CN115113650B - Air-ground integrated data fusion system based on unmanned aerial vehicle autonomous operation - Google Patents
Air-ground integrated data fusion system based on unmanned aerial vehicle autonomous operation Download PDFInfo
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Abstract
The invention provides an air-ground integrated data fusion system based on autonomous operation of an unmanned aerial vehicle, which relates to the technical field of unmanned aerial vehicle data fusion, and comprises a ground information database, a ground information integration module, a real-time acquisition module and an air-ground information fusion module; the ground information database comprises position information of a routing inspection area, altitude information of the routing inspection area and basic event statistical information; according to the invention, through careful analysis of ground multipoint information, a preferred path can be planned for the air flight of the unmanned aerial vehicle, meanwhile, routing inspection parameters can be adjusted in time according to real-time conditions, and the unmanned aerial vehicle can be guaranteed to return to the home in time, so that the problems that the existing air-ground data fusion processing method is not comprehensive enough, the cruising analysis of the unmanned aerial vehicle is not careful enough, the multipoint autonomous operation capability of the unmanned aerial vehicle is lower, and the cruising cannot be effectively guaranteed are solved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle data fusion, in particular to an air-ground integrated data fusion system based on unmanned aerial vehicle autonomous operation.
Background
An unmanned aircraft, referred to as "drone", is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either fully or intermittently, by an onboard computer. Unmanned aerial vehicles can be classified into military and civilian applications. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In the civil aspect, the unmanned aerial vehicle + the industry application is really just needed by the unmanned aerial vehicle; the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, the application of the unmanned aerial vehicle is greatly expanded, and the developed countries also actively expand the industrial application and develop the unmanned aerial vehicle technology.
In the practical application process of unmanned aerial vehicle, the flight orbit of unmanned aerial vehicle is set in advance and task execution is carried out again usually, the task of patrolling and examining of execution is also mostly for point-to-point ground flight, consequently when carrying out the multipoint task of patrolling and examining, use current execution method can make manual operating step change many, the flight that makes a round trip has also increased the loss of unmanned aerial vehicle self electric quantity energy simultaneously, current data processing system can not optimize the air orbit of unmanned aerial vehicle and ground information well and fuse the processing, lead to unmanned aerial vehicle's autonomic operation ability to descend, simultaneously can not evaluate unmanned aerial vehicle's flight duration according to actual flight situation when carrying out the multipoint task, lead to unmanned aerial vehicle to appear the problem that the duration is not enough and can not return journey in time.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an air-ground integrated data fusion system based on autonomous operation of an unmanned aerial vehicle, through careful analysis of multi-point information on the ground, a preferred path can be planned for the air flight of the unmanned aerial vehicle, meanwhile, routing inspection parameters can be timely adjusted according to real-time conditions, and the unmanned aerial vehicle can be guaranteed to return to the ground in time, so that the problems that the existing air-ground data fusion processing method is not comprehensive enough, the endurance analysis of the unmanned aerial vehicle is not careful enough, the multipoint autonomous operation capability of the unmanned aerial vehicle is low, and the endurance cannot be effectively guaranteed are solved.
In order to achieve the purpose, the invention is realized by the following technical scheme: the invention provides an air-ground integrated data fusion system based on autonomous operation of an unmanned aerial vehicle, which comprises a ground information database, a ground information integration module, a real-time acquisition module and an air-ground information fusion module;
the ground information database comprises position information of an inspection area, elevation information of the inspection area and basic event statistical information;
the ground information integration module comprises an inspection path integration unit and an inspection parameter integration unit, and the inspection path integration unit is used for performing integration analysis through the position information and the altitude information of an inspection area to obtain an inspection path of the inspection area; the inspection parameter integration unit performs integration analysis through basic event statistical information to obtain inspection parameters of an inspection area;
the real-time acquisition module is used for acquiring real-time environment parameters in the routing inspection path;
the air-ground information fusion module is configured with an air-ground information fusion strategy, and the air-ground information fusion strategy comprises the following steps: calculating and analyzing the real-time environment parameters to obtain an adjustment strategy of the routing inspection parameters;
and adjusting the flight mode according to the adjustment strategy of the inspection parameters.
Further, the patrol route integration unit is configured with a planar patrol route integration policy, and the planar patrol route integration policy includes: firstly, acquiring a plurality of stay detection points needing to be subjected to inspection in an inspection area;
performing peripheral connection on the plurality of stay detection points, wherein after the peripheral connection, all the stay detection points can be ensured to be positioned on or in the peripheral connection;
selecting a staying detection point on the peripheral connecting line as a patrol starting point; the method for selecting the routing inspection starting point comprises the following steps: firstly, respectively acquiring angles surrounded by stay detection points on peripheral connecting lines and adjacent stay detection points on two sides of the stay detection points, and setting the angles as stay point orientation angles; reserving the stay detection points in the inner direction of the area enclosed by the peripheral connecting lines in the direction of the stay points towards the corners; obtaining a stay detection point corresponding to the smallest angle in the degrees of the orientation angles of the plurality of reserved stay points, and taking the stay detection point as a routing inspection starting point;
firstly, making an angular bisector for a direction angle of a stop point of a routing inspection starting point; dividing an area surrounded by the peripheral connecting lines into two parts by angular bisectors;
acquiring the number of the stay detection points on two sides of the angular bisector, setting the area with more stay detection points as a first routing inspection half area, and setting the area with less stay detection points as a second routing inspection half area; dividing the stay detection points on the angular bisector into a first routing inspection half area;
firstly, connecting stay detection points in a first routing inspection half area; taking the inspection starting point as the first inspection point on the inspection path, and sequentially connecting the next nearest stop detection point; when all the stay detection points of the first routing inspection half-area are connected, the stay detection points of the second routing inspection half-area are sequentially connected; finally, the last connected staying detection point of the second inspection half area is connected with the inspection starting point; and setting the path formed by all the connecting lines as a plane inspection path.
Furthermore, the inspection path integration unit is also configured with a height inspection path integration strategy; the height patrol path integration strategy comprises the following steps:
presetting a first basic patrol ground clearance, wherein the first patrol ground clearance represents a height distance kept between an unmanned aerial vehicle and a corresponding stop detection point;
then, the altitude of each staying detection point is obtained, and the first base patrol ground clearance is added with the altitude of each staying detection point to obtain the patrol height of each staying detection point;
the inspection height of each stopping detection point is represented as the flying height of the unmanned aerial vehicle kept when the unmanned aerial vehicle inspects above the stopping detection point;
and respectively setting the flying height for each stopping detection point on the plane routing inspection path to obtain a height routing inspection path.
Further, the basic event statistical information comprises historical accident occurrence times of staying at detection points;
the inspection parameter integration unit is configured with an inspection parameter integration strategy, and the inspection parameter integration strategy comprises the following steps:
grading the stay detection points according to the historical accident occurrence times; when the historical accident occurrence frequency is more than or equal to a first accident frequency threshold value, dividing the staying detection points into first-level detection points; when the historical accident occurrence frequency is greater than or equal to a second accident frequency threshold value and less than a first accident frequency threshold value, dividing the stay detection point into a second-level detection point; when the historical accident occurrence frequency is smaller than a second accident frequency threshold value, dividing the stay detection point into a third-level detection point; wherein the first threshold number of incidents is greater than the second threshold number of incidents;
setting the inspection parameters of the unmanned aerial vehicle according to the grade division of the stay detection points; the inspection parameters of the unmanned aerial vehicle comprise inspection speed and inspection duration; setting a first detection point polling speed and a first detection point polling duration for the first grade detection point; setting a second detection point polling speed and a second detection point polling duration for the second level detection point; setting a third detection point polling speed and a third detection point polling duration for the third grade detection point;
the inspection speed of the first detection point is lower than that of the second detection point, and the inspection speed of the second detection point is lower than that of the third detection point; the polling time length of the first detection point is longer than that of the second detection point, and the polling time length of the second detection point is longer than that of the third detection point;
substituting the first detection point inspection speed, the second detection point inspection speed and the third detection point inspection speed into a path moving speed calculation formula to obtain a path moving speed; the path moving speed is the moving speed of the unmanned aerial vehicle between any two stop detection points.
Further, the path moving speed calculation formula is configured to:
(ii) a Wherein Vlj is a path moving speed, and V1x, V2x, and V3x are a first detection point polling speed, a second detection point polling speed, and a third detection point polling speed, respectively.
Further, the real-time acquisition module comprises a wind speed acquisition unit, a wind direction acquisition unit and an electric quantity acquisition unit, the wind speed acquisition unit is used for acquiring a wind speed value in the environment where the unmanned aerial vehicle is currently located, the wind direction acquisition unit is used for acquiring a wind direction in the environment where the unmanned aerial vehicle is currently located, and the electric quantity acquisition unit is used for acquiring a residual electric quantity value of a battery of the unmanned aerial vehicle;
the wind direction obtaining unit is configured with a wind direction conversion strategy, and the wind direction conversion strategy comprises the following steps:
converting the measured wind direction into a wind direction angle, wherein the wind direction angle comprises 360 degrees; and acquiring the wind direction angle faced by the unmanned aerial vehicle at different stop detection points by adopting an angle corresponding method.
Further, the angle correspondence method includes: establishing a circular steering wheel, taking the same direction as the flying direction of the next path of the unmanned aerial vehicle as the 90-degree pointer direction of the circular steering wheel, taking the opposite direction of the flying direction of the next path of the unmanned aerial vehicle as the 270-degree pointer direction, wherein the angle value corresponding to the pointer of the circular steering wheel is increased along the clockwise rotation direction, and placing the wind direction measured by the stop detection point in the circular steering wheel to obtain the wind direction angle of the stop detection point.
Further, the air-ground information fusion strategy comprises:
substituting the wind direction angle and the wind speed value of each stopping detection point into a flight loss calculation formula to obtain a flight loss coefficient; multiplying the flight loss coefficients of all the staying detection points to obtain a total flight loss reference coefficient;
acquiring the total length of the height routing inspection path, dividing the total length by the path moving speed to obtain path consumed time, and accumulating the routing inspection time of each staying detection point and the path consumed time to obtain the total routing inspection time;
substituting the residual electric quantity value and the total flight loss reference coefficient into an actual flight reference duration formula to obtain actual flight reference duration;
when the actual flight reference time length is longer than the total patrol inspection time length, the patrol inspection parameters are not adjusted;
and when the actual flight reference time length is less than or equal to the total patrol inspection time length, substituting the actual flight reference time length and the total patrol inspection time length into a patrol inspection reduction formula to obtain a patrol inspection reduction coefficient, multiplying the patrol inspection time length of each staying detection point by the patrol inspection reduction coefficient to obtain the adjusted patrol inspection time length of the staying detection point, and detecting the staying detection points according to the adjusted patrol inspection time length of the staying detection points.
Further, the flight loss calculation formula is configured to:
(ii) a Wherein, xsh is a flight loss coefficient, vfs is a wind speed value, rfx is a wind direction angle, a1 is a first base number, and the value of a1 is greater than 1;
the actual flight reference duration formula is configured as:
(ii) a Wherein Tsjc is actual flight reference time length, dsy is a residual electric quantity value, d1 is a conversion coefficient of electric quantity and flight time length, and Xzsh is a total flight loss reference coefficient;
the patrol reduction formula is configured as:
(ii) a Wherein, xxs is a patrol inspection reduction coefficient, txjz is patrol inspection total time length, and T1 is safe flight reserved time length.
The invention has the beneficial effects that: the inspection path integration unit acquires the inspection path of the inspection area by integrating and analyzing the position information of the inspection area and the altitude information of the inspection area, the inspection parameter integration unit acquires the inspection parameter of the inspection area by integrating and analyzing the statistical information of the basic events, and the inspection path and the inspection parameter are acquired, so that the multi-point autonomous operation inspection task of the unmanned aerial vehicle can be realized, and the functionality of the autonomous operation of the multi-point inspection of the unmanned aerial vehicle is improved;
the real-time environment parameters in the routing inspection path can be acquired through the real-time acquisition module; calculating and analyzing the real-time environment parameters through an air-ground information fusion module to obtain an adjustment strategy of the routing inspection parameters; finally, the flight mode is adjusted according to the adjustment strategy of the inspection parameters, the mode can evaluate the flight endurance of the unmanned aerial vehicle according to the actual flight condition when the unmanned aerial vehicle executes the multipoint task, and the inspection parameters are adjusted in time, so that the endurance safety of the unmanned aerial vehicle is guaranteed.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a functional block diagram of a data fusion system of the present invention;
FIG. 2 is a schematic block diagram of a ground information integration module of the present invention;
FIG. 3 is a functional block diagram of a real-time acquisition module of the present invention;
FIG. 4 is a schematic diagram of the zone division of the stay detection point according to the present invention;
fig. 5 is a schematic angle division diagram of the circular steering wheel of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Example one
Referring to fig. 1 to 5, the invention provides an air-ground integrated data fusion system based on autonomous operation of an unmanned aerial vehicle, which can plan a preferred path for air flight of the unmanned aerial vehicle by carefully analyzing multipoint information on the ground, and can adjust patrol parameters in time according to real-time conditions to ensure that the unmanned aerial vehicle can return to the home in time, so as to solve the problems that the existing air-ground data fusion processing method is not comprehensive enough, the endurance analysis of the unmanned aerial vehicle is not careful enough, the multipoint autonomous operation capability of the unmanned aerial vehicle is low, and the endurance cannot be effectively guaranteed.
Specifically, please refer to fig. 1, the data fusion system includes a ground information database, a ground information integration module, a real-time acquisition module, and an air-ground information fusion module.
The ground information database comprises position information of the inspection area, elevation information of the inspection area and basic event statistical information; the position information of the patrol area is used for calibrating detection points and paths needing to be detected in the patrol area, the altitude information of the patrol area can be used for setting the flying height of the unmanned aerial vehicle, and the basic event statistical information comprises the historical accident occurrence times of staying the detection points.
Referring to fig. 2, the ground information integration module includes an inspection path integration unit and an inspection parameter integration unit.
The inspection path integration unit is used for performing integration analysis on the position information and the altitude information of the inspection area to obtain an inspection path of the inspection area; the inspection path integration unit is configured with a planar inspection path integration policy, as shown in fig. 4, the planar inspection path integration policy includes the following steps: step S111, firstly, a plurality of stay detection points needing to be subjected to inspection in an inspection area are obtained; the stay detection point is a preset point position needing to be subjected to inspection;
step S112, peripheral connection is carried out on the plurality of stay detection points, wherein after the peripheral connection, all the stay detection points can be ensured to be positioned on the peripheral connection or in the peripheral connection; the peripheral connecting line is actually a side line which can perform all frame selection on all the stop detection points;
step S113, selecting a staying detection point on a peripheral connecting line as a patrol starting point; the method for selecting the routing inspection starting point comprises the following steps: firstly, respectively acquiring angles surrounded by stay detection points on peripheral connecting lines and adjacent stay detection points on two sides of the stay detection points, and setting the angles as stay point orientation angles; reserving the stay detection points in the inner direction of the area enclosed by the peripheral connecting lines in the direction of the stay points towards the corners; obtaining a stay detection point corresponding to the smallest angle in the degrees of the orientation angles of the plurality of reserved stay points, and taking the stay detection point as a routing inspection starting point; according to the method for selecting the inspection starting point, all the stop detection points except the inspection starting point can be positioned on one side of the inspection starting point, so that the unmanned aerial vehicle can fly towards one direction conveniently.
Step S114, firstly, making an angle bisector for the orientation angle of the stop point of the inspection starting point; dividing an area surrounded by the peripheral connecting lines into two parts by angular bisectors; this division mode can also set up to other kinds of modes, according to the quantity that stops the check point, can will patrol and examine the stop point orientation angle of starting point and carry out the division of a plurality of equallys, and the quantity that stops the check point is more, divides the equallys and can set up more to can make unmanned aerial vehicle patrol and examine according to the region in order.
Step S115, acquiring the number of the stay detection points on two sides of the angular bisector, setting the area with more stay detection points as a first routing inspection half area, and setting the area with less stay detection points as a second routing inspection half area; dividing the stay detection points on the angular bisector into a first routing inspection half area; if the number of the staying detection points in the inspection areas on the two sides is the same, the two sides of the inspection area are marked as a first inspection half area and a second inspection half area at will.
Step S116, firstly, connecting the stay detection points in the first inspection half-area; taking the inspection starting point as a first inspection point on the inspection path, and sequentially connecting the next nearest staying detection point; when all the stay detection points of the first routing inspection half-area are connected, the stay detection points of the second routing inspection half-area are sequentially connected; finally, the last connected staying detection point of the second inspection half area is connected with the inspection starting point; and setting the path formed by all the connecting lines as a plane routing inspection path. Firstly, the inspection height is not added, and the basic inspection path is obtained in the same plane, namely the plane inspection path.
Then add the information in the aspect of the height of patrolling and examining on the basis of the route is patrolled and examined to the plane, specifically do: the inspection path integration unit is also provided with a height inspection path integration strategy; the height patrol path integration strategy comprises the following steps:
step S121, presetting a first basic patrol ground clearance which represents a height distance kept between the unmanned aerial vehicle and a corresponding stop detection point;
step S122, then, the altitude of each staying detection point is obtained, and the first basic patrol ground clearance and the altitude of each staying detection point are added to obtain the patrol height of each staying detection point; the inspection height of each stop detection point is represented as the flying height of the unmanned aerial vehicle maintained when the unmanned aerial vehicle inspects above the stop detection point; this mode can make unmanned aerial vehicle keep a stable fly to ground height all the time, has ensured unmanned aerial vehicle's flight safety.
And S123, respectively setting the flight height for each stop detection point on the plane patrol route to obtain a height patrol route.
The inspection parameter integration unit performs integration analysis through the basic event statistical information to obtain inspection parameters of the inspection area;
the patrol inspection parameter integration unit is configured with a patrol inspection parameter integration strategy, and the patrol inspection parameter integration strategy comprises the following steps:
step S21, carrying out grade division on the stay detection points according to the historical accident occurrence frequency; when the historical accident occurrence frequency is more than or equal to a first accident frequency threshold value, dividing the staying detection points into first-level detection points; when the historical accident occurrence frequency is greater than or equal to a second accident frequency threshold and smaller than a first accident frequency threshold, dividing the stay detection point into a second-level detection point; when the historical accident occurrence frequency is smaller than a second accident frequency threshold value, dividing the stay detection point into a third-level detection point; wherein the first threshold number of incidents is greater than the second threshold number of incidents; in specific implementation, the stay detection points are preferably divided into three levels according to the dividing mode, and the design can ensure that the application in any field can be quickly adapted and simultaneously reduce the data processing amount.
S22, setting the inspection parameters of the unmanned aerial vehicle according to the grade division of the stay detection points; the inspection parameters of the unmanned aerial vehicle comprise inspection speed and inspection duration; setting a first detection point polling speed and a first detection point polling duration for the first grade detection points; setting a second detection point polling speed and a second detection point polling duration for the second level detection point; setting a third detection point polling speed and a third detection point polling duration for the third grade detection point; because the patrol importance degree of the first-level detection points is higher than that of the second-level detection points, and the patrol importance degree of the second-level detection points is higher than that of the third-level detection points, the patrol duration and patrol speed setting method comprises the following steps: the inspection speed of the first detection point is lower than that of the second detection point, and the inspection speed of the second detection point is lower than that of the third detection point; the first detection point polling duration is longer than the second detection point polling duration, and the second detection point polling duration is longer than the third detection point polling duration.
Step S23, the first stepSubstituting the inspection speed of the detection point, the inspection speed of the second detection point and the inspection speed of the third detection point into a path moving speed calculation formula to obtain a path moving speed; the path moving speed is the moving speed of the unmanned aerial vehicle between any two stop detection points; wherein the path moving speed calculation formula is configured as:
(ii) a Vlj is a path moving speed, and V1x, V2x, and V3x are a first detection point inspection speed, a second detection point inspection speed, and a third detection point inspection speed, respectively. The path moving speed obtained through the path moving speed calculation formula enables the unmanned aerial vehicle to be fast when moving between two stop detection points, and the inspection speed is improved.
Referring to fig. 3, the real-time obtaining module is configured to obtain real-time environment parameters in the inspection path; the real-time acquisition module comprises a wind speed acquisition unit, a wind direction acquisition unit and an electric quantity acquisition unit, the wind speed acquisition unit is used for acquiring a wind speed value in the environment where the unmanned aerial vehicle is currently located, the wind direction acquisition unit is used for acquiring a wind direction in the environment where the unmanned aerial vehicle is currently located, and the electric quantity acquisition unit is used for acquiring a residual electric quantity value of a battery of the unmanned aerial vehicle.
The wind direction obtaining unit is configured with a wind direction conversion strategy, and the wind direction conversion strategy comprises the following steps:
step S31, converting the measured wind direction into a wind direction angle, wherein the wind direction angle comprises 360 degrees; and acquiring the wind direction angle faced by the unmanned aerial vehicle at different stop detection points by adopting an angle corresponding method.
Referring to fig. 5, the angle mapping method includes: establishing a circular steering wheel, taking the same direction as the flying direction of the next path of the unmanned aerial vehicle as the 90-degree pointer direction of the circular steering wheel, taking the opposite direction to the flying direction of the next path of the unmanned aerial vehicle as the 270-degree pointer direction, wherein the angle value corresponding to the pointer of the circular steering wheel is increased along the clockwise rotation direction, and the wind direction measured by the stay detection point is placed in the circular steering wheel to obtain the wind direction angle of the stay detection point; after the wind direction angle is converted, when the wind direction angle is between 0 and 180 degrees, the forward power support can be provided for the flight of the unmanned aerial vehicle, when the wind direction angle is between 180 and 360 degrees, the wind direction brings resistance to the flight of the unmanned aerial vehicle, and the wind direction angle are in the same direction.
The air-ground information fusion module is configured with an air-ground information fusion strategy, and the air-ground information fusion strategy comprises the following steps: calculating and analyzing the real-time environment parameters to obtain an adjustment strategy of the routing inspection parameters; and adjusting the flight mode according to the adjustment strategy of the inspection parameters.
Specifically, the air-ground information fusion strategy comprises the following steps:
step S41, substituting the wind direction angle and the wind speed value of each stopping detection point into a flight loss calculation formula to obtain a flight loss coefficient; multiplying the flight loss coefficients of all the staying detection points to obtain a total flight loss reference coefficient;
the flight loss calculation formula is configured as follows:
(ii) a Wherein, xsh is the flight loss coefficient, vfs is the wind speed value, rfx is the wind direction angle, a1 is the first base number, and the value of a1 is greater than 1.
Step S42, acquiring the total length of the height inspection path, dividing the total length by the path moving speed to obtain path consumed time, and accumulating the inspection time of each staying detection point and the path consumed time to acquire the inspection total time;
step S43, substituting the residual electric quantity value and the total flight loss reference coefficient into an actual flight reference duration formula to obtain actual flight reference duration;
the actual flight reference duration formula is configured as:
(ii) a Wherein Tsjc is actual flight reference time length, dsy is a residual electric quantity value, d1 is a conversion coefficient of electric quantity and flight time length, the value of d1 is greater than zero, and Xzsh is a total flight loss reference coefficient;
when the actual flight reference time length is longer than the total patrol inspection time length, the patrol inspection parameters are not adjusted;
when the actual flight reference time length is less than or equal to the total patrol inspection time length, substituting the actual flight reference time length and the total patrol inspection time length into a patrol inspection reduction formula to obtain patrol inspection reduction coefficients, multiplying the patrol inspection time length of each staying detection point by the patrol inspection reduction coefficients to obtain the adjusted patrol inspection time length of the staying detection points, and detecting the staying detection points according to the adjusted patrol inspection time length of the staying detection points;
the routing inspection reduction formula is configured as follows:
(ii) a Wherein Xxs is a routing inspection reduction coefficient, txjz is total routing inspection duration, T1 is reserved duration for safe flight, and ideally, the unmanned aerial vehicle can inspect more stay detection points and simultaneously guarantee sufficient time detection for each stay detection point in one routing inspection process, when the return journey returns to the starting point of patrol, the electric quantity is just enough, but in the actual application process, a certain safe flight reserved time length needs to be reserved to deal with the error existing in the processing process and the uncontrollable factors of the environment and the equipment existing in the actual application process.
The working principle is as follows: firstly, integrating and analyzing position information and elevation information of an inspection area through an inspection path integration unit to obtain an inspection path of the inspection area, integrating and analyzing basic event statistical information through an inspection parameter integration unit to obtain inspection parameters of the inspection area, and performing multi-point autonomous operation inspection by an unmanned aerial vehicle according to the inspection path and the inspection parameters; then, a real-time environment parameter in the routing inspection path can be acquired through a real-time acquisition module; the real-time environment parameters can be calculated and analyzed through the air-ground information fusion module, and an adjustment strategy of the routing inspection parameters is obtained; and finally, adjusting the flight mode according to the adjustment strategy of the inspection parameters, evaluating the flight endurance of the unmanned aerial vehicle according to the actual flight condition when the unmanned aerial vehicle executes the multi-point task, and adjusting the inspection parameters in time.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. The air-ground integrated data fusion system based on unmanned aerial vehicle autonomous operation is characterized by comprising a ground information database, a ground information integration module, a real-time acquisition module and an air-ground information fusion module;
the ground information database comprises position information of a routing inspection area, altitude information of the routing inspection area and basic event statistical information;
the ground information integration module comprises an inspection path integration unit and an inspection parameter integration unit, and the inspection path integration unit is used for performing integration analysis through the position information and the altitude information of an inspection area to obtain an inspection path of the inspection area; the inspection parameter integration unit is used for carrying out integration analysis through basic event statistical information to obtain inspection parameters of an inspection area;
the real-time acquisition module is used for acquiring real-time environment parameters in the routing inspection path;
the air-ground information fusion module is configured with an air-ground information fusion strategy, and the air-ground information fusion strategy comprises the following steps: calculating and analyzing the real-time environment parameters to obtain an adjustment strategy of the routing inspection parameters;
adjusting the flight mode according to the adjustment strategy of the inspection parameters;
the patrol route integration unit is configured with a plane patrol route integration strategy, and the plane patrol route integration strategy comprises the following steps: firstly, acquiring a plurality of stay detection points needing to be subjected to inspection in an inspection area;
carrying out peripheral connection on a plurality of stay detection points, wherein all the stay detection points are positioned on the peripheral connection or in the peripheral connection;
selecting a staying detection point on the peripheral connecting line as a routing inspection starting point; the method for selecting the routing inspection starting point comprises the following steps: firstly, respectively acquiring angles surrounded by stay detection points on peripheral connecting lines and adjacent stay detection points on two sides of the stay detection points, and setting the angles as stay point orientation angles; reserving the stay detection points in the inner direction of the area enclosed by the peripheral connecting lines in the direction of the stay points towards the corners; obtaining a stay detection point corresponding to the smallest angle in the degrees of the orientation angles of the plurality of reserved stay points, and taking the stay detection point as a routing inspection starting point;
firstly, making an angular bisector for a direction angle of a stop point of a routing inspection starting point; dividing an area surrounded by peripheral connecting lines into two parts by angular bisectors;
acquiring the number of stay detection points on two sides of an angular bisector, setting the area with a large number of the stay detection points as a first routing inspection half area, and setting the area with a small number of the stay detection points as a second routing inspection half area; dividing the stay detection points on the angular bisector into a first inspection half area;
firstly, connecting stay detection points in a first routing inspection half area; taking the inspection starting point as a first inspection point on the inspection path, and sequentially connecting the next nearest staying detection point; when all the stay detection points of the first inspection half-area are connected, the stay detection points of the second inspection half-area are sequentially connected; finally, the last connected staying detection point of the second inspection half area is connected with the inspection starting point; setting a path formed by all the connecting lines as a plane inspection path;
the inspection path integration unit is also provided with a height inspection path integration strategy; the height inspection path integration strategy comprises the following steps:
presetting a first basic patrol ground clearance, wherein the first patrol ground clearance represents a height distance kept between an unmanned aerial vehicle and a corresponding stop detection point;
then, the altitude of each staying detection point is obtained, and the first base patrol ground clearance is added with the altitude of each staying detection point to obtain the patrol height of each staying detection point;
the inspection height of each stop detection point is represented as the flying height of the unmanned aerial vehicle maintained when the unmanned aerial vehicle inspects above the stop detection point;
setting a flight height for each stop detection point on the plane patrol path to obtain a height patrol path;
the basic event statistical information comprises historical accident occurrence times of staying at the detection points;
the patrol inspection parameter integration unit is configured with a patrol inspection parameter integration strategy, and the patrol inspection parameter integration strategy comprises the following steps:
grading the stay detection points according to the historical accident occurrence times; when the historical accident occurrence frequency is more than or equal to a first accident frequency threshold value, dividing the staying detection points into first-level detection points; when the historical accident occurrence frequency is greater than or equal to a second accident frequency threshold value and less than a first accident frequency threshold value, dividing the stay detection point into a second-level detection point; when the historical accident occurrence frequency is smaller than a second accident frequency threshold value, dividing the stay detection point into a third-level detection point; wherein the first threshold number of incidents is greater than the second threshold number of incidents;
setting the inspection parameters of the unmanned aerial vehicle according to the grade division of the stay detection points; the inspection parameters of the unmanned aerial vehicle comprise inspection speed and inspection duration; setting a first detection point polling speed and a first detection point polling duration for the first grade detection point; setting a second detection point polling speed and a second detection point polling duration for the second-level detection point; setting a third detection point polling speed and a third detection point polling duration for the third grade detection point;
the inspection speed of the first detection point is lower than that of the second detection point, and the inspection speed of the second detection point is lower than that of the third detection point; the first detection point polling duration is longer than the second detection point polling duration, and the second detection point polling duration is longer than the third detection point polling duration;
substituting the first detection point inspection speed, the second detection point inspection speed and the third detection point inspection speed into a path moving speed calculation formula to obtain a path moving speed; the path moving speed is the moving speed of the unmanned aerial vehicle between any two stop detection points.
2. The air-ground integrated data fusion system based on autonomous operation of the unmanned aerial vehicle as claimed in claim 1, wherein the real-time acquisition module comprises a wind speed acquisition unit, a wind direction acquisition unit and an electric quantity acquisition unit, the wind speed acquisition unit is configured to acquire a wind speed value in an environment where the unmanned aerial vehicle is currently located, the wind direction acquisition unit is configured to acquire a wind direction in the environment where the unmanned aerial vehicle is currently located, and the electric quantity acquisition unit is configured to acquire a remaining electric quantity value of a battery of the unmanned aerial vehicle;
the wind direction obtaining unit is configured with a wind direction conversion strategy, and the wind direction conversion strategy comprises the following steps:
converting the measured wind direction into a wind direction angle; and acquiring the wind direction angle faced by the unmanned aerial vehicle at different stop detection points by adopting an angle corresponding method.
3. The unmanned aerial vehicle autonomous operation-based air-ground integrated data fusion system according to claim 2, wherein the angle correspondence method comprises: establishing a circular steering wheel, taking the same direction as the flying direction of the next path of the unmanned aerial vehicle as the 90-degree pointer direction of the circular steering wheel, taking the opposite direction of the flying direction of the next path of the unmanned aerial vehicle as the 270-degree pointer direction, wherein the angle value corresponding to the pointer of the circular steering wheel is increased along the clockwise rotation direction, and placing the wind direction measured by the stop detection point in the circular steering wheel to obtain the wind direction angle of the stop detection point.
4. The unmanned aerial vehicle autonomous operation-based air-ground integrated data fusion system of claim 3, wherein the air-ground information fusion strategy comprises the following steps:
substituting the wind direction angle and the wind speed value of each staying detection point into a flight loss calculation formula to obtain a flight loss coefficient; multiplying the flight loss coefficients of all the staying detection points to obtain a total flight loss reference coefficient;
the flight loss calculation formula is configured to:
(ii) a Wherein, xsh is a flight loss coefficient, vfs is a wind speed value, rfx is a wind direction angle, a1 is a first base number, and the value of a1 is greater than 1;
acquiring the total length of the height routing inspection path, dividing the total length by the path moving speed to obtain path consumed time, and accumulating the routing inspection time of each staying detection point and the path consumed time to obtain the total routing inspection time;
substituting the residual electric quantity value and the total flight loss reference coefficient into an actual flight reference duration formula to obtain actual flight reference duration;
when the actual flight reference time length is greater than the total patrol inspection time length, the patrol inspection parameters are not adjusted;
and when the actual flight reference time length is less than or equal to the total patrol inspection time length, substituting the actual flight reference time length and the total patrol inspection time length into a patrol inspection reduction formula to obtain a patrol inspection reduction coefficient, multiplying the patrol inspection time length of each staying detection point by the patrol inspection reduction coefficient to obtain the adjusted patrol inspection time length of the staying detection point, and detecting the staying detection points according to the adjusted patrol inspection time length of the staying detection points.
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