CN105373629A - Unmanned aerial vehicle-based flight condition data processing device and method - Google Patents

Abstract

A flight state data processing device based on an unmanned aerial vehicle and a flight state data processing method thereof, the flight state data processing device includes a flight data measurement module (1), a memory (2), a processing module (3) and an authentication module (5 ), the flight data measurement module (1) measures the flight state data during the flight of the unmanned aerial vehicle, the memory (2) connected to the flight data measurement module (1) stores the flight state data, and connects the The processing module (3) of the memory (2) screens the flight status data according to predetermined conditions to obtain selected data, and the authentication module (5) connected to the processing module (3) generates a carrier of the selected data, so The carrier at least carries the authentication information of the machine code of the UAV.

Description

Device and method for processing flight status data based on unmanned aerial vehicle

technical field

The invention belongs to the field of unmanned aerial vehicles, and in particular relates to an unmanned aerial vehicle-based flight state data processing device and a flight state data processing method thereof.

Background technique

With the popularity of multi-rotor UAVs, more and more people are beginning to understand and use multi-rotor UAVs. Whether it is the earliest model aircraft or the recent multi-rotor unmanned aerial vehicle, the characteristics are that even for operators, there is a high threshold. Not to mention the earlier model airplanes, they are relatively complicated in terms of production, maintenance, and control. Although some people have proposed to manufacture unmanned aerial vehicles that can fly at hand, in actual use, even if the integration level is relatively A multi-rotor unmanned aerial vehicle with a high degree of completion and a relatively high degree of completion. After a novice has just got it, he can at most follow the instructions in the manual to complete the simple movement of the aircraft on the six-axis space. It refers to the completion of the gorgeous flight process of the unmanned aerial vehicle, which still needs a long period of study and exercise.

In addition, there is also a talent for the control of unmanned aerial vehicles. Under the same training situation, some people can complete flying movements better and faster, and even make some difficult movements.

This has also derived people's demand for the display of such highly difficult and highly personalized flying movements. In today's society, people's socialization needs are becoming more and more serious, and more people hope to show their individuality and ability. The same is true for unmanned flight control.

Taking drone aerial photography as an example, if the user controls the drone to complete a drone aerial photo with a unique timing and angle, then the user is very willing to show this photo to more friends through various social methods. Watching, from which, users can get a great sense of accomplishment. Even some time-sensitive, news-worthy, and uniquely aesthetic aerial photos, users can also enjoy the benefits of economic benefits through their copyrights.

However, under the existing technology, the user has completed a difficult flight action, but can only be bored in his heart and have fun by himself. The user has no way and way to perform this kind of genius performance or long-term training. ability, demonstrate it, and get a sense of accomplishment. If things go on like this, it will hit the enthusiasm of the audience in the promotion and popularization of UAVs, which is not conducive to the development of the industry.

Patent document CN204515536 discloses a quadrotor-based autonomous cruise shooting system, which includes: aircraft, ground station monitoring system, GPS locator, real-time aerial photography system and data storage; wherein the aircraft is provided with a flight controller, the flight control The input terminals of the device are respectively connected with the command receiver and the data sending and receiving device, the signal line between the GPS locator and the flight controller is connected, and the real-time aerial photography system is placed on the aircraft, including the aerial photography camera, brushless gimbal and wireless image transmission equipment, The aerial photography camera is installed on the brushless cloud platform; the brushless platform is installed on the aircraft, and the wireless image transmitter is connected with the aerial photography camera; the data memory is connected with the flight controller to store the data; the ground station monitoring system includes The wireless image receiving device and the wireless data transmitting and receiving device are connected with the microcomputer, and the image data transmitted by the wireless image transmitter is received through the wireless image receiving device, and the data sent by the data transmitting and receiving device is received through the wireless data transmitting and receiving device. This patent enables real-time positioning and aerial photography of designated areas. However, the system has a complex structure, high cost, and cannot record the flight status data at the time of shooting, and cannot process the flight status data and obtain data reliability certification.

Patent document CN201604796 discloses an intelligent aerial photography unmanned aerial vehicle, which includes a body, and a cabin is arranged in the middle of the body. It is connected with the flight control module, and the flight control module is respectively connected with the navigation module and the real-time video return module. The high-definition real-time video transmission of the unmanned aerial vehicle allows the operator to easily grasp the flight status information of the aircraft on the ground only through the monitoring screen. However, it cannot record the flight status data at the time of shooting, and cannot fly State data is processed and certified for data integrity.

Therefore, the technical problem that needs to be solved urgently in this field is: how to record the flight action and attitude of the unmanned aerial vehicle, and according to the preset logical conditions, select the flight action process worth sharing and displaying and present it in an appropriate way ; In order to prevent users from falsifying flight process data, how to improve the credibility of the displayed content during the above data sharing process.

The above information disclosed in this Background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is already known in this country to a person of ordinary skill in the art.

Contents of the invention

The purpose of the present invention is to be achieved through the following technical solutions.

According to the first aspect of the present invention, the present invention discloses a flight state data processing device based on an unmanned aerial vehicle, the flight state data processing device based on an unmanned aerial vehicle includes a flight data measurement module, a memory, a processing module and an authentication module, so The flight data measurement module measures the flight state data during the flight of the UAV, the memory connected to the flight data measurement module stores the flight state data, and the processing module connected to the memory screens the flight state data according to predetermined conditions. The flight state data is selected data, and the authentication module (5) connected to the processing module (3) generates a carrier of the selected data, and the carrier at least has authentication information of the machine code of the unmanned aerial vehicle.

Preferably, the flight data measurement module is composed of one or more selected from the group consisting of electronic compass, GPS unit, altimeter, speed sensor, accelerometer, angle sensor and timer, and the flight status data is composed of the One or more of the group consisting of orientation data, flight track data, height data, speed data, acceleration data, flight attitude data and time data of the unmanned aerial vehicle.

Preferably, the predetermined condition is composed of one or more of the group consisting of the flight state data, flight control instructions and preset logic instructions of the UAV, and the processing module filters Output the selected data meeting the predetermined condition and edit the selected data.

Preferably, the processing module controls the memory to continuously or periodically store the flight status data according to the predetermined condition.

Preferably, the predetermined condition is altitude data of a first altitude value, and when the altitude of the UAV is less than the first altitude value, the processing module controls the memory to continuously store the flight status data, when the When the height of the unmanned aerial vehicle is greater than the first height value, the processing module controls the memory to store the flight status data randomly or at intervals.

According to the second aspect of the present invention, the present invention discloses a kind of flight state data processing device based on unmanned aerial vehicle, the flight state data processing device based on unmanned aerial vehicle comprises flight data measurement module, memory, processing module and photographing unmanned aerial vehicle The shooting module of the flight image, the flight data measurement module measures the flight state data during the flight of the unmanned aerial vehicle, the memory connected to the flight data measurement module stores the flight state data and receives and stores the time data. The processing module of the flight image data, connected to the memory) screens the flight status data and the flight image data according to predetermined conditions.

Preferably, the processing module screens out selected data that meets predetermined conditions and is a predetermined flight speed from the flight state data, and the selected data is composed of time data, acceleration data, flight attitude data and flight track data, and the processing A module associates said selected data with corresponding said flight image data via said temporal data.

Preferably, the flight status data processing device further includes an authentication module, the authentication module generates a carrier of the selected data, and the carrier at least contains authentication information of the machine code of the UAV.

Preferably, the UAV machine code in the authentication information is encrypted.

Preferably, the photographing module includes an infrared camera.

According to a third aspect of the present invention, a flight state data processing method using the UAV-based flight state data processing device includes the following steps.

In the first step, the flight data measurement module measures the flight status data of the UAV during flight.

In the second step, the memory stores the flight state data, and the processing module filters the flight state data according to predetermined conditions.

In the third step, the authentication module generates a carrier of the selected data, and the carrier contains at least authentication information of the machine code of the UAV.

The solution proposed by the present invention can measure and store the flight state data of the unmanned aerial vehicle, and according to the preset conditions, select the selected data worthy of sharing and display through the processing module, and perform processing such as sorting, editing or calling to present in an appropriate manner come out. In order to prevent the user from falsifying the flight status data, in the above data sharing process, the authentication information is printed on the flight status data through the authentication module to improve the credibility of the displayed content.

Description of drawings

FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle-based flight status data processing device according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of an unmanned aerial vehicle-based flight status data processing device according to another embodiment of the present invention.

FIG. 3 is a schematic diagram of the steps of a method for processing flight state data using a flight state data processing device based on an unmanned aerial vehicle according to an embodiment of the present invention.

The present invention will be further explained below in conjunction with the accompanying drawings and embodiments.

detailed description

The following detailed description is merely exemplary in nature and not intended to limit application and uses. Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, brief summary or the following detailed description. As used herein, the term "module" or "unit" refers to any hardware, software, firmware, electronic control components, processing logic, and/or processor device (alone or in any combination), including without limitation: application specific integrated circuits (ASIC), electronic circuit, processor (shared, dedicated or grouped) and memory executing one or more software or firmware programs, combinational logic circuit and/or other suitable components providing the described functionality. Furthermore, unless expressly stated to the contrary, the word "comprise" and its various variations should be understood as implying the inclusion of stated elements but not excluding any other elements.

The embodiment of the present invention describes a flight state data processing device based on an unmanned aerial vehicle, as shown in FIG. The flight state data processing device of aircraft comprises flight data measurement module 1, storage device 2 and processing module 3, and described flight data measurement module 1 measures the flight state data in the flight process of described unmanned aerial vehicle, connects described flight data measurement module 1 The memory 2 in the memory 2 stores the flight state data, and the processing module 3 connected to the memory 2 filters the flight state data according to predetermined conditions.

In this field, an unmanned aerial vehicle refers to an unmanned aerial vehicle with automatic control and automatic navigation. The UAV may preferably be a multi-rotor UAV.

The flight data measurement module 1 is composed of one or more selected from the group consisting of an electronic compass, a GPS unit, an altimeter, a speed sensor, an accelerometer, an angle sensor and a timer, and the flight status data is provided by the unmanned One or more of the group consisting of orientation data, flight track data, altitude data, speed data, acceleration data, flight attitude data and time data of the aircraft.

The predetermined condition is composed of one or more of the group consisting of the flight state data, flight control instructions and preset logic instructions of the UAV, and the processing module 3 screens out from the flight state data Selecting data of the predetermined condition and editing the selected data.

In one embodiment, flight data measurement module 1 is made up of GPS unit, altimeter, speed sensor, accelerometer, angle sensor and timer, and described flight state data is by the flight path data of described unmanned aerial vehicle, altitude data, Speed data, acceleration data, flight attitude data and time data. The predetermined condition is the acceleration data whose acceleration is greater than 4g, and the processing module 3 screens out the selected data that meets the acceleration greater than 4g from the flight state data, that is, the selected data is when the acceleration is greater than 4g, including the navigation of the unmanned aerial vehicle The flight state data of track data, height data, speed data, acceleration data, flight attitude data and time data, and the processing module edits the selected data, for example, the processing module can edit the selected data according to a dimension data such as height data Sort and recall.

In another embodiment, during the overall flight process of the unmanned aerial vehicle, the flight data measurement module 1 that measures flight status data including flight speed, height, and time data can be integrated into the corresponding sensor module on the unmanned aerial vehicle. Module 1 can also be integrated in the GPS module or set up separately for the sake of accuracy or adding other dimensions of data collection requirements. The complete process of a take-off, flight, and landing of an unmanned aerial vehicle is defined as a flight process, and the set memories are stored separately. The flight status data of each UAV flight process. In addition, in addition to completely recording the flight state data of the entire flight process, the flight process can also be divided into multiple stages to record, and a part of the flight state data in the entire flight process can be sampled and recorded instead of all flight state data. Reduce the burden of data collection and storage pressure. In one embodiment, the processing module 3 controls the memory 2 to continuously or periodically store the flight status data according to the predetermined condition. For example, the predetermined condition is altitude data of a first altitude value. When the altitude of the UAV is less than the first altitude value, the processing module 3 controls the memory 2 to continuously store the flight status data. When the altitude of the UAV is greater than the first altitude value, the processing module 3 controls the memory to store the flight status data randomly or at intervals.

In one embodiment, during the take-off phase, from the start of the unmanned aerial vehicle to the continuous acceleration of the throttle by the unmanned aerial vehicle, the phase is continuously recorded until the predetermined condition is met: more than 30 seconds and/or the flight altitude Reach the first altitude value and/or continue to receive instructions in other flight directions except the throttle for more than 3 seconds; during the flight phase of the unmanned aerial vehicle, data sampling can be performed at a certain interval, or according to the flight speed and flight altitude. Trigger some predetermined conditions for data sampling and recording, and carry out continuous flight process recording for a period of time; in the landing phase, when the unmanned aerial vehicle receives landing instructions continuously for more than 3 seconds, start the data sampling process of the landing phase until the unmanned aerial vehicle is completely until it lands. During the landing process, if other conditions are induced, such as the interruption of the landing command for more than 10 seconds, the storage before this stage is regarded as the data record of the flight stage. For the two stages of take-off and landing, since it is the high-incidence stage of unmanned aerial vehicle accidents, the strategy of sampling and storing the whole process is adopted. For the intermediate flight process of unmanned aerial vehicles, random or interval data storage is adopted.

In one embodiment, the processing module 3 may compile, organize or analyze data in memory to perform statistical analysis on the data. The processing module 3 may include a general processor, a digital signal processor, an application specific integrated circuit ASIC, a field programmable gate array FPGA, an analog circuit, a digital circuit, a combination thereof, or other known or later developed processors. The memory 2 may be a volatile memory or a non-volatile memory. The memory 2 may comprise one or more read only memory ROM, random access memory RAM, flash memory, electronically erasable programmable read only memory EEPROM or other types of memory.

In one embodiment, after the memory 2 stores the flight state data, the processing module 3 connected to the memory 2 filters the flight state data according to predetermined conditions. When the user is willing to show a rare flight track at a specific time and a characteristic location, the processing module 3 screens the flight status data according to the required time data and orientation data, and calls the flight track in the flight status data data; when the user is willing to show the situation that the flight track forms an interesting pattern, the processing module 3 screens the flight state data according to the required flight track data; when the user is willing to show the difficult action realized during the flight The processing module 3 screens the flight state data according to the required flight attitude data; when the user is willing to show the position that is generally difficult to reach during the flight, the processing module 3 screens the flight state data according to the required orientation data . In another embodiment, when the processing module 3 screens the flight status data, it can pay special attention to screening out the maximum value or minimum value of certain data in the flight status data, such as the highest flight altitude, the longest endurance time, the fastest flight time, etc. instant speed. For example, when the processing module 3 screens the flight state data, it can pay special attention to screening those flight control commands that occur intensively and are respectively aimed at different flight degrees of freedom, because the flight control command set with such characteristics can be used as a predetermined condition to filter out the Highly difficult flight movements completed in a short period of time using complex operating techniques. For example, when the processing module 3 screens the flight status data, it can filter the flight status data worth displaying according to the track characteristic database used for comparison. Specifically, for example, the trajectory completed by the user is similar to the trajectory of the eight-character circle, the trajectory completed by the user is similar to a heart shape, etc.; in addition, another example is that a certain section of the trajectory completed by the user belongs to the sharp turn trajectory at high speed. , a certain track completed by the user just matches the pre-stored fancy movements in the database and so on.

The flight state data processing device of the present invention directly forms the selected flight state data results into data information for display, or provides these flight state data results to the user for selection, thereby obtaining data information for display.

As shown in Figure 2, according to another embodiment of the present invention, the schematic diagram of the flight state data processing device based on the unmanned aerial vehicle, the flight state data processing device based on the unmanned aerial vehicle includes a flight data measurement module 1, a memory 2, a processing module 3 and a photographing module 4 for shooting unmanned aerial vehicle flight images, the flight data measurement module 1 measures the flight state data during the flight of the unmanned aerial vehicle, and the memory 2 connected to the flight data measurement module 1 stores the flight state data and receive and store flight image data with time data, the processing module 3 connected to the memory 2 screens the flight state data and the flight image data according to predetermined conditions, and the flight state data processing device further includes An authentication module 5, the authentication module 5 generates a carrier of the selected data, and the carrier at least carries the authentication information of the UAV machine code.

In one embodiment, the camera module 4 is a high-resolution camera.

In one embodiment, the photographing module 4 is a high-speed camera.

In one embodiment, the camera module 4 is a CCD.

In order to meet the user's display requirements, the flight status data processing device of the present invention exports the selected data for display to form a picture or data information format through a common interface and interface, for example, it can be a picture including a flight track, and it can also be It has the model of the aircraft used, the completion time of the flight track, the completion location, etc.; another example may include the above-mentioned track data after screening and proper arrangement, which may include the highest instantaneous speed of flight, the highest altitude, continuous flight Time, continuous hovering time, etc. The data can be the original exported data for secondary development and display by the subsequent display program, and the data can also be directly provided in the form of a data table for users to display. The meaning of each data has been listed in the header part of the table.

In one embodiment, the processing module 3 screens out selected data that meets predetermined conditions and is a predetermined flight speed from the flight state data, and the selected data is composed of time data, acceleration data, flight attitude data and flight track data , the processing module 3 associates the selected data with the corresponding flight image data via the time data.

In one embodiment, the UAV machine code in the authentication information is encrypted.

In one embodiment, when displaying the flight status data of the specific unmanned aerial vehicle, the user can simultaneously display the entire flight track by means of graphic and text mixing, and display the required information at the corresponding location on the flight track. shared data. Users can also choose to display only one of the flight status data for sharing, such as today's highest flight altitude or speed. In addition, based on the historical data stored for a long time for a specific user, the user can also be given the best historical score for sharing. As will be described later, since each specific user can use the registration mechanism to retain all their own driving information, they can also share flight status data related to personal historical performance and worth displaying. In addition, the above historical information can be determined by the user registration information, following the user's personal information, or it can also be corresponding to the machine code information of the device used by the user to reflect that a certain user is driving a certain unmanned vehicle. Historical data of the aircraft.

In one embodiment, the authentication module 5 can be based on a third party's data stamp verification unit, and each unmanned aerial vehicle has a unique machine code, and the machine code is also registered on the third party's data stamp verification unit; The flight status data of each unmanned aerial vehicle will add the machine code information in the flight status data as an information stamp when recording, or it can also add the information after the machine code has been transcoded and encrypted as information stamp, and then process, filter and edit the flight status data, but before providing the shared data, the third-party-based data stamp verification unit requires verification of the information stamp in the data, and only the verification is based on the third-party data stamp The machine code that has been registered on the verification unit, the third-party-based data stamp verification unit allows the data to be shared, and the data information includes images, pure data or text information. In addition, optionally, for the verified flight status data, the data stamp verification unit based on a third party may also provide anti-counterfeit marks, such as digital watermarks.

In one embodiment, the certification module 5 is a laser marking machine, which can mark the certification mark with the machine code of the unmanned aerial vehicle on the generated carrier.

Referring to FIG. 3 , the method for processing flight state data using the device for processing flight state data based on an unmanned aerial vehicle according to an embodiment of the present invention includes the following steps.

In the first step S1, the flight data measurement module 1 measures the flight status data of the UAV during flight.

In the second step S2, the memory 2 stores the flight state data, and the processing module 3 filters the flight state data according to predetermined conditions.

In the third step S3, the authentication module 5 generates a carrier of the selected data, and the carrier contains at least the authentication information of the machine code of the UAV.

In this method, the user can measure the flight state data during the flight process of the unmanned aerial vehicle through the flight data measurement module 1, and the processing module can, for example, filter according to predetermined conditions such as time, high speed, and speed to obtain selected data, and the processing module 3 can then according to It is necessary to sort, edit or call the selected data, and finally generate a certified data carrier to ensure the authority and credibility of the shared data carrier.

Although the embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments and application fields, and the above-mentioned specific embodiments are only illustrative, instructive, and not restrictive . Under the enlightenment of this description and without departing from the protection scope of the claims of the present invention, those skilled in the art can also make many forms, which all belong to the protection of the present invention.

Claims (10)

1., based on a Flight Condition Data treating apparatus for unmanned vehicle, it comprises flight air data measuring module (1), storer (2), processing module (3) and authentication module (5), it is characterized in that:

Described flight air data measuring module (1) measures the Flight Condition Data in described unmanned vehicle flight course, the storer (2) connecting described flight air data measuring module (1) stores described Flight Condition Data, the described processing module (3) connecting described storer (2) is screened described Flight Condition Data according to predetermined condition and is obtained choosing data, choose the carrier of data described in the described authentication module (5) connecting described processing module (3) generates, described carrier is at least with the authentication information of the machine code of described unmanned vehicle.

2. the Flight Condition Data treating apparatus based on unmanned vehicle according to claim 1, it is characterized in that: described flight air data measuring module (1) forms by be selected from group that electronic compass, GPS unit, altitude gauge, speed pickup, accelerometer, angular transducer and timer form one or more, one or more in the group that described Flight Condition Data is made up of the bearing data of described unmanned vehicle, flight track data, altitude information, speed data, acceleration information, flight attitude data and time data form.

3. the Flight Condition Data treating apparatus based on unmanned vehicle according to claim 1, it is characterized in that: described predetermined condition is made up of one or more in the described Flight Condition Data of described unmanned vehicle, flight steering order and the group that form of logic of propositions instruction, described processing module (3) filters out from described Flight Condition Data and meets choosing data and choosing data described in editing of described predetermined condition.

4. the Flight Condition Data treating apparatus based on unmanned vehicle according to claim 1, is characterized in that: described processing module (3) control according to described predetermined condition control described storer (2) continue or compartment of terrain store described Flight Condition Data.

5. the Flight Condition Data treating apparatus based on unmanned vehicle according to claim 1, it is characterized in that: described predetermined condition is the altitude information of the first height value, when described unmanned vehicle height is less than the first height value, described processing module (3) controls described storer (2) and stores described Flight Condition Data constantly, when described unmanned vehicle height is greater than the first height value, described processing module (3) controls the random or compartment of terrain of described storer and stores described Flight Condition Data.

6. the Flight Condition Data treating apparatus based on unmanned vehicle according to claim 1, it is characterized in that: described Flight Condition Data treating apparatus also comprises the taking module (4) of shooting unmanned vehicle flight map picture, described storer (2) receives and the flight view data of the free data of file, and described processing module (3) screens described Flight Condition Data and described flight view data according to predetermined condition.

7. the Flight Condition Data treating apparatus based on unmanned vehicle according to claim 6, it is characterized in that: described processing module (3) filters out to conform to a predetermined condition from described Flight Condition Data chooses data for predetermined flying speed, described data of choosing are made up of time data, acceleration information, flight attitude data and flight track data, described processing module (3) via described time data by described data and the corresponding described flight map chosen as data correlation.

8. the Flight Condition Data treating apparatus based on unmanned vehicle according to claim 1, is characterized in that: described authentication module (5) is laser marking machine.

9. the Flight Condition Data treating apparatus based on unmanned vehicle according to claim 1, is characterized in that: the encrypted process of described unmanned vehicle machine code in described authentication information.

10. use a Flight Condition Data disposal route for the Flight Condition Data treating apparatus based on unmanned vehicle according to claim 1, it comprises the following steps:

In first step (S1), described flight air data measuring module (1) measures the Flight Condition Data in described unmanned vehicle flight course;

In second step (S2), described storer (2) stores described Flight Condition Data, and described processing module (3) screens described Flight Condition Data according to predetermined condition;

In third step (S3), choose the carrier of data described in described authentication module (5) generates, described carrier is at least with the authentication information of described unmanned vehicle machine code.