal to the mean square error threshold, it is determined that the magnetic heading is abnormal.

Optionally, judging whether the RTK heading of the drone is abnormal according to the at least one item of RTK-related data may include: if it is determined that at least one item of the acquired RTK-related data is abnormal, then determining that the unmanned aircraft is abnormal. The RTK heading of the aircraft is abnormal;

S330. If it is determined that both the magnetic heading and the RTK heading are abnormal, prompt the user for the abnormal heading, and lock the flying device of the UAV.

In the embodiment of the present invention, when at least one of the magnetic heading and the RTK heading is abnormal, it is forbidden to unlock the flying device of the drone, prevent the drone from flying, and prompt the user for abnormal heading.

Optionally, after it is determined that the installation state data of the RTK heading device is abnormal, the operation of prompting the user for the abnormal heading and locking the flying device of the UAV may also be performed. When the installation status data of the RTK heading equipment is abnormal, it means that the RTK dual antenna installation is wrong at this time. At this time, the UAV flight device should be prohibited from being turned on, and the user is prompted to correct the RTK dual antenna installation status.

In the technical solution of this embodiment, when the UAV is on the ground, the associated data of the magnetic compass and the associated data of the RTK are obtained, and whether the magnetic heading and the RTK heading are abnormal, respectively, and when both the magnetic heading and the RTK heading are abnormal, the corresponding safety protection measures. The method of measuring the heading in the related technology has solved the problems that the measurement accuracy is reduced and the safety is poor when encountering abnormal conditions such as magnetic field change interference or abnormal measurement equipment. It realizes accurate and stable UAV heading detection, and When the heading is abnormal, timely and effective safety protection is carried out to prevent the drone from continuing to fly, thereby ensuring the flight safety of the drone on another level.

Applicable scenario one

Fig. 3b is a flow chart of a ground safety protection method provided in applicable scenario 1 of the present disclosure. The method can be applied to a scene when the UAV is in a ground scene. As shown in Fig. 3b, the method includes:

S1. Determine whether the RTK antenna is installed normally according to the installation status data of the RTK heading device. If the RTK antenna is installed normally, execute S2, and if the RTK antenna is abnormally installed, execute S4.

S2. Determine whether the RTK heading is normal through the RTK heading status data. If the RTK heading is normal, execute S5; if the RTK heading is abnormal, execute S3.

S3, determine whether the magnetic heading is normal, if the magnetic heading is normal, execute S5, and if the magnetic heading is abnormal, execute S4.

S4. Lock the UAV flight device, and prompt the user for an abnormal heading.

S5. End.

When the drone is in the ground scene, the way to judge whether the magnetic heading is normal can be determined according to the number of magnetic compasses configured by the drone. When the UAV is equipped with multiple magnetic compasses, the multi-magnetic compass detection method is used to judge whether the magnetic heading is normal; when the UAV is only equipped with one magnetic compass, the single-magnetic compass detection method is used to judge whether the magnetic heading is normal.

Figure 3c provides a flowchart of a multi-magnetic compass detection method, as shown in Figure 3c, the steps of the method include:

S10. Obtain the magnetic field strengths corresponding to the two magnetic compasses on the drone respectively.

S20. Obtain the magnetic heading corresponding to each magnetic compass according to the magnetic field intensity corresponding to each magnetic compass and the calibration parameter matrix.

S30. Calculate the modulus value of the magnetic field intensity corresponding to each magnetic compass according to the magnetic field intensity corresponding to each magnetic compass.

S40. Determine whether the difference between the two magnetic headings is greater than or equal to the preset magnetic heading difference threshold, and if the difference between the two magnetic headings is greater than or equal to the preset magnetic heading difference threshold, perform S60, and if If the difference between the two magnetic headings is smaller than the preset magnetic heading difference threshold, S50 is executed.

S50. Determine whether the difference between the two magnetic field strength modulo values is greater than or equal to the preset magnetic field strength modulo value difference threshold, and if the difference between the two magnetic field strength modulo values is greater than or equal to the preset magnetic field strength modulo value difference If the difference between the two magnetic field strength modulus values is less than the preset magnetic field strength modulus value difference threshold, then perform S70.

S60, determine that the magnetic heading is abnormal.

S70. End.

Figure 3d provides a flowchart of a single magnetic compass detection method, as shown in Figure 3d, the steps of the method include:

S100, acquiring the magnetic field strength and the modulus value of the standard magnetic field strength.

S200. Calculate the magnetic field intensity modulus value according to the magnetic field intensity.

S300. Determine whether the difference between the modulus value of the magnetic field strength and the modulus value of the standard magnetic field strength is greater than or equal to a preset difference threshold, and if the difference between the modulus value of the magnetic field strength and the modulus value of the standard magnetic field strength is greater than or equal to the preset difference If the difference between the magnetic field strength modulus value and the standard magnetic field strength modulus value is smaller than the preset difference threshold, then perform S900.

S400. Perform an abnormality detection prompt on the user.

S500. Acquire a plurality of uniformly selected magnetic field intensities within a preset time period.

S600. Calculate a magnetic field strength modulus value corresponding to each magnetic field strength according to each magnetic field strength, and calculate the mean square error of the modulus values according to a plurality of magnetic field strength modulus values.

S700. Determine whether the mean square error is greater than or equal to the mean square error threshold. If the mean square error is greater than or equal to the mean square error threshold, execute S800, and if the mean square error is less than the mean square error threshold, execute S900.

S800. Determine that the magnetic heading is abnormal.

S900, end.

Fig. 3e is a flow chart of an air safety protection method provided in applicable scenario 1 of the present disclosure, and the method can be applied to a scene when the UAV is in an aerial scene. As shown in Fig. 3e, the method includes:

S101. Determine whether the RTK heading is abnormal through RTK associated data.

S102. Determine whether the magnetic heading is abnormal through the associated data of the magnetic compass.

S103. Determine whether the real-time fusion heading is abnormal through the gyroscope data and the magnetic heading.

S104, determine whether the real-time fusion heading is abnormal, if the real-time fusion heading is abnormal, perform S105, and if the real-time fusion heading is normal, perform S106.

S105 , performing control weakening processing and mode degradation processing on the drone, and prompting an abnormal heading to the user.

S106. Determine whether the RTK heading and the magnetic heading are abnormal. If both the RTK heading and the magnetic heading are abnormal, perform S107. If both the RTK heading and the magnetic heading are abnormal, perform 108.

S107 , performing mode degradation processing and/or control weakening processing on the drone, and prompting the user for an abnormal heading.

S108. Determine whether the RTK heading is abnormal or the magnetic heading is abnormal. If the RTK heading is abnormal or the magnetic heading is abnormal, perform S109. If both the RTK heading and the magnetic heading are normal, perform S1010.

S109 , prompting the user for an abnormal heading.

S1010. End.

Embodiment 4

4 is a schematic structural diagram of a heading abnormality detection and safety protection device provided in Embodiment 4 of the present invention. The device can be implemented by software and/or hardware, and is generally integrated in computer equipment, together with a magnetic compass, gyroscope and It is used in conjunction with detection equipment such as RTK equipment. The device includes: a flight scene data acquisition module 410 , a flight scene heading abnormality judgment module 420 and a flight scene safety protection module 430 .

The flight scene data acquisition module 410 is configured to acquire magnetic compass associated data, at least one item of real-time dynamic RTK associated data and gyroscope data when the UAV is in a flight scene; the flight scene heading abnormality judgment module 420 is configured to Magnetic compass correlation data, determine whether the magnetic heading of the drone is abnormal, according to the at least one RTK correlation data, determine whether the RTK heading of the drone is abnormal, and according to the gyroscope data and the magnetic heading, Determine whether the real-time fusion heading of the unmanned aerial vehicle is abnormal; the flight scene safety protection module 430 is set to execute the abnormal magnetic heading and RTK heading if it is determined that at least one of the magnetic heading, RTK heading and the real-time fusion heading is abnormal and at least one safety protection measure in the real-time fusion heading.

The technical solution of this embodiment is to obtain magnetic compass associated data, RTK associated data, and gyroscope data during the flight of the UAV, and determine whether the magnetic heading, RTK heading, and real-time fusion heading are abnormal, and when at least one item is abnormal , and implement the corresponding safety protection measures. The method of measuring the heading in the related technology has solved the problem that the measurement accuracy is reduced and the safety is poor when encountering abnormal conditions such as magnetic field change interference or abnormal measurement equipment. It realizes accurate and stable UAV heading detection, and Timely and effective safety protection is carried out when the heading is abnormal, which improves the flight safety of the UAV.

On the basis of the above embodiment, the flight scene heading abnormality judging module 420 includes: a flight scene RTK heading abnormality judging unit, configured to determine that if at least one item of the acquired RTK-related data is abnormal, determine the The RTK heading of the drone is abnormal; the at least one item of RTK-related data includes: RTK heading status data and RTK heading equipment installation status data, and the RTK heading status data includes equipment presence status data, equipment communication status data, and data abnormality status data.

On the basis of the above embodiment, the flight scene data acquisition module 410 includes: a first magnetic compass associated data acquisition unit, configured to acquire the magnetic field intensity of the surrounding environment of the UAV as the magnetic compass associated data; The flight scene heading abnormality judgment module 420 further includes: a magnetic field strength modulus value calculation unit, configured to calculate the magnetic field strength modulus value according to the magnetic field strength; a magnetic heading calculation unit, set to obtain a calibration parameter matrix, and based on the magnetic field strength and the calibration parameter matrix Calculate the magnetic heading; the first magnetic heading abnormality judgment unit is configured to determine that the magnetic heading is abnormal if it is determined that the magnetic field strength modulus value and/or the magnetic heading do not meet the threshold condition.

On the basis of the above embodiment, the flight scene data acquisition module 410 further includes: a gyroscope data acquisition unit, configured to acquire the heading deflection angular velocity of the UAV as the gyroscope data; the flight scene heading abnormality judgment The module 420 includes: a magnetic heading residual acquisition unit, configured to input the heading deflection angular velocity and the magnetic heading into the Kalman observer to obtain the magnetic heading residual output from the Kalman observer; the real-time fusion heading abnormality judgment unit, It is set to determine that the real-time fusion heading of the UAV is abnormal if it is determined that the magnetic heading residual is greater than or equal to a preset residual threshold.

On the basis of the above-mentioned embodiment, the flight scene safety protection module 430 includes: a first flight scene safety protection unit, which is set to alert the user of an abnormal heading if it is determined that the magnetic heading or RTK heading is abnormal; the second flight scene safety protection unit The scene safety protection unit is set to perform control weakening processing and/or mode degradation processing on the UAV if it is determined that the magnetic heading and RTK heading are abnormal, and prompt the user for heading abnormality; the third flight scene safety protection The unit is configured to perform control weakening processing and mode degradation processing on the UAV if it is determined that there is an abnormality in the real-time fusion heading, and prompt the user for abnormal heading.

The heading abnormality detection and safety protection device provided by the embodiment of the present invention can execute the heading abnormality detection and safety protection method provided by any embodiment of the present invention, and has functional modules and technical effects corresponding to the execution method.

Embodiment 5

5 is a schematic structural diagram of a heading abnormality detection and safety protection device provided in Embodiment 5 of the present invention. The device can be implemented by software and/or hardware, and is generally integrated in computer equipment, with magnetic compass and RTK equipment, etc. Use with testing equipment. The device includes: a ground scene data acquisition module 510 , a ground scene heading abnormality judgment module 520 and a ground scene safety protection module 530 .

The ground scene data acquisition module 510 is configured to obtain magnetic compass associated data and at least one item of RTK associated data when the UAV is in the ground scene; the ground scene heading abnormality judgment module 520 is configured to judge based on the magnetic compass associated data Whether the magnetic heading of the UAV is abnormal, and judge whether the RTK heading of the UAV is abnormal according to the at least one item of RTK-related data; the ground scene safety protection module 530 is set to if it is determined that the magnetic heading and the RTK heading are both abnormal. If there is an abnormality, the user will be prompted for an abnormal heading, and the flying device of the drone will be locked.

On the basis of the above embodiment, the ground scene data acquisition module 510 includes: a second magnetic compass associated data acquisition unit, configured to acquire the magnetic field intensity of the surrounding environment of the UAV as the magnetic compass associated data; The ground scene heading abnormality judgment module 520 includes: a second magnetic heading abnormality judgment unit, configured to use an abnormality detection algorithm matching the number of magnetic compasses of the UAV according to the magnetic field strength to judge whether the magnetic heading is abnormal.

On the basis of the above embodiment, the ground scene heading abnormality judging module 520 includes: a ground scene RTK heading abnormality judging unit, configured to determine that if at least one item of the acquired RTK-related data is abnormal, the The RTK heading of the drone is abnormal; the at least one item of RTK-related data includes: RTK heading status data and RTK heading equipment installation status data, and the RTK heading status data includes equipment presence status data, equipment communication status data, and data abnormality status data.

Embodiment 6

FIG. 6 is a schematic structural diagram of a computer device according to Embodiment 6 of the present invention. As shown in FIG. 6 , the computer device includes a processor 70, a memory 71, an input device 72, and an output device 73; The number can be one or more, and one processor 70 is taken as an example in FIG. 6; the processor 70, the memory 71, the input device 72 and the output device 73 in the computer equipment can be connected by a bus or in other ways. Take bus connection as an example.

As a computer-readable storage medium, the memory 71 can be configured to store software programs, computer-executable programs, and modules, such as the modules corresponding to the heading anomaly detection and safety protection methods in the embodiments of the present invention (for example, heading anomaly detection and safety protection methods). The flight scene data acquisition module 410, the flight scene heading abnormality judgment module 420, and the flight scene safety protection module 430 in the protection device), and the module corresponding to the heading abnormality detection and the safety protection method in the embodiment of the present invention (for example, heading abnormality detection and the ground scene data acquisition module 510, the ground scene heading abnormality judgment module 520, and the ground scene safety protection module 530 in the safety protection device). The processor 70 executes various functional applications and data processing of the computer device by running the software programs, instructions and modules stored in the memory 71 , that is, to implement the above-mentioned heading anomaly detection and security protection method. The method includes: when the UAV is in a flight scene, acquiring magnetic compass associated data, at least one item of real-time dynamic RTK associated data and gyroscope data; and determining whether the magnetic heading of the UAV is based on the magnetic compass associated data Abnormal, according to the at least one RTK associated data, determine whether the RTK heading of the UAV is abnormal, and according to the gyroscope data and the magnetic heading, determine whether the real-time fusion heading of the UAV is abnormal; if it is determined If at least one of the magnetic heading, RTK heading, and real-time fusion heading is abnormal, the safety protection measures for at least one of the abnormal magnetic heading, RTK heading, and real-time fusion heading are executed.

The above-mentioned heading anomaly detection and safety protection method can also be implemented. The method includes: when the UAV is in a ground scene, acquiring magnetic compass associated data and at least one item of RTK associated data; judging whether the magnetic heading of the UAV is abnormal according to the magnetic compass associated data, and determining whether the magnetic heading of the UAV is abnormal according to the At least one item of RTK-related data determines whether the RTK heading of the drone is abnormal; if it is determined that both the magnetic heading and the RTK heading are abnormal, the user is prompted for abnormal heading, and the flying device of the drone is locked.

The memory 71 may mainly include a storage program area and a storage data area, the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. In addition, the memory 71 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, memory 71 may further include memory located remotely from processor 70, which may be connected to the computer device through a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The input device 72 may be configured to receive input numerical or character information and to generate key signal input related to user settings and function control of the computer device. The output device 73 may include a display device such as a display screen.

Embodiment 7

Embodiment 7 of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are used to execute a heading anomaly detection and security protection method when executed by a computer processor. The method includes: when there is no When the man-machine is in a flight scene, obtain magnetic compass associated data, at least one item of real-time dynamic RTK associated data, and gyroscope data; according to the magnetic compass associated data, determine whether the magnetic heading of the drone is abnormal, according to the at least one An RTK associated data, to determine whether the RTK heading of the UAV is abnormal, and according to the gyroscope data and the magnetic heading, to determine whether the real-time fusion heading of the UAV is abnormal; if the magnetic heading, RTK heading and If at least one of the real-time fusion headings is abnormal, the safety protection measures for at least one of the abnormal magnetic headings, RTK headings, and real-time fusion headings are executed.

It can also be used to perform a heading abnormality detection and safety protection method, the method includes: when the drone is in a ground scene, acquiring magnetic compass associated data and at least one RTK associated data; according to the magnetic compass associated data, determine Whether the magnetic heading of the drone is abnormal, and judge whether the RTK heading of the drone is abnormal according to the at least one item of RTK-related data; prompt, and lock the flying device of the drone.

A storage medium containing computer-executable instructions provided by an embodiment of the present invention, the computer-executable instructions of which are not limited to the above-mentioned method operations, and can also execute the heading anomaly detection and security protection method provided by any embodiment of the present invention related operations in .

From the above description of the embodiments, those skilled in the art can understand that the present disclosure can be implemented by means of software and necessary general-purpose hardware, and can also be implemented by hardware. The present disclosure may be embodied in the form of a software product, and the computer software product may be stored in a computer-readable storage medium, such as a floppy disk of a computer, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory) , RAM), flash memory (FLASH), hard disk or optical disk, etc., including a plurality of instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute the methods described in various embodiments of the present disclosure.

It is worth noting that in the above embodiments of the abnormal heading detection and safety protection device, the multiple units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized. Yes; in addition, the names of the multiple functional units are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present disclosure.

Claims

A heading anomaly detection and safety protection method, comprising:

When the UAV is in the flight scene, obtain magnetic compass correlation data, at least one real-time dynamic RTK correlation data and gyroscope data;

According to the magnetic compass associated data, it is judged whether the magnetic heading of the drone is abnormal, and according to the at least one RTK correlation data, it is judged whether the RTK heading of the drone is abnormal, and according to the gyroscope data and For the magnetic heading, determine whether the real-time fusion heading of the UAV is abnormal;

If it is determined that at least one of the magnetic heading, the RTK heading, and the real-time fusion heading is abnormal, execute at least one of the abnormal magnetic heading, the RTK heading, and the real-time fusion heading. item security measures.
The method according to claim 1, wherein, according to the at least one item of RTK-related data, judging whether the RTK heading of the drone is abnormal, comprising:

If it is determined that at least one item of the acquired RTK-related data is abnormal, determine that the RTK heading of the drone is abnormal;

The at least one item of RTK-related data includes: RTK heading status data and RTK heading equipment installation status data, where the RTK heading status data includes equipment presence status data, equipment communication status data, and data abnormality status data.
The method according to claim 1 or 2, wherein acquiring magnetic compass associated data comprises:

Obtain the magnetic field strength of the surrounding environment of the UAV as the magnetic compass associated data;

According to the magnetic compass correlation data, determine whether the magnetic heading of the UAV is abnormal, including:

According to the magnetic field strength, calculate the magnetic field strength modulus value;

obtaining a calibration parameter matrix, and calculating the magnetic heading according to the magnetic field strength and the calibration parameter matrix;

When it is determined that at least one of the magnetic field strength modulus value and the magnetic heading does not satisfy a threshold condition, it is determined that the magnetic heading is abnormal.
The method of claim 3, wherein acquiring gyroscope data comprises:

Obtain the heading deflection angular velocity of the UAV as the gyroscope data;

According to the gyroscope data and the magnetic heading, determine whether the real-time fusion heading of the UAV is abnormal, including:

inputting the heading yaw rate and the magnetic heading into a Kalman observer to obtain a magnetic heading residual output by the Kalman observer;

When it is determined that the magnetic heading residual is greater than or equal to a preset residual threshold, it is determined that the real-time fusion heading of the UAV is abnormal.
The method according to claim 1, wherein, in the case that there is an abnormality in at least one of the magnetic heading, the RTK heading and the real-time fusion heading, executing the abnormal magnetic heading, the RTK heading The heading and the safety protection measures for at least one of the real-time fusion headings, including:

When it is determined that the magnetic heading or the RTK heading is abnormal, prompt the user for abnormal heading;

When it is determined that both the magnetic heading and the RTK heading are abnormal, perform at least one of two processes of control weakening processing and mode degradation processing on the UAV, and prompt the user for abnormal heading;

When it is determined that the real-time fusion heading is abnormal, control weakening processing and mode degradation processing are performed on the UAV, and a heading abnormality prompt is given to the user.
A heading anomaly detection and safety protection method, comprising:

When the drone is in the ground scene, obtain the magnetic compass associated data and at least one RTK associated data;

According to the magnetic compass correlation data, determine whether the magnetic heading of the drone is abnormal, and judge whether the RTK heading of the drone is abnormal according to the at least one RTK correlation data;

When it is determined that both the magnetic heading and the RTK heading are abnormal, the user is prompted for the abnormal heading, and the flying device of the UAV is locked.
The method according to claim 6, wherein acquiring the magnetic compass correlation data comprises: acquiring the magnetic field strength of the surrounding environment of the drone as the magnetic compass correlation data;

According to the magnetic compass correlation data, determine whether the magnetic heading of the UAV is abnormal, including:

According to the magnetic field strength, an abnormality detection algorithm that matches the number of magnetic compasses of the UAV is used to determine whether the magnetic heading is abnormal.
The method according to claim 6, wherein judging whether the RTK heading of the drone is abnormal according to the at least one item of RTK-related data comprises:

If it is determined that at least one item of the acquired RTK-related data is abnormal, determine that the RTK heading of the drone is abnormal;

The at least one item of RTK-related data includes: RTK heading status data and RTK heading equipment installation status data, and the RTK heading status data includes equipment presence status data, equipment communication status data, and data abnormality status data.
A computer device, comprising a memory, a processor, and a computer program stored on the memory and running on the processor, when the processor executes the program, the abnormal heading according to any one of claims 1-5 is realized detection and safety protection method, or implement the heading abnormality detection and safety protection method as described in any one of claims 6-8.
A storage medium containing computer-executable instructions, when executed by a computer processor, the computer-executable instructions are used to perform the heading anomaly detection and security protection method as described in any one of claims 1-5, or to implement the method as described in claim 1. The heading abnormality detection and safety protection method according to any one of claims 6-8.