CN111445596B - Frequency and amplitude acquisition method, comparison method, analysis method and electronic equipment - Google Patents
Frequency and amplitude acquisition method, comparison method, analysis method and electronic equipment Download PDFInfo
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- CN111445596B CN111445596B CN201910041390.XA CN201910041390A CN111445596B CN 111445596 B CN111445596 B CN 111445596B CN 201910041390 A CN201910041390 A CN 201910041390A CN 111445596 B CN111445596 B CN 111445596B
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Abstract
The invention discloses a frequency and amplitude acquisition method, a comparison method, an analysis method and electronic equipment based on unmanned aerial vehicle flight data. The acquisition method comprises the following steps: writing the flight data of the unmanned aerial vehicle and the system time corresponding to the flight data into a log data packet and forming a check log data packet; writing the check log data packet and the log description packet into a log file; checking the check log data packet according to the check field; acquiring the system time and the flight data from the check log data packet; and obtaining the frequency and amplitude of a digital signal corresponding to the flight data of the unmanned aerial vehicle according to the system time and the flight data. The comparison method or the analysis method performs comparison or analysis after the acquisition method is implemented. The processor of the electronic equipment realizes the method. The storage medium stores a computer program executable by a processor to implement the above-described method. The true frequency and amplitude can be obtained.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a frequency and amplitude acquisition method, a comparison method, an analysis method and electronic equipment based on flight data of an unmanned aerial vehicle.
Background
In the prior art, carry out spectral analysis to unmanned aerial vehicle, need install corresponding collection equipment on unmanned aerial vehicle to send data back ground satellite station and carry out the analysis. Using vibration analysis as an example, need install the collection system who is used for gathering the acceleration of perpendicular to unmanned aerial vehicle organism plane direction, still will install equipment such as microprocessor, data transmission unit, what analysis this moment is a new vibration system, just not the original unmanned aerial vehicle of analysis. In such a scenario, the unmanned aerial vehicle is changed by the acquisition devices installed on the unmanned aerial vehicle, and then the spectrum analysis is not performed on the original unmanned aerial vehicle, which causes the spectrum analysis to be inaccurate.
Disclosure of Invention
The technical problem solved by the invention is as follows: the acquisition equipment installed on the unmanned aerial vehicle causes changes to the unmanned aerial vehicle, so that the spectrum analysis is inaccurate. Therefore, the invention provides a frequency and amplitude acquisition method, a comparison method, an analysis method and electronic equipment based on flight data of an unmanned aerial vehicle.
In order to solve the technical problems, the invention adopts the following technical scheme:
the frequency and amplitude acquisition method based on the flight data of the unmanned aerial vehicle comprises the following steps:
writing the flight data of the unmanned aerial vehicle and the system time corresponding to the flight data into a log data packet;
after the log data packet is verified, writing a verification field into the log data packet to form a verification log data packet;
writing the check log data packet into a log file;
writing a log description packet recording the analysis rule of the check log data packet into the log file;
the log file is acquired through data transmission between a wireless communication unit of the unmanned aerial vehicle and the unmanned aerial vehicle in flight or after the unmanned aerial vehicle is in flight, and the check log data packet is checked according to the check field;
acquiring the system time from the check log data packet;
analyzing the check log data packet according to the log description packet to obtain the flight data;
and carrying out Fourier transform on the flight data and the system time to obtain the frequency and the amplitude of a digital signal corresponding to the flight data.
In some preferred embodiments, the frequency and the amplitude obtained after the transformation are displayed.
In some preferred embodiments, the log description packet is provided with a description data ID, the check log data packet is provided with a data ID, and checking the check log data packet according to the check field includes:
searching and storing all the log description packets in the log file;
traversing the check log data packet in the log file;
checking the check log data packet by using the check field;
and matching the description data ID with the data ID.
In a further preferred embodiment, the verifying the verification log data packet by using the verification field, if the verification fails, returning to execute traversing the verification log data packet in the log file, and if the verification passes, executing the matching of the description data ID and the data ID;
and matching the description data ID with the data ID, if the matching fails, returning to execute traversing the verification log data packet in the log file, and if the matching passes, executing to acquire the system time from the verification log data packet.
In another aspect, the invention provides a method for comparing frequency and amplitude based on flight data of an unmanned aerial vehicle, wherein the flight data is a plurality of flight data, and after the method for obtaining frequency and amplitude is implemented, the frequency and amplitude of at least two digital signals corresponding to the flight data are compared, and a comparison result is output.
In some preferred embodiments, the flight data includes acceleration and angular velocity, and the frequency and amplitude of the digital signal corresponding to the acceleration and the frequency and amplitude of the digital signal corresponding to the angular velocity are compared to output a comparison result.
In another aspect, the invention provides a method for analyzing defects based on the frequency and amplitude of flight data of an unmanned aerial vehicle, wherein after the method for acquiring the frequency and amplitude is implemented, the amplitude is compared with a set amplitude threshold value, and if the amplitude is out of the amplitude threshold value, the flight data corresponding to the amplitude of the unmanned aerial vehicle is judged to have defects.
On the other hand, the invention provides a defect analysis method based on the frequency and amplitude of the flight data of the unmanned aerial vehicle, after the frequency and amplitude acquisition method is realized, the actual temperature change rate of a sensor for acquiring the flight data is calculated according to different system time;
and comparing the amplitude with a set amplitude threshold value and comparing the actual temperature change rate with a preset temperature change rate, and if the amplitude is out of the amplitude threshold value and the actual temperature change rate is smaller than the preset temperature change rate, judging that the flight data corresponding to the amplitude of the unmanned aerial vehicle has defects.
In another aspect, the invention provides an electronic device comprising a display and one or more processors implementing the above method.
In another aspect, the invention also provides a computer readable storage medium storing a computer program for use in conjunction with a computing device, the computer program being executable by a processor to implement the above-described method.
Compared with the prior art, the invention has the beneficial effects that:
and the log data packet containing the flight data and the system time is verified through the verification field to form a verification log data packet, so that the flight data and the system time are reliably associated, and invalid data is avoided. And then, data transmission is carried out between the wireless communication unit of the unmanned aerial vehicle and the unmanned aerial vehicle in flight or after the flight of the unmanned aerial vehicle is finished, a log file is obtained, the log file recorded with flight data and system time is analyzed, and the flight data reflecting the flight states of the same unmanned aerial vehicle at different moments are obtained. And performing Fourier transformation on the flight data and the system time to obtain the frequency and amplitude of a digital signal corresponding to the flight data of the unmanned aerial vehicle. Therefore, the real frequency and amplitude can be obtained, the situation that the unmanned aerial vehicle is changed, such as additionally arranging various acquisition devices is avoided, and the spectrum analysis can be more accurate.
Drawings
Fig. 1 is a schematic flow chart of a frequency and amplitude acquisition method based on flight data of an unmanned aerial vehicle according to the present invention;
fig. 2 is a schematic flow chart of a variant of the frequency and amplitude acquisition method based on flight data of an unmanned aerial vehicle according to the present invention;
fig. 3 is a flowchart illustrating step S500 according to the present invention.
Detailed Description
Referring to fig. 1 to 3, embodiments of the present invention will be described in detail below. It should be emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention or its application.
Referring to fig. 1, a method for acquiring frequency and amplitude based on flight data of an unmanned aerial vehicle according to an embodiment of the present invention includes steps S100 to S800.
Steps S100 to S400 are generally performed by a drone. Flight control software runs on the unmanned aerial vehicle. The flight control software writes data into storage equipment of the unmanned aerial vehicle, specifically into a log file of the unmanned aerial vehicle. The log file of the unmanned aerial vehicle comprises a log data packet and a log description packet, wherein the log data packet records flight data of the unmanned aerial vehicle, and the log description packet records an analysis rule of the log data packet.
And S100, writing the flight data of the unmanned aerial vehicle and the system time corresponding to the flight data into a log data packet. The flight data of the unmanned aerial vehicle comprises but is not limited to a roll angle, a pitch angle and a yaw angle, the flight control software writes the current system time and the flight data into a log data packet according to a preset rule at set time, and each piece of flight data corresponds to the system time.
Step S200, after the log data packet is verified, the verification field is written into the log data packet to form a verification log data packet. The flight control software adopts a checksum algorithm such as a CRC16 algorithm to check the content of the log data packet, and after the check is completed, a check field, namely, a checksum, is written into the log data packet to form a check log data packet. The check log data packet is a log data packet with a check field.
And step S300, writing the verification log data packet into a log file.
And step S400, writing a log description packet recording the analysis rule of the check log data packet into a log file. The analysis rule can be preset, and the specific rule content is set according to the actual requirement.
Step S500 to step S800 are generally completed by an upper computer, and the upper computer acquires a log file of the unmanned aerial vehicle. The upper computer can be a PC computer, a mobile terminal, a server and other equipment for running an analysis tool.
And S500, carrying out data transmission with the flying unmanned aerial vehicle through a wireless communication unit of the unmanned aerial vehicle or acquiring a log file after the unmanned aerial vehicle is in flight, and checking the log data packet according to the check field. Some unmanned aerial vehicles carry wireless communication units, and the communication mode can be WiFi, Bluetooth, 4G or 5G and the like; to these unmanned aerial vehicles, can carry out radio communication through ground satellite station or host computer and unmanned aerial vehicle, transmit data to acquire unmanned aerial vehicle's log file on line. Can also be connected with unmanned aerial vehicle through host computer or other data acquisition equipment after unmanned aerial vehicle flight finishes, acquire unmanned aerial vehicle's log file. No matter which mode is adopted, the log file is finally transmitted to the upper computer. After the upper computer acquires the check log data packet, the check log data packet is checked by using a CRC16 algorithm according to a check field, namely a check sum.
Step S600, system time is obtained from the check log data packet. And after the verification of the verification log data packet is completed, the upper computer acquires the system time from the verification log data packet.
And S700, analyzing the check log data packet according to the log description packet to obtain flight data. And an analysis rule is recorded in the log description packet, and the upper computer analyzes the check log data packet according to the analysis rule so as to obtain the flight data. The data processing may be performed based on the flight data and the system time after the flight data and the system time are obtained. Data processing herein includes, but is not limited to, interpretation, debugging, analysis, visualization, comparison of data.
Step S800, Fourier transformation is carried out on the flight data and the system time to obtain the frequency and the amplitude of the digital signal corresponding to the flight data. For example, the flight data and system time are input into a computational library for fourier transformation, which may be a MathNet library. The flight data comprises acceleration, flight speed, angular velocity, roll angle, yaw angle and the like, and the data is recorded by the unmanned aerial vehicle. The unmanned aerial vehicle is provided with a collection device such as a sensor for measuring a certain physical quantity, the physical quantity is converted into a digital signal and is recorded into a log file after being processed to form flight data, and the frequency and the amplitude of the digital signal are obtained after the flight data and the system time are subjected to Fourier transform.
The present invention will be described by taking vibration analysis as an example. And writing the acceleration of the unmanned aerial vehicle and the system time corresponding to the acceleration into a log data packet. This acceleration is measured by the accelerometer of unmanned aerial vehicle own, and it is the acceleration of perpendicular to unmanned aerial vehicle organism plane direction. After the check log data packet including the acceleration is written into the log file, the upper computer analyzes the check log data packet to obtain the acceleration and the system time corresponding to the acceleration. Carry out spectral analysis with acceleration and system time, can obtain the amplitude and the frequency of acceleration signal, the amplitude is used for the intensity of analysis vibration energy, and the frequency then is used for finding the frequency point of vibration to can carry out the analysis to unmanned aerial vehicle's vibration.
According to the above, the log data packet containing the flight data and the system time is verified through the verification field to form a verification log data packet, so that the flight data and the system time are reliably associated, and invalid data is avoided. Therefore, the wireless communication unit of the unmanned aerial vehicle transmits data with the unmanned aerial vehicle in flight or acquires the log file after the unmanned aerial vehicle finishes flying, and the log file recorded with the flight data and the system time is analyzed to obtain the flight data reflecting the flight states of the same unmanned aerial vehicle at different moments. And performing Fourier transformation on the flight data and the system time to obtain the frequency and amplitude of a digital signal corresponding to the flight data of the unmanned aerial vehicle. Therefore, the real frequency and amplitude can be obtained, the situation that the unmanned aerial vehicle is changed, such as additionally arranging various acquisition devices is avoided, and the spectrum analysis can be more accurate.
Referring to fig. 2, the method for acquiring frequency and amplitude based on flight data of an unmanned aerial vehicle according to the embodiment of the present invention further includes step S900, displaying the frequency and amplitude obtained after transformation. This allows the frequency and amplitude to be visualized for ease of analysis. For example, the frequency and amplitude are plotted for display on a graphical control, which may be a ZedGraph control. And a computer library and a graphic control can be integrated on the upper computer.
In another aspect, the invention provides an electronic device comprising a display and one or more processors that perform:
acquiring a verification log data packet from a log file of the unmanned aerial vehicle, wherein the verification log data packet is formed by writing a verification field into the log data packet after verifying the log data packet, and the log data packet is written with flight data of the unmanned aerial vehicle and corresponding system time; acquiring a log description packet from a log file of the unmanned aerial vehicle, wherein the log description packet records an analysis rule for checking a log data packet;
acquiring a log description packet from a log file of the unmanned aerial vehicle, wherein the log description packet records an analysis rule for checking a log data packet;
and completing the steps S500 to S900.
The log file of the drone records a lot of flight data of the drone, including angular velocity. The angular velocity is measured by a gyroscope carried by the unmanned aerial vehicle, and can also reflect the vibration of the unmanned aerial vehicle. In this way, the frequency and amplitude of the digital signal corresponding to the plurality of flight data can be acquired and displayed simultaneously. For example, the frequency and the amplitude of the digital signal corresponding to the acceleration and the angular velocity may be compared, that is, the frequency and the amplitude corresponding to the acceleration signal are compared with the frequency and the amplitude corresponding to the angular velocity signal, and a comparison result is output.
In another aspect, the invention provides a method for comparing frequency and amplitude based on flight data of an unmanned aerial vehicle, wherein the flight data includes acceleration and angular velocity, and after the method for obtaining frequency and amplitude is implemented, the frequency and amplitude of a digital signal corresponding to the acceleration are compared with the frequency and amplitude of a digital signal corresponding to the angular velocity, and a comparison result is output. Of course, the frequencies and amplitudes of the digital signals corresponding to three, four, or five or more flight data may also be compared, for example, the frequency and amplitude of the digital signal corresponding to the acceleration, the frequency and amplitude of the digital signal corresponding to the angular velocity, and the frequency and amplitude of the digital signal corresponding to the flight speed are compared, and the comparison result is output to perform the multidimensional analysis on the flight state of the unmanned aerial vehicle.
In another aspect, the invention provides a method for analyzing the defects based on the frequency and amplitude of the flight data of the unmanned aerial vehicle, wherein after the method for acquiring the frequency and amplitude is realized, the amplitude is compared with a set amplitude threshold value, and if the amplitude is out of the amplitude threshold value, the flight data corresponding to the amplitude of the unmanned aerial vehicle is judged to have defects.
Vibration is the main source of inertial navigation sensor noise, and too high noise can lead to acceleration and gyroscope signal distortion to lead to the precision of unmanned aerial vehicle attitude solution and control to descend, thereby it is necessary to detect the spectral characteristic of acceleration numerical value and judge whether unmanned aerial vehicle has the vibration defect. And writing the acceleration of the unmanned aerial vehicle and the system time corresponding to the acceleration into a log data packet. This acceleration is measured by the accelerometer of unmanned aerial vehicle own, and it is the acceleration of perpendicular to unmanned aerial vehicle organism plane direction. After the check log data packet including the acceleration is written into the log file, the upper computer analyzes the check log data packet to obtain the acceleration and the system time corresponding to the acceleration. And performing spectrum analysis on the acceleration and the system time to obtain the amplitude and the frequency of the acceleration signal, wherein the amplitude represents the intensity of vibration energy, and the frequency represents the frequency point of vibration. And comparing the obtained amplitude with a set amplitude threshold, and judging that the acceleration corresponding to the amplitude has a defect when the amplitude exceeds the amplitude threshold, namely the unmanned aerial vehicle has a vibration defect. At this time, a signal related to the existence of the defect can be output to prompt a user to optimize the vibration of the unmanned aerial vehicle, such as prompting the user to take measures of replacing a sensor, checking a motor, limiting the flying speed and the like, and giving the amplitude and the frequency of the vibration defect. Of course, the signal relating to the presence of a defect may also be a control signal for controlling the drone to eliminate the current defect. So, utilize unmanned aerial vehicle from the equipment of taking can realize defect analysis, specially adapted carries out defect analysis to small unmanned aerial vehicle. Meanwhile, various types of flight data are conveniently used for defect analysis.
The sensors are used to collect flight data, such as acceleration sensors that collect acceleration signals. Besides collecting data, the sensor on the unmanned aerial vehicle is internally provided with a temperature measuring device for measuring the working temperature of the sensor chip, and the working temperature is the working temperature of the sensor. The stability of the data collected by the sensor depends on the working temperature of the sensor, large data deviation can be caused by excessive temperature change, and the collected flight data can show abnormity. Such anomalies may cause the amplitude of the digital signal corresponding to the flight data to exceed an amplitude threshold, which may cause false positives of vibration defects. Therefore, in other embodiments of the present invention, for flight data in a period of time, when the amplitude exceeds the amplitude threshold, it is determined whether the actual temperature change rate of the sensor that collects the flight data is greater than a preset temperature change rate; if not, the sensor works normally, and the unmanned aerial vehicle is judged to have a vibration defect; if yes, the temperature drift of the sensor is indicated, and the defect of temperature drift of the sensor of the unmanned aerial vehicle is judged. Therefore, the misjudgment of the defects can be prevented, and the accuracy of defect analysis is improved.
Accordingly, in another aspect, the present invention provides an electronic device comprising a display and one or more processors implementing the above-described method for comparing frequencies and amplitudes based on drone flight data or implementing the above-described method for defect analysis based on frequencies and amplitudes of drone flight data.
The invention is further illustrated below:
the data processing based on flight data and system time comprises:
using the system time and the flight data together for data processing, and researching the historical flight state of the unmanned aerial vehicle, such as taking the system time as an X axis of a chart;
or, the system time is used as data for data processing and a basis for searching flight data, the system time is not only used as data for data processing, but also used for searching flight data, namely, the flight data are quickly searched according to the system time, and the time difference between the flight data can be confirmed through the system time, so that the efficiency is improved.
The invention is further illustrated below:
types of flight data include, but are not limited to: signed 8-bit integer, unsigned 8-bit integer, signed 16-bit integer, unsigned 16-bit integer, signed 32-bit integer, unsigned 32-bit integer, float type, double type, 64-bit string, 64 x 64-bit unsigned 8-bit integer;
the contents of the check log data packet include, but are not limited to:
a start header for identifying the start of a packet;
a type for identifying a category of the package;
length, used to identify the data length of the entire packet;
a data ID for matching with the description data ID;
the data sets are used for storing flight data, the number of the data sets is equal to the number of format sets and label sets of the log description packets, and the first item of the sets can be time data;
a check field for identifying a checksum of the entire packet;
the contents of the log description package include, but are not limited to:
a start header for identifying the start of a packet;
a type for identifying a category of the package;
length, used to identify the data length of the entire packet;
a description data ID for matching with the data ID;
a data name for identifying a name of the data set;
the format set is used for identifying the type of each data in the data set, the number of the format set is equal to that of the label set and the data set, and the first item can be a time type;
and the label sets are used for identifying the name of each data in the data sets, the number of the label sets is equal to the number of the format sets and the data sets of the log description packets, and the first item of each label set can be a time name.
Of course, after the log description packet is verified, the verification field can be written into the log description packet to form a verification log description packet, so that the accuracy of the log description packet is ensured.
Referring to fig. 3, in the case that the log description packet is provided with the description data ID and the check log data packet is provided with the data ID, the step S500 of checking the check log data packet according to the check field includes steps S510 to S540, which can ensure the accuracy of the data.
Step S510, searching and storing all log description packages in the log file;
step S520, traversing and checking a log data packet in a log file;
step S530, checking the check log data packet by using the check field;
step S540, matching the description data ID with the data ID.
And for the step S530, verifying the verification log data packet by using the verification field, if the verification fails, returning to execute the step S520, traversing the verification log data packet in the log file, and if the verification passes, executing the step S540, and matching the description data ID with the data ID.
And for the step S540, matching the description data ID with the data ID, if the matching fails, returning to execute the step S520, traversing the verification log data packet in the log file, and if the matching passes, executing the step S600, and acquiring the system time from the verification log data packet.
The order of the steps of the data processing method of the present invention is flexible, for example, step S400 is executed before step 100, step S700 is executed before step 600, and the technical solution formed by the order change of the steps is within the protection scope of the present invention.
The invention is explained in detail below by way of an example:
the user needs to save the flight status data (status) of the drone, including the following flight data:
roll (roll angle), data type float;
pitch, data type float;
yaw, data type float;
mode, data type unsigned 8 bit integer;
battery, data type is unsigned 8 bit integer;
data at XX minute 20 seconds of XX: 6.5(roll), 2.5(pitch), 5(yaw), 0(mode), 70 (pattern);
data at XX minute 30 seconds are: 5.5(roll), 1.5(pitch), 6(yaw), 0(mode), 65 (pattern);
data at XX minutes 40 seconds are: 7.5(roll), 1.0(pitch), 7(yaw), 0(mode), 60 (pattern);
the main contents of the log description package are as follows:
starting head: 0 xABCD;
type (2): 0 (log description packet);
length: the log describes the sum of the lengths of 1 to 7 items of data of the packet;
data ID: 1
Data name: status;
and (3) format set: float, unsigned 8-bit reshaping;
and (3) label set: roll, pitch, yaw, mode, battary;
the main contents of the check log data packet are as follows:
XX minute 20 second time:
starting head: 0 xABCD;
type (2): 1 (check log data packet);
length: the sum of the lengths of 1 to 7 items of data of the check log data packet;
data ID: 1;
system time: XX: XX: 20;
data collection: 6.5, 2.5, 5, 0, 70;
and (4) checking a field: the result of performing checksum on 1-6 items of data of the check log data packet by using the CRC16 algorithm;
XX minute and 30 second time XX:
starting head: 0 xABCD;
type (2): 1 (check log data packet);
length: the sum of the lengths of 1 to 7 items of data of the check log data packet;
data ID: 1;
system time: XX is XX: 30;
data collection: 5.5, 1.5, 6, 0, 65;
and (4) checking a field: the result of performing checksum on 1-6 items of data of the check log data packet by using the CRC16 algorithm;
XX minute 40 second time XX:
starting head: 0 xABCD;
type (2): 1 (check log packet);
length: the sum of the lengths of 1 to 7 items of data of the check log data packet;
data ID: 1;
system time: XX: XX: 40;
data collection: 7.5, 1.0, 7, 0, 60;
and (4) checking a field: the result of performing checksum on 1-6 items of data of the check log data packet by using the CRC16 algorithm;
after the flight control software is started, writing a predefined log description packet into a log file, acquiring flight state data at 20 seconds, packaging the data packet and writing the data packet into the log file, acquiring the flight state data at 30 seconds, packaging the data packet and writing the data packet into the log file, acquiring the flight state data at 40 seconds, packaging the data packet and writing the data packet into the log file.
And the upper computer searches the log description packet in the log file and finds the log description packet with the data name of status. Traversing the data packets in the log file, finding a check log data packet, after the check is successful, knowing that the data ID of the data packet is 1 and is consistent with the data ID of a log description packet with a status data name, analyzing the data set of the data packet according to the format set of the log description packet to obtain the system time XX: XX:20 and the flight data 6.5, 2.5, 5, 0 and 70; continuously traversing the data packets in the log file, finding a check log data packet, after the check is successful, knowing that the data ID of the data packet is 1 and is consistent with the data ID of a log description packet with a status data name, analyzing the data set of the data packet according to the format set of the log description packet to obtain the system time XX: XX:30 and the flight data 5.5, 1.5, 6, 0 and 65; continuously going through data packets in the log file, finding a check log data packet, obtaining that the data ID of the check log data packet is 1 after the check is successful, the check log data packet is consistent with the data ID of a log description packet with a data name of status, and analyzing the data set of the data packet according to the format set of the log description packet to obtain the data set with the system time of XX: XX:40 and the data of 7.5, 1.0, 7, 0 and 60; and circulating the steps until all the check log data packets are analyzed.
After the analysis is completed, the flight state can be obtained: at XX minute and 20 seconds, roll is 6.5 degrees, pitch is 2.5 degrees, yaw is 5 degrees, flight mode is No. 0 mode, and battery power is 70%; at XX minute and 30 seconds, roll is 5.5 degrees, pitch is 1.5 degrees, yaw is 6 degrees, flight mode is No. 0 mode, and battery power is 65%; at XX minute and 40 seconds, roll is 7.5 degrees, pitch is 1.0 degree, yaw is 7 degrees, flight mode is No. 0 mode, and battery power is 60%; and (3) reading the log: the pitch axis is more stable than the roll axis, the yaw axis is always deviated, the flight mode is unchanged, and the battery power continuously decreases. Or, executing steps S800 and S900 to obtain the true frequency and amplitude of the drone for spectrum analysis or defect analysis.
In another aspect, the invention provides a computer-readable storage medium storing a computer program for use in conjunction with a computing device, the computer program being executable by a processor to implement the above-described method.
The invention avoids the change of the unmanned aerial vehicle caused by the installation of the acquisition equipment in the prior art, can make the spectrum analysis more accurate, and also avoids the operation problem caused by the installation of the acquisition equipment on the unmanned aerial vehicle. The frequency and the amplitude of the digital signal corresponding to the obtained various flight data can be used for various analyses, and conditions are provided for improving the performance of the unmanned aerial vehicle.
The foregoing is a more detailed description of the invention in connection with specific/preferred embodiments and is not intended to limit the practice of the invention to those descriptions. It will be apparent to those skilled in the art that various substitutions and modifications can be made to the described embodiments without departing from the spirit of the invention, and these substitutions and modifications should be considered to fall within the scope of the invention.
Claims (7)
1. A defect analysis method based on frequency and amplitude of flight data of an unmanned aerial vehicle is characterized by comprising the following steps: after the frequency and amplitude obtaining method based on the flight data of the unmanned aerial vehicle is realized, the amplitude of the obtained acceleration signal is compared with a set amplitude threshold value, if the amplitude is out of the amplitude threshold value, the fact that the acceleration corresponding to the amplitude of the unmanned aerial vehicle has a defect is judged, namely the unmanned aerial vehicle has a vibration defect, at the moment, a signal related to the defect is output, and the signal related to the defect comprises a control signal and is used for controlling the unmanned aerial vehicle to eliminate the current defect;
the frequency and amplitude acquisition method based on the flight data of the unmanned aerial vehicle comprises the following steps:
writing the flight data of the unmanned aerial vehicle and the system time corresponding to the flight data into a log data packet;
after the log data packet is verified, writing a verification field into the log data packet to form a verification log data packet;
writing the check log data packet into a log file;
writing a log description packet recording the analysis rule of the check log data packet into the log file;
the log file is acquired through data transmission between a wireless communication unit of the unmanned aerial vehicle and the unmanned aerial vehicle in flight or after the unmanned aerial vehicle is in flight, and the check log data packet is checked according to the check field;
acquiring the system time from the check log data packet;
analyzing the check log data packet according to the log description packet to obtain the flight data;
the flight data with system time carries out Fourier transform and obtains the frequency and the amplitude of the digital signal that the flight data corresponds, the flight data includes unmanned aerial vehicle's acceleration, and this acceleration is measured by unmanned aerial vehicle's accelerometer from the area, is the acceleration of perpendicular to unmanned aerial vehicle organism plane direction, and in the amplitude and the frequency of the acceleration signal that obtains, the amplitude is used for the intensity of analysis vibration energy, and the frequency then is used for finding the frequency point of vibration to unmanned aerial vehicle carries out the analysis.
2. A defect analysis method based on frequency and amplitude of flight data of an unmanned aerial vehicle is characterized by comprising the following steps: after the frequency and amplitude acquisition method based on the flight data of the unmanned aerial vehicle is realized,
calculating the actual temperature change rate of a sensor for acquiring the flight data according to different system time;
comparing the amplitude of the obtained acceleration signal with a set amplitude threshold value and comparing the actual temperature change rate with a preset temperature change rate, if the amplitude is out of the amplitude threshold value and the actual temperature change rate is smaller than the preset temperature change rate, judging that the acceleration corresponding to the amplitude of the unmanned aerial vehicle has a defect, namely that the unmanned aerial vehicle has a vibration defect, and outputting a signal related to the defect, wherein the signal related to the defect comprises a control signal and is used for controlling the unmanned aerial vehicle to eliminate the current defect;
the frequency and amplitude acquisition method based on the flight data of the unmanned aerial vehicle comprises the following steps:
writing the flight data of the unmanned aerial vehicle and the system time corresponding to the flight data into a log data packet;
after the log data packet is verified, writing a verification field into the log data packet to form a verification log data packet;
writing the check log data packet into a log file;
writing a log description packet recording the analysis rule of the check log data packet into the log file;
the log file is acquired through data transmission between a wireless communication unit of the unmanned aerial vehicle and the unmanned aerial vehicle in flight or after the unmanned aerial vehicle is in flight, and the check log data packet is checked according to the check field;
acquiring the system time from the check log data packet;
analyzing the check log data packet according to the log description packet to obtain the flight data;
the flight data with system time carries out Fourier transform and obtains the frequency and the amplitude of the digital signal that the flight data corresponds, the flight data includes unmanned aerial vehicle's acceleration, and this acceleration is measured by unmanned aerial vehicle's accelerometer from the area, is the acceleration of perpendicular to unmanned aerial vehicle organism plane direction, and in the amplitude and the frequency of the acceleration signal that obtains, the amplitude is used for the intensity of analysis vibration energy, and the frequency then is used for finding the frequency point of vibration to unmanned aerial vehicle carries out the analysis.
3. The defect analysis method of claim 1 or 2, wherein the frequency and amplitude acquisition method based on the flight data of the unmanned aerial vehicle further comprises: and displaying the frequency and the amplitude obtained after transformation.
4. The defect analysis method according to claim 1 or 2, wherein the log description packet is provided with a description data ID, the verification log data packet is provided with a data ID, and the verifying the verification log data packet according to the verification field comprises:
searching and storing all the log description packets in the log file;
traversing the check log data packet in the log file;
checking the check log data packet by using the check field;
and matching the description data ID with the data ID.
5. The defect analysis method of claim 4, wherein:
the verification is carried out on the verification log data packet by using the verification field, if the verification fails, the traversal of the verification log data packet in the log file is returned to be executed, and if the verification passes, the description data ID is matched with the data ID;
and matching the description data ID with the data ID, if the matching fails, returning to execute traversing the verification log data packet in the log file, and if the matching passes, executing to acquire the system time from the verification log data packet.
6. An electronic device comprising a display and one or more processors, characterized in that said processors implement the method according to any of claims 1 to 5.
7. A computer-readable storage medium storing a computer program for use in conjunction with a computing device, the computer program being executable by a processor to implement the method of any one of claims 1-5.
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