WO2022151482A1

WO2022151482A1 - State of power estimation method for unmanned aerial vehicle battery, and electronic device

Info

Publication number: WO2022151482A1
Application number: PCT/CN2021/072540
Authority: WO
Inventors: 吕纯; 孙留洋
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-01-18
Filing date: 2021-01-18
Publication date: 2022-07-21

Abstract

Provided in embodiments of the present application are a state of power estimation method for an unmanned aerial vehicle battery, and an electronic device. The method comprises: obtaining a state of power to be amended of an unmanned aerial vehicle battery; determining a current working current, a current terminal voltage, and a current open circuit voltage of the unmanned aerial vehicle battery, as well as a discharge cut-off voltage of the unmanned aerial vehicle battery; and amending the state of power to be amended according to the current open circuit voltage, the current terminal voltage, the current working current, and the current discharge cut-off voltage, and obtaining an amended state of power. A technical solution provided in an embodiment of the present application is able to improve estimation accuracy for a state of power of an unmanned aerial vehicle battery, and frequent fluctuation during the flight of an unmanned aerial vehicle can further be prevented.

Description

Power state estimation method and electronic device for UAV battery

technical field

The embodiments of the present application relate to the technical field of batteries, and in particular, to a method and electronic device for estimating the power state of a battery of a drone.

Background technique

The battery SOP (state of power, power state) represents the maximum dischargeable power (that is, the maximum output power) of the battery.

Compared with traditional consumer electronic products, drones have high requirements on the maximum output power of drone batteries during take-off acceleration and rapid flight. Therefore, the estimation of the SOP state of the UAV battery is an important content in the UAV battery management system. At present, the common SOP estimation method is offline look-up table method. The SOP estimated using this method usually has a large deviation from the true value.

SUMMARY OF THE INVENTION

The present application provides a power state estimation method and electronic device for a drone battery, which can improve the power state estimation accuracy.

A first aspect of the present application provides a power state estimation method for a drone battery, including:

Obtain the to-be-corrected power state of the UAV battery;

Determine the current open circuit voltage, current terminal voltage, current working current, and discharge cut-off voltage of the drone battery of the drone battery;

According to the current open circuit voltage, the current terminal voltage, the current operating current, and the discharge cut-off voltage, the power state to be corrected is corrected to obtain a corrected power state.

A second aspect of the present application provides an electronic device. The equipment includes:

memory for storing computer programs;

A processor that performs the following actions:

Obtain the to-be-corrected power state of the UAV battery;

In the technical solutions provided in the embodiments of the present application, the power state of the drone battery is corrected in combination with physical quantities such as voltage, current, open-circuit voltage, and discharge cut-off voltage in the current state of the drone battery, so that the corrected power state is closer to reality It also improves the estimation accuracy of the power state, which in turn helps to release the power performance of the UAV battery to ensure the user's experience and feel during flight, and also improves the safety of the UAV battery and the aircraft during use. sex. In addition, combined with the physical quantity of the current open-circuit voltage of the UAV battery, the power state is corrected, so that the corrected power state is a continuous power state rather than an instantaneous power state, which helps to ensure the flight stability of the UAV and avoid The frequent fluctuations when the drone is flying.

Description of drawings

The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The schematic embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation of the present application. In the attached image:

1 is a schematic flowchart of an embodiment of a method for estimating a power state of a drone battery provided by an embodiment of the present application;

FIG. 2 is a first-order RC circuit diagram of a battery provided by an embodiment of the present application;

3 is a schematic flowchart of another embodiment of a method for estimating a power state of a drone battery provided by an embodiment of the present application;

FIG. 4 is a schematic structural diagram of an embodiment of an electronic device according to an embodiment of the present application.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein in the specification of the application are for the purpose of describing specific embodiments only, and are not intended to limit the application.

Compared with traditional consumer electronic products, the maximum output power of the built-in battery of the drone directly affects the flying environment of the drone and the maximum angle and speed in flight. Among them, high requirements are placed on the maximum output power of the UAV battery, that is, high requirements on the power state SOP. At present, in the field of UAV battery management, the development of SOP algorithm function is relatively backward. The common SOP estimation method is the offline table lookup method: a two-dimensional table between SOP and SOC (State of charge, state of charge) and battery temperature T is established by offline testing. During the battery discharge process, according to the battery The SOC and T are used to look up the table to obtain the SOP value of the drone battery in the current state.

This scheme often has the following problems:

1. The battery power status SOP table cannot be updated. After the battery is aged, the accuracy error of the SOP parameters is large.

2. The accuracy of offline calibration parameters fluctuates due to the consistency of the samples and the differences in the test environment.

3. In order to take care of redundant scenarios, the calibration of the SOP table is usually conservative.

Based on the above problems, the SOP estimated by the offline look-up table method usually has a large deviation from the real value. This deviation will cause problems such as limited flight performance of the aircraft, poor user experience or reduced service life of the drone's battery, and reduced flight safety.

In order to solve the above problems, the present invention designs a method for improving the battery SOP estimation accuracy according to the dynamic change of the voltage during the discharge process, so as to improve the flight safety under the premise of ensuring the user's flight experience.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of this application.

FIG. 1 is a schematic flowchart of a power state estimation method provided by an embodiment of the present application. As shown in Figure 1, the method includes:

101. Acquire the to-be-corrected power state of the drone battery.

102. Determine the current open circuit voltage, current terminal voltage, current operating current, and discharge cut-off voltage of the drone battery of the drone battery.

103. Correct the to-be-corrected power state according to the current open-circuit voltage, the current terminal voltage, the current operating current, and the discharge cut-off voltage to obtain a corrected power state.

In the above-mentioned 101, the above-mentioned power state to be corrected can be estimated according to the existing estimation method.

In a specific example, the to-be-corrected power state of the UAV battery can be determined through a table look-up method. Specifically, in the above 101 "obtaining the power state to be corrected of the battery of the drone", the following steps can be used to achieve:

1011. Determine the current temperature and current state of charge of the drone battery.

1012 . According to the current temperature and the current state of charge, look up a corresponding power state through a table look-up method, as the to-be-corrected power state.

In the above 1012, according to the current temperature and the current state of charge, the corresponding power state is found in the battery SOP table as the power state to be corrected.

In the above 102, the above-mentioned current open-circuit voltage can also be found according to the table look-up method. Specifically, according to the current state of charge of the drone battery, the open-circuit voltage corresponding to the current state of charge is found by the look-up table method, as The current open circuit voltage of the drone. The correspondence table between the open circuit voltage and the state of charge can be established by offline testing. Subsequently, according to the current state of charge of the drone battery, the open-circuit voltage corresponding to the current state of charge is searched in the correspondence table.

In the above 103, according to the current open circuit voltage, the current terminal voltage, the current operating current, and the discharge cut-off voltage, the power state to be corrected is corrected to obtain the corrected power state.

In an achievable solution, in 103 above, “According to the current open-circuit voltage, the current terminal voltage, the current operating current, and the discharge cut-off voltage, correct the power state to be corrected to obtain Corrected power state", the following steps can be used to achieve:

1031. Determine a reference power state according to the current open circuit voltage, the current terminal voltage, the current operating current, and the discharge cut-off voltage.

1032. Correct the to-be-corrected power state according to the reference power state to obtain a corrected power state.

In the first achievable solution, in the above 1031, the calculation formula of the reference power state SOP ₁ is as follows:

Among them, V _oc is the current open circuit voltage of the drone battery; V _end is the discharge cut-off voltage of the drone battery; r is the internal resistance of the drone battery.

Among them, the calculation formula of the internal resistance r of the UAV battery is as follows:

Among them, V _o is the current output voltage of the drone battery (that is, the current terminal voltage); I _o is the current operating current of the drone battery.

Combining the above formula (1) and formula (2), we can get:

It can be seen that, using the above formula (3), the reference power state SOP ₁ can be calculated according to the current open circuit voltage V _oc , the current terminal voltage V _o , the current operating current I _o and the discharge cut-off voltage V _end . value of .

In this embodiment, the values of the current open circuit voltage V _oc , the current terminal voltage V _o , the current operating current I _o and the discharge cut-off voltage V _end can be directly brought into the above formula (3) , the value of the reference power state SOP ₁ is calculated.

In the above 1032, the reference power state and the to-be-corrected power state may be integrated to determine the corrected power state.

In a specific example, the first weight corresponding to the reference power state and the second weight of the to-be-corrected power state can be obtained respectively; the reference power state and the to-be-corrected power state are weighted and summed in combination with the first weight and the second weight, Get the corrected power state. The foregoing first weight and second weight may be set according to actual needs, which are not specifically limited in this embodiment of the present application.

For example: the first weight corresponding to the reference power state SOP ₁ is α; the second weight corresponding to the power state SOP ₀ to be corrected is β; then, the corrected power state SOP ₂ is:

SOP ₂ =α*SOP ₀ +β*SOP ₁ (4)

In the second achievable solution, in the above 1031 “determine the reference power state according to the current open circuit voltage, the current terminal voltage, the current operating current and the discharge cut-off voltage”, the following steps may be used specifically to fulfill:

S11. According to the current open circuit voltage, the current terminal voltage and the discharge cut-off voltage, determine the ratio of the current output power of the drone battery to the reference power state to be calculated as a correction coefficient.

S12. Determine the current output power according to the current terminal voltage and the current working current.

S13. Determine the reference power state according to the correction coefficient and the current output power.

In the above S11, the calculation formula of the current output power P of the UAV battery is as follows:

Among them, P is the current output power of the UAV battery; V _o is the current output voltage of the UAV battery; I _o is the current operating current of the UAV battery; V _oc is the current open-circuit voltage of the UAV battery; r is the internal resistance of the drone battery. Among them, the size of V _oc can be obtained by looking up the table according to the current state of charge (SOC) of the battery of the drone. Among them, the calculation formula (6) of r can be determined in combination with the first-order RC model of the UAV battery (as shown in Figure 2). The calculation formula (6) of r is specifically:

Among them, R _s is the ohmic internal resistance, R _p is the polarization internal resistance, C _p is the polarization capacitance, and t is the battery life time.

According to the above formulas (5) and (1), the ratio η of the current output power P of the UAV battery to the reference power state SOP ₁ to be calculated can be obtained:

The above ratio η is used as a correction coefficient.

In the above S12, the product of the current terminal voltage and the current operating current is taken as the current output power P.

In the above S13, the reference power state SOP ₁ can be calculated by using the following formula (8):

In the third achievable solution, in the above 1031 "determine the reference power state according to the current open circuit voltage, the current terminal voltage, the current operating current and the discharge cut-off voltage", the following steps may be used specifically to fulfill:

S21a: Determine the internal resistance of the drone battery according to the current open circuit voltage, current terminal voltage, and current operating current of the drone battery.

S22a: Determine the reference power state of the drone battery according to the internal resistance, the discharge cut-off voltage, and the current open-circuit voltage.

In the above S21, the values of the current open circuit voltage, the current terminal voltage and the current working current of the drone battery can be input into the above formula (2) to obtain the internal resistance of the drone battery.

It should be noted that using the current open circuit voltage, that is, using the above formula (2), the calculated internal resistance of the UAV battery is an average value, not an instantaneous value, that is, the calculated reference power state is a continuous power state, so that the final corrected power state is also a continuous power state rather than an instantaneous power state. It should be noted that when the motion state of the UAV changes, its flight will fluctuate, that is, the flight is not stable enough. Since the power state determined by the technical solution provided in the embodiment of the present application is a continuous power state, the UAV adjusts the aircraft motion state (for example, speed, attitude) to the target motion according to the power state determined by the technical solution provided by the embodiment of the present application. After the state, it can continue to fly smoothly for a period of time. During this period, the battery power state determined according to the technical solution provided by the embodiment of the present application remains unchanged. Therefore, there is no need to frequently change the motion state of the UAV, which prevents the aircraft from flying. fluctuates frequently.

Note: If the aircraft motion state is adjusted to the target motion state based on the instantaneous power state, since the current instantaneous power state will change accordingly, the UAV must adjust the aircraft motion state in combination with the new instantaneous power state. That is to say, the UAV will frequently adjust the motion state of the aircraft, resulting in frequent fluctuations of the aircraft during flight.

In the above S22a, the values of the internal resistance, the discharge cut-off voltage and the current open circuit voltage can be input into the above formula (1) to obtain the reference power state of the drone battery.

In the fourth achievable solution, in the above 1031, “determine the reference power state according to the current open circuit voltage, the current terminal voltage, the current operating current and the discharge cut-off voltage”, the following steps may be used specifically to fulfill:

S21b: Determine the internal resistance of the drone battery according to the current open circuit voltage, current terminal voltage, and current operating current of the drone battery.

S22b: Determine the reference power state of the drone battery according to the internal resistance, the discharge cut-off voltage, the current terminal voltage, and the current operating current.

In the above S21b, the values of the current open circuit voltage, current terminal voltage and current working current of the drone battery can be input into the above formula (2) to obtain the internal resistance of the drone battery.

The following formula (9) can be obtained by deforming the above formula (3) in advance:

In the above S22b, the values of the internal resistance, the discharge cut-off voltage, the current terminal voltage and the current working current can be input into the above formula (9), and the reference power of the drone battery can be calculated. Status value.

In summary, the application can use the table lookup method to estimate the SOP, and realize the advantages of simple solution and less code calculation; on this basis, physical quantities such as real-time voltage are added to correct the SOP obtained by the lookup table method, which is very good. It makes up for the shortcomings of the lack of SOP accuracy of the offline SOP scheme: on the one hand, the power performance of the battery is released to a large extent to ensure the user's experience and feel during flight, and on the other hand, it also improves the battery and the aircraft during use. safety.

Since the working conditions of the UAV change drastically, it is not expected that the estimated power state value has a sudden jump during the flight of the UAV. Once there is a sudden jump in the estimated power state value, the flight of the UAV will fluctuate greatly, and the flight stability will be poor. The applicant found through research that the reason for the sudden jump in the estimated power state value is the sudden jump in the estimation of the internal resistance of the battery of the drone. Therefore, in order to avoid a sudden jump in the estimated power state, a Kalman filter can be used to filter the above-mentioned internal resistance to obtain the filtered internal resistance. In this way, the post-filtered internal resistance is used instead of the above-mentioned internal resistance to estimate the reference power state of the UAV battery.

In this way, during the flight of the UAV, the internal resistance can be smoothly transitioned through the Kalman filter processing of the internal resistance, and there will be no sudden jump of the internal resistance, and thus no sudden jump of the corrected power state. In view of the situation where the working conditions of the drone change drastically, the technical solutions provided by the embodiments of the present application can make the flight of the drone more stable; the applicability of the solution is better, and the controllability of the drone can be improved. higher.

The technical solutions provided by the embodiments of the present application will be described in detail below with reference to FIG. 3 :

Step 301: Obtain the current temperature T of the battery of the drone.

Step 302: Obtain the current state of charge SOC of the battery of the drone.

Step 303: Obtain the current working current I _o of the battery of the drone.

Step 304: Obtain the current terminal voltage V _o of the drone battery.

Step 305 : According to the current temperature T and the current state of charge SOC, the power state to be corrected SOP ₀ is obtained through a table look-up method.

Step 306: Calculate the internal resistance r of the drone battery.

Specifically, according to the current state of charge SOC, the current open circuit voltage V _oc is obtained through a table look-up method. Input V _oc , I _o and V _o into the above formula (2) to obtain the internal resistance r.

Step 307: Filter the internal resistance r by using the Kalman filter to obtain the filtered internal resistance r _kf .

Specifically, the above-mentioned internal resistance r can be regarded as an observed internal resistance value; a predicted internal resistance value can be predicted by using Kalman filter; according to the predicted internal resistance value, the observed internal resistance value (that is, the above-mentioned internal resistance r) Correction is made to obtain the filtered internal resistance r _kf . For the specific implementation of the Kalman filter, reference may be made to the prior art, which will not be described in detail here.

Step 308: Calculate and obtain the reference power state SOP ₁ .

To SOP ₁ can be calculated using the following formula (10):

Step 309: Calculate the corrected power state SOP ₂ .

The SOP ₁ and SOP ₀ values can be substituted into the above formula (4) to obtain the SOP ₂ value.

In this embodiment, the SOP based on the look-up table method has the advantages of simple algorithm, easy implementation and cost, and at the same time, the algorithm has good stability; according to the characteristic parameters such as voltage, the output of the SOP can be corrected in real time, which can take into account the difference of the battery and various aging. Increase the reliability, accuracy and wide applicability of SOP, and improve the estimation accuracy of SOP.

FIG. 4 shows a schematic structural diagram of an electronic device provided by an embodiment of the present application. As shown in FIG. 4 , the electronic device includes a memory 1101 and a processor 1102 .

a memory 1101 for storing computer programs;

The processor 1102 is configured to perform the following operations:

Obtain the to-be-corrected power state of the UAV battery;

Optionally, the processor 1102 corrects the to-be-corrected power state according to the current open-circuit voltage, the current terminal voltage, the current operating current, and the discharge cut-off voltage to obtain a corrected power state. , specifically for:

determining a reference power state according to the current open circuit voltage, the current terminal voltage, the current operating current and the discharge cut-off voltage;

The to-be-corrected power state is corrected according to the reference power state to obtain a corrected power state.

Optionally, when the processor 1102 determines the reference power state according to the current open circuit voltage, the current terminal voltage, the current operating current, and the discharge cut-off voltage, it is specifically used for:

According to the current open circuit voltage, the current terminal voltage and the discharge cut-off voltage, determine the ratio of the current output power of the drone battery to the reference power state to be calculated as a correction coefficient;

Determine the current output power according to the current terminal voltage and the current working current;

The reference power state is determined according to the correction factor and the current output power.

Determine the internal resistance of the drone battery according to the current open circuit voltage, current terminal voltage, and current operating current of the drone battery;

Determine the reference power state of the drone battery according to the internal resistance, the discharge cut-off voltage and the current open-circuit voltage; or

The reference power state of the drone battery is determined according to the internal resistance, the discharge cut-off voltage, the current terminal voltage and the current working current.

Optionally, before determining the reference power state of the battery of the drone, the processor 1102 is further configured to:

The internal resistance is filtered by using a Kalman filter to obtain the filtered internal resistance.

Optionally, when the processor 1102 corrects the to-be-corrected power state according to the reference power state, and obtains the corrected power state, it is specifically used for:

obtaining a first weight corresponding to the reference power state and a second weight of the to-be-corrected power state;

Combined with the first weight and the second weight, weighted summation is performed on the reference power state and the to-be-corrected power state to obtain a corrected power state.

Optionally, the processor 1102 is further configured to:

According to the current state of charge of the UAV battery, the open circuit voltage corresponding to the current state of charge is found through a table look-up method, as the current open circuit voltage of the UAV battery.

Optionally, when the processor 1102 acquires the to-be-corrected power state of the drone battery, it is specifically used to:

determining the current temperature and current state of charge of the drone battery;

According to the current temperature and the current state of charge, a corresponding power state is found by a table look-up method as the to-be-corrected power state.

Correspondingly, the embodiments of the present application also provide a computer-readable storage medium storing a computer program, and when the computer program is executed by a computer, the steps of the method for estimating the power state of a drone battery provided by the above method embodiments can be implemented. or function.

The technical solutions and technical features in the above embodiments can be used alone or combined in the case of conflict with the present invention, as long as they do not exceed the cognitive scope of those skilled in the art, they all belong to the equivalent embodiments within the protection scope of the present application .

The above are only the embodiments of the present application, and are not intended to limit the scope of the patent of the present application. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present application, or directly or indirectly applied to other related technologies Fields are similarly included within the scope of patent protection of this application.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. scope.

Claims

A method for estimating the power state of a drone battery, comprising:

Obtain the to-be-corrected power state of the UAV battery;

Determine the current open circuit voltage, current terminal voltage, current working current, and discharge cut-off voltage of the drone battery of the drone battery;

According to the current open circuit voltage, the current terminal voltage, the current working current, and the discharge cut-off voltage, the power state to be corrected is corrected to obtain a corrected power state.
The method according to claim 1, wherein, according to the current open circuit voltage, the current terminal voltage, the current working current, and the discharge cut-off voltage, the power state to be corrected is corrected to obtain Corrected power status, including:

determining a reference power state according to the current open circuit voltage, the current terminal voltage, the current operating current and the discharge cut-off voltage;

The to-be-corrected power state is corrected according to the reference power state to obtain a corrected power state.
The method according to claim 2, wherein determining the reference power state according to the current open circuit voltage, the current terminal voltage, the current operating current and the discharge cut-off voltage, comprising:

According to the current open circuit voltage, the current terminal voltage and the discharge cut-off voltage, determine the ratio of the current output power of the drone battery to the reference power state to be calculated as a correction coefficient;

Determine the current output power according to the current terminal voltage and the current working current;

The reference power state is determined according to the correction factor and the current output power.
The method according to claim 2, wherein determining the reference power state according to the current open circuit voltage, the current terminal voltage, the current operating current and the discharge cut-off voltage, comprising:

Determine the internal resistance of the drone battery according to the current open circuit voltage, current terminal voltage, and current operating current of the drone battery;

Determine the reference power state of the drone battery according to the internal resistance, the discharge cut-off voltage and the current open-circuit voltage; or

The reference power state of the drone battery is determined according to the internal resistance, the discharge cut-off voltage, the current terminal voltage and the current working current.
The method according to claim 4, characterized in that before determining the reference power state of the battery of the drone, further comprising:

The internal resistance is filtered by using a Kalman filter to obtain the filtered internal resistance.
The method according to any one of claims 2 to 5, wherein, correcting the to-be-corrected power state according to the reference power state to obtain the corrected power state, comprising:

obtaining a first weight corresponding to the reference power state and a second weight of the to-be-corrected power state;

Combined with the first weight and the second weight, weighted summation is performed on the reference power state and the to-be-corrected power state to obtain a corrected power state.
The method according to any one of claims 1 to 5, characterized in that, further comprising:

According to the current state of charge of the UAV battery, the open circuit voltage corresponding to the current state of charge is found through a table look-up method, as the current open circuit voltage of the UAV battery.
The method according to any one of claims 1 to 5, wherein acquiring the to-be-corrected power state of the UAV battery comprises:

determining the current temperature and current state of charge of the drone battery;

According to the current temperature and the current state of charge, a corresponding power state is found by a table look-up method as the to-be-corrected power state.
An electronic device, comprising:

memory for storing computer programs;

A processor that performs the following operations:

Obtain the to-be-corrected power state of the UAV battery;

Determine the current open circuit voltage, current terminal voltage, current working current, and discharge cut-off voltage of the drone battery of the drone battery;

According to the current open circuit voltage, the current terminal voltage, the current working current, and the discharge cut-off voltage, the power state to be corrected is corrected to obtain a corrected power state.
The device according to claim 9, wherein the processor determines the to-be-corrected power state according to the current open-circuit voltage, the current terminal voltage, the current operating current, and the discharge cut-off voltage When the correction is performed to obtain the corrected power state, it is specifically used for:

determining a reference power state according to the current open circuit voltage, the current terminal voltage, the current operating current and the discharge cut-off voltage;

The to-be-corrected power state is corrected according to the reference power state to obtain a corrected power state.
The device according to claim 10, wherein when the processor determines the reference power state according to the current open circuit voltage, the current terminal voltage, the current operating current and the discharge cut-off voltage, the processor specifically uses At:

According to the current open circuit voltage, the current terminal voltage and the discharge cut-off voltage, determine the ratio of the current output power of the drone battery to the reference power state to be calculated as a correction factor;

Determine the current output power according to the current terminal voltage and the current working current;

The reference power state is determined according to the correction factor and the current output power.
The device according to claim 10, wherein when the processor determines the reference power state according to the current open circuit voltage, the current terminal voltage, the current operating current and the discharge cut-off voltage, the processor specifically uses At:

Determine the internal resistance of the drone battery according to the current open circuit voltage, current terminal voltage, and current operating current of the drone battery;

Determine the reference power state of the drone battery according to the internal resistance, the discharge cut-off voltage and the current open-circuit voltage; or

The reference power state of the drone battery is determined according to the internal resistance, the discharge cut-off voltage, the current terminal voltage and the current working current.
The method according to claim 12, wherein before determining the reference power state of the battery of the drone, the processor is further configured to:

The internal resistance is filtered by using a Kalman filter to obtain the filtered internal resistance.
The method according to any one of claims 10 to 13, wherein when the processor corrects the to-be-corrected power state according to the reference power state, and obtains the corrected power state, the processor is specifically used for:

obtaining a first weight corresponding to the reference power state and a second weight of the to-be-corrected power state;

Combined with the first weight and the second weight, weighted summation is performed on the reference power state and the to-be-corrected power state to obtain a corrected power state.
The device according to any one of claims 9 to 13, wherein the processor is further configured to:

According to the current state of charge of the UAV battery, the open circuit voltage corresponding to the current state of charge is found through a table look-up method, as the current open circuit voltage of the UAV battery.
The device according to any one of claims 9 to 13, wherein, when the processor acquires the power state to be corrected of the drone battery, it is specifically used for:

determining the current temperature and current state of charge of the drone battery;

According to the current temperature and the current state of charge, a corresponding power state is found by a table look-up method as the to-be-corrected power state.