WO2022257093A1

WO2022257093A1 - Method and system for evaluating nuclear radiation resistance of unmanned aerial vehicle capable of customizing positioning information

Info

Publication number: WO2022257093A1
Application number: PCT/CN2021/099578
Authority: WO
Inventors: 曹洪龙; 刘学观; 周鸣籁; 黄鹤; 周光明
Original assignee: 苏州大学
Priority date: 2021-06-07
Filing date: 2021-06-11
Publication date: 2022-12-15
Also published as: CN113376676B; CN113376676A

Abstract

A method and system for evaluating nuclear radiation resistance of an unmanned aerial vehicle capable of customizing positioning information. The system comprises a master control server, a nuclear radiation shielding room, a remote controller, a satellite positioning simulation system, a stabilized power source, an antenna, a nuclear radiation source, a background picture, a rotor monitoring system, and the unmanned aerial vehicle. The method comprises: simulating a nuclear radiation environment; providing the unmanned aerial vehicle comprising a remote control module, a flight control module, a satellite positioning module, a nuclear radiation detector, a video collection module, and a power supply module in the nuclear radiation shielding room; opening the nuclear radiation source to obtain a nuclear radiation dose rate R of the unmanned aerial vehicle; and evaluating the parts of the unmanned aerial vehicle by the master control server every time T, closing the nuclear radiation source until the unmanned aerial vehicle is abnormal, obtaining number N through T, and calculating a maximum nuclear radiation resistance dose R_max=N×T×R of the unmanned aerial vehicle. In the method and system for evaluating the nuclear radiation resistance of the unmanned aerial vehicle capable of customizing the positioning information, R_max is calibrated before actual detection, the unmanned aerial vehicle is conveniently controlled in practice, and the loss of detection data caused by incapability of homeward voyage is avoided.

Description

自定义定位信息的无人机抗核辐射性能评测方法和***Method and system for evaluating anti-nuclear radiation performance of UAV with custom positioning information

技术领域technical field

本发明涉及辐射安全监测技术领域，具体涉及一种自定义定位信息的无人机抗核辐射性能评测方法和***。The invention relates to the technical field of radiation safety monitoring, in particular to a method and system for evaluating anti-nuclear radiation performance of an unmanned aerial vehicle with custom positioning information.

背景技术Background technique

核泄漏事故造成的核辐射性危机非常严重，引发了公众对核设施的安全防护的关注。对核事故地点进行人工探测会对操作人员造成巨大的身心损伤甚至危及生命，也难于获取核事故地点的全面资料。随着无人机技术的发展，在探测核辐射地区时也越来越多地开始应用无人机，探测过程中远程控制无人机进入核辐射区域，使用无人机实现卫星定位、辐射探测、视频采集、无线通信和飞行控制等功能，由操作人员在远程操控，进行数据采集和回传。The nuclear radiation crisis caused by the nuclear leakage accident is very serious, which has aroused the public's attention to the safety protection of nuclear facilities. Manual detection of nuclear accident sites will cause huge physical and psychological damage to operators and even endanger their lives, and it is also difficult to obtain comprehensive information on nuclear accident sites. With the development of drone technology, more and more drones are used in the detection of nuclear radiation areas. During the detection process, drones are remotely controlled to enter nuclear radiation areas, and drones are used to achieve satellite positioning and radiation detection. , video collection, wireless communication and flight control functions are remotely controlled by the operator for data collection and return.

但是，无人机在受到核辐射时其电路***工作的抗核辐射性能有限。同时，无人机包括核辐射探测器、卫星定位模块、供电模块、视频采集模块和遥控模块等许多组成部分，这些组成部分和无人机本身最大可以承受的核辐射剂量没有统一的标定且每个部分最大可以承受的核辐射剂量也不同，在实际探测的过程中电路因受过量核辐射而出现异常和损坏时也不容易由人工察觉，在无人机探测过程时一旦有组成部分失灵，不仅会造成探测数据不准确，甚至会出现无人机无法返航导致探测数据丢失的情况，增加探测成本。However, the anti-nuclear radiation performance of the circuit system of the UAV is limited when it is subjected to nuclear radiation. At the same time, drones include many components such as nuclear radiation detectors, satellite positioning modules, power supply modules, video acquisition modules, and remote control modules. These components and the maximum nuclear radiation dose that the drone itself can withstand are not uniformly calibrated and each The maximum nuclear radiation dose that each part can withstand is also different. In the actual detection process, when the circuit is abnormal and damaged due to excessive nuclear radiation, it is not easy to be detected by humans. Once a component fails during the drone detection process, Not only will the detection data be inaccurate, but the drone may even be unable to return and the detection data will be lost, which will increase the cost of detection.

发明内容Contents of the invention

为此，本发明所要解决的技术问题在于克服现有技术中的不足，在无人机进入核辐射区域进行实地探测之前，可以对无人机最大可承受的核辐射剂量进行综合测评和标定，避免在实际探测的过程中无人机的各组成部分因受过量核辐射而出现异常和损坏不容易由人工察觉，出现无人机损坏或者无法返航，导致探测数据丢失的情况。For this reason, the technical problem to be solved by the present invention is to overcome the deficiencies in the prior art. Before the UAV enters the nuclear radiation area for on-site detection, the maximum tolerable nuclear radiation dose of the UAV can be comprehensively evaluated and calibrated. Avoid the abnormality and damage of various components of the UAV due to excessive nuclear radiation during the actual detection process, which is not easy to be detected by humans, and the UAV is damaged or unable to return, resulting in the loss of detection data.

为解决上述技术问题，本发明提供了一种自定义定位信息的无人机抗核辐射性能综合评测方法，包括：In order to solve the above-mentioned technical problems, the present invention provides a comprehensive evaluation method for the anti-nuclear radiation performance of UAVs with custom positioning information, including:

步骤1：将背景图片、天线、旋翼监控***和无人机置于核辐射屏蔽室内，将总控服务器、稳压电源、遥控器和卫星定位模拟***置于核辐射屏蔽室外，所述核辐射屏蔽室内有核辐射源且核辐射屏蔽室内各处均标定有核辐射剂量率；所述无人机包括遥控模块、飞行控制模块、卫星定位模块、核辐射探测器、视频采集模块和供电模块；所述总控服务器选取地图上的位置自定义定位信息设置定位数据，并将定位数据发送给卫星定位模拟***，卫星定位模拟***将定位数据转换成卫星信号并发送给所述卫星定位模块，所述卫星定位模块在核辐射环境中接收卫星信号产生实时定位数据；所述总控服务器通过所述遥控器向遥控模块发送指令，遥控模块接收到指令后产生确认信息；所述核辐射探测器检测所处环境中的核辐射剂量率，所述飞行控制模块控制无人机的飞行状态并产生飞行状态信息，所述视频采集模块采集背景图片处的视频数据并传送给所述总控服务器；所述供电模块给无人机提供电力，所述稳压电源给在所述供电模块和所述旋翼监控***供电；无人机将包括实时定位数据、确认信息、核辐射剂量率、飞行状态信息和电池信息的测评信息通过所述遥控器传送给所述总控服务器；Step 1: Place the background picture, antenna, rotor monitoring system and UAV in the nuclear radiation shielding room, and place the master control server, regulated power supply, remote control and satellite positioning simulation system in the nuclear radiation shielding room. There is a nuclear radiation source in the shielding room and the nuclear radiation dose rate is calibrated everywhere in the nuclear radiation shielding room; the drone includes a remote control module, a flight control module, a satellite positioning module, a nuclear radiation detector, a video acquisition module and a power supply module; The master control server selects the position on the map and sets the positioning data by customizing the positioning information, and sends the positioning data to the satellite positioning simulation system, and the satellite positioning simulation system converts the positioning data into satellite signals and sends them to the satellite positioning module, so that The satellite positioning module receives satellite signals in a nuclear radiation environment to generate real-time positioning data; the master control server sends instructions to the remote control module through the remote controller, and the remote control module generates confirmation information after receiving the instructions; the nuclear radiation detector detects The nuclear radiation dose rate in the environment, the flight control module controls the flight state of the unmanned aerial vehicle and generates flight state information, and the video acquisition module collects the video data at the background picture and sends it to the master control server; The power supply module provides power to the drone, and the stabilized power supply supplies power to the power supply module and the rotor monitoring system; the drone will include real-time positioning data, confirmation information, nuclear radiation dose rate, flight status information and The evaluation information of the battery information is transmitted to the master control server through the remote controller;

步骤2：开启所述核辐射源，获取无人机所在位置的核辐射剂量率R；Step 2: Turn on the nuclear radiation source to obtain the nuclear radiation dose rate R at the location of the drone;

步骤3：所述总控服务器每隔时间间隔T获取一次无人机回传的测评信息并进行分析，直到无人机的工作状态不正常时关闭所述核辐射源，得到经过的时间间隔T的个数N，计算得到无人机的最大抗核辐射剂量R _max＝N×T×R。 Step 3: The master control server obtains and analyzes the evaluation information returned by the UAV every time interval T, and closes the nuclear radiation source when the UAV is not working properly, and obtains the elapsed time interval T The number N of the UAV is calculated to obtain the maximum anti-nuclear radiation dose R _max =N×T×R of the UAV.

进一步地，所述开启所述核辐射源前，所述总控服务器进行初始化配置并进行初始化检测，具体包括：步骤21：配置稳压电源给无人机中的供电模块和旋翼监控***供电的输出电压和最大允许电流，最大允许电流用于起限流作用防止电路电流过大造成设备损坏；Further, before the nuclear radiation source is turned on, the master control server performs initialization configuration and initialization detection, which specifically includes: Step 21: configuring a regulated power supply to supply power to the power supply module and the rotor monitoring system in the UAV Output voltage and maximum allowable current, the maximum allowable current is used to limit the current to prevent equipment damage caused by excessive circuit current;

步骤22：配置总控服务器与卫星定位模拟***的通信协议，选择卫星定位模拟***的卫星导航***的工作模式；总控服务器在地图上选取位置自定义定位信息设定定位数据(Lng，Lat) _ref并使用定位数据配置卫星定位模拟***生成卫星信号，判断卫星定位模拟***是否成功生成卫星信号，如果有效，执行步骤23；如果无效，总控服务器重新配置卫星定位模拟***直至成功生成卫星信号； Step 22: Configure the communication protocol between the master control server and the satellite positioning simulation system, select the working mode of the satellite navigation system of the satellite positioning simulation system; the master control server selects the position on the map to customize the positioning information and set the positioning data (Lng, Lat) _ref and use the positioning data to configure the satellite positioning simulation system to generate satellite signals, judge whether the satellite positioning simulation system successfully generates satellite signals, if valid, perform step 23; if invalid, the master control server reconfigures the satellite positioning simulation system until the satellite signals are successfully generated;

步骤23：使能稳压电源，执行步骤24；Step 23: Enable the regulated power supply, go to step 24;

步骤24：配置遥控器的接收灵敏度Sensitivity、工作距离D以及遥控模块与遥控器天线之间的距离L，执行步骤25；Step 24: Configure the receiving sensitivity Sensitivity of the remote control, the working distance D and the distance L between the remote control module and the antenna of the remote control, and perform step 25;

步骤25：配置总控服务器与遥控器的通信协议，配置好后总控服务器与遥控器进行通信以检测通信是否正常，如果不正常，检查电路连线并重新配置总控服务器与遥控器的通信协议直至通信正常，执行步骤26；如果正常，直接执行步骤26；Step 25: Configure the communication protocol between the master control server and the remote controller. After configuration, the master control server communicates with the remote controller to check whether the communication is normal. If not, check the circuit connection and reconfigure the communication between the master control server and the remote controller Protocol until the communication is normal, execute step 26; if normal, directly execute step 26;

步骤26：配置遥控器与无人机通信时的等待时间Timeout，总控服务器向遥控器发出读取定位数据和核辐射探测数据的指令，执行步骤27；Step 26: Configure the waiting time Timeout when the remote controller communicates with the UAV, the master control server sends an instruction to the remote controller to read positioning data and nuclear radiation detection data, and execute step 27;

步骤27：遥控器等待接收无人机的通信数据并判断是否成功接收到通信数据，如果超过等待时间仍然没有接收到数据，则判定超时，输出无线通信失败的错误信息，执行步骤214；如果接收到通信数据，执行步骤28；Step 27: The remote controller waits to receive the communication data of the drone and judges whether the communication data is successfully received. If the data is still not received after the waiting time, the judgment is timed out, and an error message of wireless communication failure is output, and step 214 is executed; to the communication data, execute step 28;

步骤28：遥控器解析接收到的通信数据得到初始化状态时无人机的定位数据(Lng，Lat) _t0和核辐射探测数据，执行步骤29； Step 28: The remote controller parses the received communication data to obtain the positioning data (Lng, Lat) _t0 and nuclear radiation detection data of the UAV in the initialization state, and executes step 29;

步骤29：计算(Lng，Lat) _t0和(Lng，Lat) _ref的差的绝对值得到(Dlng，Dlat)，判断Dlng和Dlat是否都小于预设的阈值Dmin，如果都小于表示误差在允许范围内，此时卫星定位模块工作正常，执行步骤210；如果没有都小于表示误差超出允许范围，此时卫星定位模块的工作不正常，输出定位失败的错误提示信息，执行步骤214； Step 29: Calculate the absolute value of the difference between (Lng, Lat) _t0 and (Lng, Lat) _ref to obtain (Dlng, Dlat), and judge whether Dlng and Dlat are both smaller than the preset threshold Dmin, if they are both smaller, the error is within the allowable range In this case, the satellite positioning module is working normally, and step 210 is performed; if not all less than, the error exceeds the allowable range, and the satellite positioning module is not working properly at this time, and the error message of output positioning failure is executed, and step 214 is performed;

步骤210：配置访问无人机上挂载的视频模块的RTSP地址，配置图像降噪滤波器；设置标志图像像素相似性分析方法的标志FLAG1，FLAG1为长度为n位的二进制数，n的取值范围为6～32，FLAG1中每一位用于标志一种图像像素相似性分析方法，按位配置每一位都为0或1，0表示禁止使用该位标志的图像像素相似性分析方法，1表示使能该位标志的图像像素相似性分析方法；将使能的图像像素相似性分析方法的数量记做N1，执行步骤211；Step 210: configure the RTSP address of the video module mounted on the access drone, configure the image noise reduction filter; set the flag FLAG1 of the method for analyzing the similarity of the image pixels of the logo, and FLAG1 is a binary number with a length of n bits, and the value of n The range is 6 to 32. Each bit in FLAG1 is used to mark an image pixel similarity analysis method, and each bit is configured as 0 or 1. 0 means that the image pixel similarity analysis method marked by this bit is prohibited. 1 means that the image pixel similarity analysis method of the bit flag is enabled; the number of image pixel similarity analysis methods enabled is recorded as N1, and step 211 is executed;

步骤211：配置FLAG1中使能的图像像素相似性分析方法的权重A[N1]，判断N1项使能方法的权重是否满足足A[1]+A[2]+...+A[N1]＝1；如果不满足，重新配置权重A[N1]直至满足要求；如果满足，配置相似性分析方法的阈值Threshold，执行步骤212；Step 211: Configure the weight A[N1] of the image pixel similarity analysis method enabled in FLAG1, and determine whether the weight of the N1 enabled method satisfies A[1]+A[2]+...+A[N1 ]=1; if not satisfied, reconfigure the weight A[N1] until the requirement is met; if satisfied, configure the threshold Threshold of the similarity analysis method, and perform step 212;

步骤212：启动视频分析线程，配置标志视频分析线程的工作状态的标志Vstatus并初始化Vstatus＝0，配置标志人脸识别错误次数的计数器N_err并初始化N_err＝0；判断视频采集模块采集视频是否正常以对视频采集模块的工作状态进行初始化检测，如果采集视频不正常，此时视频采集模块的初始化工作状态不正常，执行步骤214；如果采集视频正常，此时视频采集模块的初始化工作状态正常，采集一帧图像，并判断当前采集到的视频数据是否为第一帧图像，如果是第一帧图像，将当前帧图像的像素值存入Img0中，如果不是第一帧图像，将当前帧图像的像素值与Img0对应像素相加后取平均值存入Img0中，等待主线程通知进入评测流程，主线程执行步骤213；Step 212: start the video analysis thread, configure the sign Vstatus of the work status of the video analysis thread and initialize Vstatus=0, configure the counter N_err of the wrong number of times of face recognition and initialize N_err=0; judge whether the video acquisition module gathers the video normally and then The working status of the video capture module is initialized and detected, if the video capture is abnormal, the initial working status of the video capture module is abnormal, and step 214 is performed; if the video capture is normal, the initial working status of the video capture module is normal, and the acquisition One frame image, and judge whether the currently collected video data is the first frame image, if it is the first frame image, store the pixel value of the current frame image in Img0, if it is not the first frame image, save the current frame image pixel value The pixel value is added to the corresponding pixel of Img0, and the average value is stored in Img0, and the main thread is notified to enter the evaluation process, and the main thread executes step 213;

步骤213：获取旋翼监控***提供输出的旋翼状态信息判断是否可以正常通信获取信息，如果不能正常获取，则输出相应的错误信息，执行步骤214；如果可以正常获取，则开启核辐射源，获取无人机所在位置的核辐射剂量率R，开始测评，同时通知视频分析线程进入评测阶段；Step 213: Obtain the rotor status information provided by the rotor monitoring system to determine whether the information can be obtained through normal communication. If it cannot be obtained normally, output the corresponding error message and perform step 214; if it can be obtained normally, turn on the nuclear radiation source and obtain the information without The nuclear radiation dose rate R at the location of the man-machine is evaluated, and the video analysis thread is notified to enter the evaluation stage at the same time;

步骤214：关闭稳压电源输出，结束当前评测流程。Step 214: Turn off the output of the regulated power supply, and end the current evaluation process.

进一步地，所述总控服务器每隔时间间隔T获取一次无人机回传的信息并进行分析，直到无人机的工作状态不正常时关闭所述核辐射源，得到经过的时间间隔T的个数N，具体包括：步骤31：初始化N＝0，配置标志无人机工作状态的标志FLAG，FLAG为长度为m的二进制数，初始化FLAG的每一位都为0，m的取值范围为9～32；Further, the master control server obtains and analyzes the information returned by the UAV every time interval T, and closes the nuclear radiation source when the working state of the UAV is not normal, and obtains the time interval T passed. The number N, specifically includes: Step 31: Initialize N=0, configure the flag FLAG that marks the working state of the drone, and FLAG is a binary number with a length of m, and each bit of the initialized FLAG is 0, and the value range of m 9 to 32;

步骤32：总控服务器向遥控器发出读取无人机定位数据和核辐射探测数据的指令，遥控器等待接收无人机的通信数据并判断是否成功接收到通信数据，如果超过等待时间仍然没有接收到数据，此时无线通信失败，将FLAG的第1位置1，执行步骤33；如果接收到通信数据，直接执行步骤33；Step 32: The master control server sends instructions to the remote controller to read the UAV positioning data and nuclear radiation detection data. The remote controller waits to receive the communication data of the UAV and judges whether the communication data is successfully received. If the waiting time is exceeded, there is still no Receive data, at this time the wireless communication fails, set the first bit of FLAG to 1, and execute step 33; if communication data is received, directly execute step 33;

步骤33：遥控器解析接收到通信数据得到无人机的实时定位数据(Lng，Lat) _t和实时核辐射探测数据，判断实时核辐射探测数据的误差是否在许可范围内，如果误差不在许可范围内，将FLAG的第2为置1，执行步骤34；如果误差在许可范围内，直接执行步骤34； Step 33: The remote controller analyzes the received communication data to obtain the real-time positioning data (Lng, Lat) _t and real-time nuclear radiation detection data of the UAV, and judges whether the error of the real-time nuclear radiation detection data is within the allowable range, if the error is not within the allowable range , set the second bit of FLAG to 1, and execute step 34; if the error is within the allowable range, directly execute step 34;

步骤34：计算(Lng，Lat) _t和(Lng，Lat) _ref的差的绝对值得到(Dlng'，Dlat')，判断Dlng'和Dlat'是否都小于预设的阈值Dmin，如果没有都小于，表明卫星定位模块的工作不正常，将FLAG的第3位置1，执行步骤35；如果都小于，表明卫星定位模块工作正常，直接执行步骤35； Step 34: Calculate the absolute value of the difference between (Lng, Lat) _t and (Lng, Lat) _ref to obtain (Dlng', Dlat'), and determine whether Dlng' and Dlat' are both smaller than the preset threshold Dmin, if not both are smaller than , indicating that the satellite positioning module is not working properly, set the third bit of FLAG to 1, and execute step 35; if both are less than, indicating that the satellite positioning module is working normally, directly execute step 35;

步骤35：开始飞行控制评测流程，总控服务器通过遥控器发送控制无人机前进的命令，然后等待接收旋翼监控***传送的反馈信息，如果等待超时仍没有接收到旋翼监控***传送的反馈信息，将FLAG的第4位置1，执行步骤37；如果正常接收到旋翼监控***传送的反馈信息，直接执行步骤36；Step 35: Start the flight control evaluation process. The master control server sends the command to control the UAV to advance through the remote control, and then waits to receive the feedback information sent by the rotor monitoring system. If the feedback information sent by the rotor monitoring system is not received after waiting for a timeout, Set the 4th bit of FLAG to 1, and execute step 37; if the feedback information sent by the rotor monitoring system is normally received, directly execute step 36;

步骤36：总控服务器获取旋翼监控***测量的此时的各个旋翼的状态、转速，判定此时的无人机飞行状态，如果判定的状态不是前进状态，将FLAG的第5位置1，执行步骤37；如果判定的状态是上升状态，则直接步骤37；Step 36: The master control server obtains the state and rotational speed of each rotor measured by the rotor monitoring system at this time, and determines the flight state of the drone at this time. If the determined state is not the forward state, set the fifth position of FLAG to 1, and execute the step 37; if the determined state is rising state, then go directly to step 37;

步骤37：总控服务器通过遥控器发送控制无人机后退的命令，然后等待接收旋翼监控***传送的反馈信息，如果等待超时仍没有接收到旋翼监控***传送的反馈信息，将FLAG的第4位置1，执行步骤39；如果正常接收到旋翼监控***传送的反馈信息，直接执行步骤38；Step 37: The master control server sends a command to control the UAV to retreat through the remote control, and then waits to receive the feedback information transmitted by the rotor monitoring system. 1. Execute step 39; if the feedback information transmitted by the rotor monitoring system is normally received, directly execute step 38;

步骤38：总控服务器获取旋翼监控***测量的此时的各个旋翼的状态、转速，判定此时的无人机飞行状态，如果判定的状态不是后退状态，将FLAG的第6位置1，执行步骤39；如果判定的状态是左转状态，则直接步骤39；Step 38: The master control server obtains the state and speed of each rotor measured by the rotor monitoring system at this time, and determines the flight state of the drone at this time. If the determined state is not the backward state, set the sixth position of FLAG to 1, and execute the step 39; if the determined state is a left turn state, then go directly to step 39;

步骤39：总控服务器通过遥控器发送控制无人机爬升的命令，然后等待接收旋翼监控***传送的反馈信息，如果等待超时仍没有接收到旋翼监控***传送的反馈信息，将FLAG的第4位置1，执行步骤311；如果正常接收到旋翼监控***传送的反馈信息，直接执行步骤310；Step 39: The master control server sends a command to control the UAV to climb through the remote control, and then waits to receive the feedback information sent by the rotor monitoring system. If the feedback information sent by the rotor monitoring system is not received after waiting for a timeout, set the 4th position of FLAG to 1. Execute step 311; if the feedback information transmitted by the rotor monitoring system is normally received, directly execute step 310;

步骤310：总控服务器获取旋翼监控***测量的此时的各个旋翼的状态、转速，判定此时的无人机飞行状态，如果判定的状态不是爬升状态，将FLAG的第7位置1，执行步骤311；如果判定的状态是右转状态，则直接执行步骤311；Step 310: The master control server obtains the state and rotational speed of each rotor measured by the rotor monitoring system at this time, and determines the flight state of the drone at this time. If the determined state is not the climbing state, set the seventh position of FLAG to 1, and execute the step 311; if the determined state is a right turn state, then directly execute step 311;

步骤311：总控服务器通过遥控器发送控制无人机减速的命令，然后等待接收旋翼监控***传送的反馈信息，如果等待超时仍没有接收到旋翼监控***传送的反馈信息，将FLAG的第4位置1，执行步骤313；如果正常接收到旋翼监控***传送的反馈信息，直接执行步骤312；Step 311: The master control server sends a command to control the deceleration of the UAV through the remote control, and then waits to receive the feedback information transmitted by the rotor monitoring system. 1. Execute step 313; if the feedback information transmitted by the rotor monitoring system is normally received, directly execute step 312;

步骤312：总控服务器获取旋翼监控***测量的此时的各个旋翼的状态、转速，判定此时的无人机飞行状态，如果判定的状态不是减速状态，将FLAG的第8位置1，执行步骤313；如果判定的状态是下降状态，则直接步骤313；Step 312: The master control server obtains the state and rotational speed of each rotor measured by the rotor monitoring system at this time, and determines the flight state of the drone at this time. If the determined state is not the deceleration state, set the eighth position of FLAG to 1, and execute the step 313; if the determined state is a falling state, then go directly to step 313;

步骤313：获取遥控器接收到的实时无线通信信号功率Pr，计算工作距离为D处的遥控器接收到的信号功率Pw并将Pw与Sensitivity进行比较判断是否满足接收灵敏度要求，如果不满足，将FLAG的第9位置1，执行步骤314；如果满足，直接执行步骤314；Step 313: Obtain the real-time wireless communication signal power Pr received by the remote controller, calculate the signal power Pw received by the remote controller at a working distance of D, and compare Pw with Sensitivity to determine whether the receiving sensitivity requirement is met. If not, set The 9th bit of FLAG is 1, execute step 314; if satisfied, directly execute step 314;

步骤314：当前主流程根据在视频分析线程的评测流程中的视频分析线程实时的工作状态标志Vstatus的值判断视频分析线程是否正常工作，如果Vstatus＝1则视频分析线程工作不正常，将FLAG的第10位置1，执行步骤315；如果Vstatus＝0则视频分析线程工作正常，执行步骤315；Step 314: the current main process judges whether the video analysis thread is working normally according to the value of the real-time working status sign Vstatus of the video analysis thread in the evaluation process of the video analysis thread, if Vstatus=1 then the video analysis thread is not working properly, and the FLAG The 10th position is 1, execute step 315; if Vstatus=0 then the video analysis thread works normally, execute step 315;

步骤315：总控服务器存储FLAG值和实时的反馈信息，判断FLAG的值是否为0，如果不为0，发出报警信息，执行步骤317；如果为0，执行步骤316；Step 315: the master control server stores the FLAG value and real-time feedback information, and judges whether the value of FLAG is 0, if not 0, sends an alarm message, and executes step 317; if it is 0, executes step 316;

步骤316：判断是否接收到停止评测指令，如果接收到，执行步骤317；如果没有接收到，经过时间间隔T分钟后令N＝N+1，执行步骤32；Step 316: judge whether to receive the stop evaluation instruction, if received, execute step 317; if not received, make N=N+1 after time interval T minutes, execute step 32;

步骤317：输出经过的时间间隔T的个数N，关闭核辐射源，启动核辐射安全处理措施并关闭稳压电源输出，结束测评。Step 317: Output the number N of elapsed time intervals T, turn off the nuclear radiation source, start the nuclear radiation safety processing measures and turn off the output of the regulated power supply, and end the evaluation.

进一步地，所述步骤314中在视频分析线程的评测流程中的视频分析线程实时的工作，具体包括：步骤314.1：视频采集模块采集一帧视频数据并判断视频采集是否正常，如果不正常，判定视频分析线程不正常，设置Vstatus＝1；如果正常，执行步骤314.2；Further, the real-time work of the video analysis thread in the evaluation process of the video analysis thread in the step 314 specifically includes: Step 314.1: the video acquisition module collects a frame of video data and judges whether the video acquisition is normal, if not normal, judges If the video analysis thread is abnormal, set Vstatus=1; if normal, execute step 314.2;

步骤314.2：视频采集模块采集一帧视频并存储，对当前帧进行图像滤波降噪处理得到图像curImg，按FLAG1确认使能的方法利用CurImg和参考图像 Img0计算图像的相似度Similar1[N1]，然后根据权重A[N1]计算得到综合相似度curSim，curSim＝Similar1[1]×A[1]+Similar1[2]×A[2]+...+Similar1[N1]×A[N1]，执行步骤314.3；Step 314.2: The video capture module collects a frame of video and stores it, performs image filtering and noise reduction processing on the current frame to obtain the image curImg, uses CurImg and the reference image Img0 to calculate the image similarity Similar1[N1] according to the method of FLAG1 confirmation enablement, and then Calculate the comprehensive similarity curSim according to the weight A[N1], curSim=Similar1[1]×A[1]+Similar1[2]×A[2]+...+Similar1[N1]×A[N1], execute Step 314.3;

步骤314.3：判别curSim是否小于Threshold，如果小于，则令错误次数计数器N_err＝N_err+1，执行步骤314.4；如果不小于，执行步骤314.5；Step 314.3: judge whether curSim is less than Threshold, if less than, make the error count counter N_err=N_err+1, execute step 314.4; if not less than, execute step 314.5;

步骤314.4：判断N_err是否大于预设的次数最大值N_err_max，如果大于，此时已经有N_err_max帧图像与参考图像Img0不相似，则设置Vstatus＝1，执行步骤314.6；如果不大于，不改变Vstatus的值，执行步骤314.5；Step 314.4: Judging whether N_err is greater than the preset maximum number of times N_err_max, if greater, at this time there are N_err_max frame images that are not similar to the reference image Img0, then set Vstatus=1, and execute step 314.6; if not greater, do not change the value of Vstatus value, execute step 314.5;

步骤314.5：判断是否接收到停止评测命令，如果接收到，执行步骤314.6；如果没有接收到，执行步骤314.2；Step 314.5: Judging whether a stop evaluation command has been received, if so, go to step 314.6; if not, go to step 314.2;

步骤314.6：结束视频分析线程。Step 314.6: End the video analysis thread.

进一步地，所述步骤313中获取遥控器接收到的实时无线通信信号功率Pr，计算工作距离为D处的遥控器接收到的信号功率Pw并将Pw与Sensitivity进行比较判断是否满足接收灵敏度要求，具体为：结合工作距离D以及当前遥控模块与遥控器引入到核辐射屏蔽室内的天线之间的距离L计算遥控器到工作距离D处时的接收信号功率Pw，Pw的计算公式为10logPw＝10logPr+20log(L)-20log(D)；如果满足10logPw≥Sensitivity，在实际工作环境中遥控器和遥控模块相距D时可以正常通信，判定为遥控器满足接收灵敏度要求；如果不满足10logPw≥Sensitivity，判定为遥控器不满足接收灵敏度要求。Further, in the step 313, the real-time wireless communication signal power Pr received by the remote controller is obtained, the signal power Pw received by the remote controller at a working distance of D is calculated, and Pw is compared with Sensitivity to determine whether the receiving sensitivity requirement is met, Specifically: calculate the received signal power Pw when the remote controller reaches the working distance D place in combination with the working distance D and the distance L between the current remote control module and the antenna introduced into the nuclear radiation shielding room by the remote controller, the calculation formula of Pw is 10logPw=10logPr +20log(L)-20log(D); if 10logPw≥Sensitivity is satisfied, the remote controller and remote control module can communicate normally when the distance between the remote controller and the remote controller module is D in the actual working environment, and it is determined that the remote controller meets the receiving sensitivity requirements; if 10logPw≥Sensitivity is not satisfied, It is determined that the remote control does not meet the receiving sensitivity requirements.

进一步地，所述标志图像像素相似性分析方法的标志FLAG1为长度为32的二进制数，每个位标识是否使能该位对应的方法，具体结构为：FLAG1的第1位为PSNR_En位，用于控制峰值信噪比法是否使能，0表示禁用，1表示使能；FLAG1的第2位为SSIM_En位，用于结构相似性法是否使能，0表示禁用，1表示使能；FLAG1的第3位为Cosine_En位，用于余弦距离法法是否使能，0 表示禁用，1表示使能；FLAG1的第4位为PSNR_En位，用于控制峰值信噪比法是否使能，0表示禁用，1表示使能；FLAG1的第5位为Pearson_En位，用于控制皮尔逊相关系数法是否使能，0表示禁用，1表示使能；FLAG1的第6位为Bray_En位，用于布雷柯蒂斯距离法是否使能，0表示禁用，1表示使能；FLAG1的第7～32位为Rev保留位，可用于后续方法的扩展。Further, the flag FLAG1 of the flag image pixel similarity analysis method is a binary number with a length of 32, and each bit identifies whether to enable the corresponding method of the bit. The specific structure is: the first bit of FLAG1 is the PSNR_En bit, and the It is used to control whether the peak signal-to-noise ratio method is enabled, 0 means disabled, 1 means enabled; the second bit of FLAG1 is the SSIM_En bit, which is used for whether the structural similarity method is enabled, 0 means disabled, 1 means enabled; FLAG1 The third bit is the Cosine_En bit, used to enable the cosine distance method, 0 means disabled, 1 means enabled; the fourth bit of FLAG1 is the PSNR_En bit, used to control whether the peak signal-to-noise ratio method is enabled, 0 means disabled , 1 means enable; the fifth bit of FLAG1 is the Pearson_En bit, which is used to control whether the Pearson correlation coefficient method is enabled, 0 means disabled, 1 means enabled; the sixth bit of FLAG1 is the Bray_En bit, which is used for Bray Cotti Whether the Sri Lanka distance method is enabled, 0 means disabled, 1 means enabled; the 7th to 32nd bits of FLAG1 are Rev reserved bits, which can be used for the expansion of subsequent methods.

进一步地，所述标志无人机工作状态的标志FLAG为长度为32的二进制数，每个位标识无人机的工作状态，具体结构为：FLAG的第1位为RF_Timeout位，用于标识无线通信是否超时失败，0表示未超时，1表示超时失败；FLAG的第2位为Dose_Err位，用于标识辐射探测器工作是否正常，0表示工作正常，1表示工作异常；FLAG的第3位为Location_Err位，用于标识定位模块工作是否正常，0表示工作正常，1表示工作异常；FLAG的第4位为Lan_Timeout位，用于标识与旋翼监测***的网络通信是否超时失败，0表示未超时，1表示超时失败；FLAG的第5位为CmdF_Err位，用于标识控制飞机向前的命令工作是否正常，0表示工作正常，1表示工作异常；FLAG的第6位为CmdBack_Err，用于标识控制飞机向后的命令工作是否正常，0表示工作正常，1表示工作异常；FLAG的第7位为CmdClimb_Err位，用于标识控制飞机爬升的命令工作是否正常，0表示工作正常，1表示工作异常；FLAG的第8位为CmDDesc_Err位，用于标识控制飞机减速的命令工作是否正常，0表示工作正常，1表示工作异常；FLAG的第9位为RFPower_Err位，用于标识遥控器接收信号强度是否工作距离要求，0表示满足要求，1表示不满足要求；FLAG的第10位为Video_Err位，用于标识视频采集质量是否满足要求，0表示满足要求，1表示不满足要求；FLAG的第11～32位为Rev保留位，用于后续方法的扩展。Further, the flag FLAG that marks the working state of the drone is a binary number with a length of 32, and each bit identifies the working state of the drone. The specific structure is: the first bit of FLAG is the RF_Timeout bit, which is used to identify the wireless Whether the communication timeout fails, 0 means no timeout, 1 means timeout failure; the second bit of FLAG is the Dose_Err bit, which is used to identify whether the radiation detector is working normally, 0 means it is working normally, 1 means it is abnormal; the third bit of FLAG is The Location_Err bit is used to identify whether the positioning module is working normally, 0 means it is working normally, and 1 means it is working abnormally; the fourth bit of FLAG is the Lan_Timeout bit, which is used to identify whether the network communication with the rotor monitoring system has failed over time, and 0 means it has not timed out. 1 means timeout failure; the 5th bit of FLAG is CmdF_Err, which is used to identify whether the command to control the aircraft forward is working normally, 0 means it is working normally, and 1 means it is abnormal; the 6th bit of FLAG is CmdBack_Err, used to identify the command to control the aircraft Whether the backward command works normally, 0 means it works normally, 1 means it works abnormally; the 7th bit of FLAG is the CmdClimb_Err bit, which is used to identify whether the command to control the aircraft climb works normally, 0 means it works normally, 1 means it works abnormally; FLAG The 8th bit of FLAG is the CmDDesc_Err bit, which is used to identify whether the command to control the aircraft deceleration works normally, 0 means it works normally, and 1 means it works abnormally; the 9th bit of FLAG is the RFPower_Err bit, which is used to identify whether the received signal strength of the remote control is within the working distance Requirements, 0 means meet the requirements, 1 means not meet the requirements; the 10th bit of FLAG is the Video_Err bit, which is used to identify whether the video capture quality meets the requirements, 0 means meet the requirements, 1 means not meet the requirements; the 11th to 32nd bits of FLAG Bits are reserved for Rev, for subsequent method extensions.

本发明还提供了一种使用前述方法的核定无人机抗核辐射剂量的无人机监测方法，包括：所述无人机进入核辐射区域探测前，使用自定义定位信息的无人机抗核辐射性能评测方法获取无人机的最大抗核辐射剂量R _max；所述无人机进入核辐射区域进行探测时，每隔时间间隔T'读取无人机上挂载的核辐射探测器的实时剂量率数据R' _i(T')，经过N'个时间间隔后，若

则所述无人机自动返航，其中E为预设的最大抗核辐射剂量余量。 The present invention also provides an unmanned aerial vehicle monitoring method for checking and approving the anti-nuclear radiation dose of the unmanned aerial vehicle using the aforementioned method, including: before the unmanned aerial vehicle enters the nuclear radiation area for detection, the anti-radiation dose of the unmanned aerial vehicle using custom positioning information The nuclear radiation performance evaluation method obtains the maximum anti-nuclear radiation dose R _max of the UAV; when the UAV enters the nuclear radiation area for detection, the nuclear radiation detector mounted on the UAV is read every time interval T' Real-time dose rate data R' _i (T'), after N' time intervals, if

Then the drone automatically returns, where E is the preset maximum anti-nuclear radiation dose margin.

本发明还提供了一种自定义定位信息的无人机抗核辐射性能综合评测***，包括总控服务器、核辐射屏蔽室、遥控器、卫星定位模拟***和稳压电源，所述核辐射屏蔽室内设有天线、核辐射源、背景图片、旋翼监控***和无人机；所述无人机为被测设备，所述无人机包括遥控模块、卫星定位模块、核辐射探测器、视频采集模块、飞行控制模块和供电模块；所述稳压电源用于给所述供电模块和给所述旋翼监控***供电；所述核辐射屏蔽室用于模拟核辐射环境，所述核辐射屏蔽室内有核辐射源且核辐射屏蔽室内各处均标定有核辐射剂量率，所述核辐射源打开后产生的核辐射使屏蔽室内各处充满与标定的核辐射剂量率相同的核辐射剂量率；所述天线用于使所述总控服务器与所述遥控模块通信，使所述卫星定位模拟***与所述卫星定位模块通信；所述卫星定位模拟***由所述总控服务器在地图上选取位置配置自定义的定位信息并发生该自定义的卫星信号传送给卫星定位模块；所述遥控器用于使所述天线与所述总控服务器通信，所述背景图片为无人机提供视频采集源；所述总控服务器在地图上选取位置自定义定位信息设置定位数据并发送给卫星定位模拟***，卫星定位模拟***将定位数据转换成卫星信号并发送给所述卫星定位模块，所述卫星定位模块在核辐射环境中接收卫星信号产生实时定位数据并将实时定位数据通过所述遥控模块回传给总控服务器；所述遥控模块用于接收所述总控服务器发送的指令并将产生的确认信息回传给总控服务器，所述核辐射探测器用于检测无人机所处位置处的核辐射剂量率并通过所述遥控模块回传给总控服务器，所述视频采集模块用于采集所述背景图片处的视频数据并通过有线网络回传给总控服务器，所述飞行控制模块用于根据所述总控服务器发送的指令驱动无人机飞行并将飞行状态信息通过所述遥控模块回传给总控服务器，所述旋翼监控***用于监控无人机的旋翼状态并产生飞行状态信息回传给总控服务器，所述供电模块用于给无人机供电；所述总控服务器控制所述核辐射源的开关，监控所述稳压电源的工作状态，根据发送的指令、接收到视频采集模块传送的视频数据、旋翼监控***回传的飞行状态信息和所述遥控模块回传的确认信息、定位数据、核辐射剂量率和飞行状态信息测评无人机可承受的最大抗核辐射剂量。The present invention also provides a comprehensive evaluation system for anti-nuclear radiation performance of UAVs with custom positioning information, including a master control server, a nuclear radiation shielding room, a remote controller, a satellite positioning simulation system, and a stabilized power supply. Antennas, nuclear radiation sources, background pictures, rotor monitoring systems and unmanned aerial vehicles are installed indoors; the unmanned aerial vehicle is the device under test, and the unmanned aerial vehicle includes a remote control module, a satellite positioning module, a nuclear radiation detector, a video acquisition module, a flight control module and a power supply module; the stabilized power supply is used to supply power to the power supply module and the rotor monitoring system; the nuclear radiation shielding room is used to simulate a nuclear radiation environment, and the nuclear radiation shielding room has The nuclear radiation source and the nuclear radiation dose rate are calibrated everywhere in the nuclear radiation shielding room, and the nuclear radiation generated after the nuclear radiation source is turned on makes the shielding room full of the same nuclear radiation dose rate as the calibrated nuclear radiation dose rate; The antenna is used to make the master control server communicate with the remote control module, so that the satellite positioning simulation system communicates with the satellite positioning module; the satellite positioning simulation system is configured on a map by the master control server self-defined positioning information and generate the self-defined satellite signal to be sent to the satellite positioning module; the remote controller is used to make the antenna communicate with the master control server, and the background image provides a video acquisition source for the unmanned aerial vehicle; The master control server selects the position on the map and sets the positioning data by customizing the positioning information and sends it to the satellite positioning simulation system. The satellite positioning simulation system converts the positioning data into satellite signals and sends them to the satellite positioning module. Receive satellite signals in a nuclear radiation environment to generate real-time positioning data and send the real-time positioning data back to the master control server through the remote control module; the remote control module is used to receive instructions sent by the master control server and return the generated confirmation information to Pass to the general control server, the nuclear radiation detector is used to detect the nuclear radiation dose rate at the position of the drone and is passed back to the general control server by the remote control module, and the video acquisition module is used to collect the background The video data at the picture is sent back to the master control server through the wired network, and the flight control module is used to drive the drone to fly according to the instructions sent by the master control server and send the flight status information back through the remote control module The master control server, the rotor monitoring system is used to monitor the rotor state of the UAV and generates flight status information to send back to the master control server, and the power supply module is used to supply power to the UAV; the master control server controls the The switch of the nuclear radiation source monitors the working state of the stabilized power supply, according to the instructions sent, the received video data transmitted by the video acquisition module, the flight status information returned by the rotor monitoring system and the confirmation information returned by the remote control module , positioning data, nuclear radiation dose rate and flight status information to evaluate the maximum anti-nuclear radiation dose that the UAV can withstand.

进一步地，所述天线包括转发天线和通信天线，所述转发天线通过有线方式与所述卫星定位模拟***连接，用于将卫星信号通过无线方式传送给所述卫星定位模块；所述通信天线通过有线方式与所述遥控器连接，用于将总控服务器发送的指令通过无线方式传送给所述遥控模块并将无人机回传的确认信息、定位数据、核辐射剂量率和飞行状态信息通过无线方式传送给所述总控服务器，所述视频采集模块通过有线方式与所述总控服务器相连，用于通过有线方式回传视频数据给所述总控服务器；Further, the antenna includes a forwarding antenna and a communication antenna, and the forwarding antenna is connected to the satellite positioning simulation system by wire, and is used to transmit satellite signals to the satellite positioning module by wireless; the communication antenna passes through It is connected with the remote control in a wired manner, and is used to transmit the instructions sent by the master control server to the remote control module in a wireless manner and pass the confirmation information, positioning data, nuclear radiation dose rate and flight status information returned by the UAV to the remote control module. Wireless transmission to the master control server, the video acquisition module is connected to the master control server by wire, and is used to return video data to the master control server by wire;

所述旋翼监控***包括网络模块、处理器、电源模块和对射管应用模块，所述网络模块用于与所述总控服务器通信，所述处理器接收所述总控服务器通过所述网络模块传送来的指令并将飞行状态信息通过所述网络模块回传给总控服务器，所述电源模块用于使用所述稳压电源提供的电力给旋翼监控***供电；所述对射管应用模块连接与所述无人机的旋翼数量一致的对射管，对射管的发射端和对射管的接收端分别位于所述无人机的旋翼的两侧并垂直于无人机的旋翼设置，所述处理器控制对射管的发射端发射信号并读取对射管的接收端的状态从而得到飞行状态信息。The rotor monitoring system includes a network module, a processor, a power supply module and a shooter application module, the network module is used to communicate with the general control server, and the processor receives the information from the general control server through the network module The transmitted instructions and the flight status information are sent back to the master control server through the network module, and the power supply module is used to supply power to the rotor monitoring system using the power provided by the stabilized power supply; The number of anti-shooting tubes consistent with the number of rotors of the UAV, the transmitting end of the anti-firing tube and the receiving end of the anti-firing tube are respectively located on both sides of the rotor of the UAV and are arranged perpendicular to the rotor of the UAV, The processor controls the transmitting end of the shooting tube to transmit signals and reads the state of the receiving end of the shooting tube to obtain flight status information.

本发明的上述技术方案相比现有技术具有以下优点：本发明所述的无人机抗核辐射性能综合评测方法在无人机进入核辐射区域进行实地探测之前模拟核辐射环境，通过使用卫星定位模拟***在模拟核辐射环境下对无人机的最大可承受抗核辐射剂量进行综合评测和标定，使后续实际探测过程中可实时根据无人机已受到的核辐射剂量对无人机进行远程操作控制，便于在无人机失灵前及时召回无人机，有效避免因受过量辐射而导致无人机无法返航、损坏、甚至丢失探测数据的情况。评测时使用卫星定位模拟***可以在地图上任意选择位置进行评测，满足不同场景下的需求；不受天气、环境影响，定位成功概率高。Compared with the prior art, the above technical solution of the present invention has the following advantages: the comprehensive evaluation method for the anti-nuclear radiation performance of the UAV according to the present invention simulates the nuclear radiation environment before the UAV enters the nuclear radiation area for on-the-spot detection. The positioning simulation system comprehensively evaluates and calibrates the maximum tolerable anti-nuclear radiation dose of the UAV in a simulated nuclear radiation environment, so that in the subsequent actual detection process, the UAV can be monitored in real time according to the nuclear radiation dose that the UAV has received. The remote operation control is convenient to recall the drone in time before the drone fails, and effectively avoid the situation that the drone cannot return, is damaged, or even loses detection data due to excessive radiation. The satellite positioning simulation system can be used in the evaluation to select any location on the map for evaluation to meet the needs of different scenarios; it is not affected by weather and environment, and the probability of successful positioning is high.

附图说明Description of drawings

为了使本发明的内容更容易被清楚的理解，下面根据本发明的具体实施例并结合附图，对本发明作进一步详细的说明。In order to make the content of the present invention more clearly understood, the present invention will be further described in detail below according to the specific embodiments of the present invention and in conjunction with the accompanying drawings.

图1是本发明方法的流程图。Figure 1 is a flow chart of the method of the present invention.

图2是本发明中总控服务器进行初始化配置并进行初始化检测的流程图。Fig. 2 is a flow chart of initial configuration and initial detection by the master control server in the present invention.

图3是本发明中视频分析线程的流程图。Fig. 3 is a flowchart of the video analysis thread in the present invention.

图4是本发明中标志FLAG1的结构示意图。Fig. 4 is a schematic diagram of the structure of the flag FLAG1 in the present invention.

图5是本发明中标志FLAG的结构示意图。Fig. 5 is a schematic diagram of the structure of the flag FLAG in the present invention.

图6是本发明***的示意图。Figure 6 is a schematic diagram of the system of the present invention.

具体实施方式Detailed ways

下面结合附图和具体实施例对本发明作进一步说明，以使本领域的技术人员可以更好地理解本发明并能予以实施，但所举实施例不作为对本发明的限定。The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

在本发明的描述中，需要理解的是，术语“包括”意图在于覆盖不排他的包含，例如包含了一系列步骤或单元的过程、方法、***、产品或设备，没有限定于已列出的步骤或单元而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其他步骤或单元。In the description of the present invention, it should be understood that the term "comprising" is intended to cover a non-exclusive inclusion, such as a process, method, system, product or device that includes a series of steps or units, and is not limited to the listed Instead, the steps or elements optionally also include steps or elements that are not listed, or optionally also include other steps or elements that are inherent to the process, method, product or apparatus.

参照图1-5所示，本发明一种无人机抗核辐射性能综合评测方法的实施例，包括：步骤1：将背景图片、天线、旋翼监控***和无人机置于核辐射屏蔽室内，将总控服务器、稳压电源、遥控器和卫星定位模拟***置于核辐射屏蔽室外，所述核辐射屏蔽室内有核辐射源且核辐射屏蔽室内各处均标定有核辐射剂量率；所述无人机包括遥控模块、飞行控制模块、卫星定位模块、核辐射探测器、视频采集模块、供电模块和旋翼监控***；所述总控服务器选取地图上的位置自定义定位信息设置定位数据，并将定位数据发送给卫星定位模拟***，卫星定位模拟***将定位数据转换成卫星信号并发送给所述卫星定位模块，所述卫星定位模块在核辐射环境中接收卫星信号产生实时定位数据；所述总控服务器通过所述遥控器向遥控模块发送指令，遥控模块接收到指令后产生确认信息；所述核辐射探测器检测所处环境中的核辐射剂量率，所述飞行控制模块控制无人机的飞行状态并产生飞行状态信息，所述视频采集模块采集背景图片处的视频数据并通过有线网络方式传送给所述总控服务器；所述供电模块给无人机提供电力，所述稳压电源给在所述供电模块和所述旋翼监控***供电；无人机将包括实时定位数据、确认信息、核辐射剂量率、飞行状态信息和电池信息的测评信息通过所述遥控器传送给所述总控服务器。使用可以自定义定位信息的卫星定位模拟器，可以在地图上任意选择位置进行评测，满足不同场景下的需求；同时与卫星定位转发器相比，卫星定位模拟***不受天气、环境影响，定位成功概率高。所述核辐射屏蔽室内各处均标定有核辐射剂量率；核辐射源在核辐射屏蔽室内各处的核辐射剂量率为事先根据距离标定的，以升起的源为中心，以γ射线辐射为例，与距离平方成反比进行衰减，距离中心不同距离(相当于半径)处有标定的剂量率表。With reference to Fig. 1-5 shown, the embodiment of a kind of UAV anti-nuclear radiation performance comprehensive evaluation method of the present invention, comprises: Step 1: background picture, antenna, rotor monitoring system and UAV are placed in nuclear radiation shielding room , the master control server, regulated power supply, remote control and satellite positioning simulation system are placed outside the nuclear radiation shielding room, where there are nuclear radiation sources in the nuclear radiation shielding room and nuclear radiation dose rates are calibrated everywhere in the nuclear radiation shielding room; The unmanned aerial vehicle comprises a remote control module, a flight control module, a satellite positioning module, a nuclear radiation detector, a video acquisition module, a power supply module and a rotor monitoring system; the master control server selects the position on the map to set the positioning data by customizing the positioning information, And send the positioning data to the satellite positioning simulation system, the satellite positioning simulation system converts the positioning data into satellite signals and sends them to the satellite positioning module, and the satellite positioning module receives satellite signals in the nuclear radiation environment to generate real-time positioning data; The master control server sends instructions to the remote control module through the remote controller, and the remote control module generates confirmation information after receiving the instructions; the nuclear radiation detector detects the nuclear radiation dose rate in the environment, and the flight control module controls the unmanned The flight state of the drone and generate flight state information, the video acquisition module collects the video data at the background picture and transmits it to the master control server through a wired network; the power supply module provides power for the drone, and the voltage regulator The power supply supplies power to the power supply module and the rotor monitoring system; the unmanned aerial vehicle will transmit the evaluation information including real-time positioning data, confirmation information, nuclear radiation dose rate, flight status information and battery information to the Master control server. Using the satellite positioning simulator that can customize the positioning information, you can choose any location on the map for evaluation to meet the needs of different scenarios; at the same time, compared with the satellite positioning transponder, the satellite positioning simulation system is not affected by weather and environment, and the positioning High probability of success. The nuclear radiation dose rate is calibrated everywhere in the nuclear radiation shielding room; the nuclear radiation dose rate of the nuclear radiation source in the nuclear radiation shielding room is calibrated according to the distance in advance, with the rising source as the center and gamma ray radiation as the center. For example, the attenuation is inversely proportional to the square of the distance, and there are calibrated dose rate tables at different distances (equivalent to the radius) from the center.

步骤2：开启所述核辐射源，获取无人机所在位置的核辐射剂量率R；获得置入核辐射屏蔽室内的无人机的放置位置从而得到在该位置的核辐射剂量率R和能谱信息，例如盖革计数器累加计数值、中子能谱数据、伽玛能谱数据、中子通量计数值等。所述稳压电源与所述总控服务器连接，所述总控服务器设定所述稳压电源的输出电压值和最大允许电流值。稳压电源支持串口或网口(LAN)通信接口，总控服务器通过通信接口控制稳压电源输出的电压和最大电流以及获取其实际电流输出值从而监控稳压电源工作状态。输出电压分为两路，一路为无人机中的供电模块供电，另一路为旋翼监控***供电。最大允许电流起限流作用防止电路电流过大造成无人机和旋翼监控***损坏。所述开启所述核辐射源前，所述总控服务器进行初始化配置并进行初始化检测，包括：Step 2: Turn on the nuclear radiation source, obtain the nuclear radiation dose rate R at the position of the drone; obtain the placement position of the drone placed in the nuclear radiation shielding room to obtain the nuclear radiation dose rate R and energy at this position Spectral information, such as Geiger counter cumulative count value, neutron spectrum data, gamma spectrum data, neutron flux count value, etc. The regulated power supply is connected to the general control server, and the general control server sets the output voltage value and the maximum allowable current value of the regulated power supply. The regulated power supply supports serial port or network port (LAN) communication interface. The master control server controls the output voltage and maximum current of the regulated power supply and obtains its actual current output value through the communication interface to monitor the working status of the regulated power supply. The output voltage is divided into two circuits, one for the power supply module in the UAV, and the other for the rotor monitoring system. The maximum allowable current acts as a current limiter to prevent damage to the UAV and rotor monitoring system caused by excessive circuit current. Before the described nuclear radiation source is turned on, the master control server performs initial configuration and initial detection, including:

步骤21：配置稳压电源给无人机中的供电模块和旋翼监控***供电的输出电压和最大允许电流，最大允许电流起限流作用防止电流过大造成设备损坏；Step 21: Configure the output voltage and maximum allowable current of the regulated power supply to supply power to the power supply module and rotor monitoring system in the UAV. The maximum allowable current acts as a current limiter to prevent equipment damage caused by excessive current;

步骤22：配置总控服务器与卫星定位模拟***的通信协议，选择卫星定位模拟***的卫星导航***的工作模式；总控服务器地图上选取位置自定义定位信息设定可以自定义的定位数据(Lng，Lat) _ref并使用定位数据配置卫星定位模拟***生成卫星信号，本实施例中可以自定义的定位数据(Lng，Lat) _ref由操作人员在用户界面显示的地图上选取，得到经纬度坐标(Lng，Lat) _ref。判断卫星定位模拟***是否成功生成卫星信号，如果有效，执行步骤23；如果无效，总控服务器重新配置卫星定位模拟***直至成功生成卫星信号； Step 22: Configure the communication protocol between the master control server and the satellite positioning simulation system, select the working mode of the satellite navigation system of the satellite positioning simulation system; select the location custom positioning information setting on the master control server map and can customize the positioning data (Lng , Lat) _ref and use the positioning data to configure the satellite positioning simulation system to generate satellite signals. The positioning data (Lng, Lat) _ref that can be customized in this embodiment is selected by the operator on the map displayed on the user interface to obtain the latitude and longitude coordinates (Lng , Lat) _ref . Judging whether the satellite positioning simulation system successfully generates satellite signals, if valid, perform step 23; if invalid, the master control server reconfigures the satellite positioning simulation system until the satellite signals are successfully generated;

步骤23：使能稳压电源，为无人机和旋翼监测***供电，执行步骤24；Step 23: Enable the regulated power supply to supply power to the UAV and the rotor monitoring system, go to step 24;

步骤25：配置总控服务器与遥控器的通信协议，配置好后总控服务器与遥控器进行通信以检测通信是否正常，如果不正常检查电路连线并重新配置总控服务器与遥控器的通信协议直至通信正常，执行步骤26；如果正常执行步骤26；Step 25: Configure the communication protocol between the master control server and the remote controller. After configuration, the master control server communicates with the remote controller to check whether the communication is normal. If not, check the circuit connection and reconfigure the communication protocol between the master control server and the remote controller. Until the communication is normal, execute step 26; if it is normal, execute step 26;

步骤210：配置访问无人机上挂载的视频模块的RTSP地址，配置图像降噪滤波器；设置标志图像像素相似性分析方法的标志FLAG1，FLAG1为长度为n位的二进制数，n的取值范围为6～32，，FLAG1中每一位用于标志一种图像像素相似性分析方法，按位配置每一位都为0或1，0表示禁止使用该位标志的图像像素相似性分析方法，1表示使能该位标志的图像像素相似性分析方法，将使能的图像像素相似性分析方法的数量记做N1，执行步骤211。图像像素相似性分析方法支持的方法有包括峰值信噪比法(Peak Signal-to-Noise Ratio，PSNR)、结构相似性法(Structural Similarity，SSIM)、余弦距离法(Cosine Distance)、皮尔逊相关系数法(Pearson correlation coefficient)、布雷柯蒂斯距离法(Bray Curtis Distance)，并且支持相关方法的扩展。本实施例中，标志FLAG1为长度为32的二进制数，使用16位或者32位从程序设计角度是最方便的，由于本发明中图像像素相似性分析方法支持的方法有6种，为了使更多的方法使能因此此处选用32位，留有26种预留状态扩展方法。如图4所示，每个位标识是否使能该位对应的方法，具体结构为：FLAG1的第1位为PSNR_En位，用于控制峰值信噪比法(PSNR)是否使能，0表示禁用，1表示使能；FLAG1的第2位为SSIM_En位，用于结构相似性法(SSIM)是否使能，0表示禁用，1表示使能；FLAG1的第3位为Cosine_En位，用于余弦距离法法(Cosine Distance)是否使能，0表示禁用，1表示使能；FLAG1的第4位为PSNR_En位，用于控制峰值信噪比法(PSNR)是否使能，0表示禁用，1表示使能；FLAG1的第5位为Pearson_En位，用于控制皮尔逊相关系数法(Pearson correlation coefficient)是否使能，0表示禁用，1表示使能；FLAG1的第6位为Bray_En 位，用于布雷柯蒂斯距离法(Bray Curtis Distance)是否使能，0表示禁用，1表示使能；FLAG1的第7～32位为Rev保留位，可用于后续方法的扩展。本实施例中FLAG1使用32位的二进制寄存器存储，二进制寄存器位序的第0位为最低位，此时FLAG寄存器的0～31位序即对应FLAG结构的1～32位。Step 210: configure the RTSP address of the video module mounted on the access drone, configure the image noise reduction filter; set the flag FLAG1 of the method for analyzing the similarity of the image pixels of the logo, and FLAG1 is a binary number with a length of n bits, and the value of n The range is 6 to 32. Each bit in FLAG1 is used to mark an image pixel similarity analysis method, and each bit is configured as 0 or 1. 0 means that the image pixel similarity analysis method marked by this bit is prohibited , 1 indicates that the image pixel similarity analysis method of this bit flag is enabled, and the number of enabled image pixel similarity analysis methods is recorded as N1, and step 211 is executed. The methods supported by image pixel similarity analysis methods include Peak Signal-to-Noise Ratio (PSNR), Structural Similarity (SSIM), Cosine Distance (Cosine Distance), Pearson Correlation Coefficient method (Pearson correlation coefficient), Bray Curtis distance method (Bray Curtis Distance), and supports the expansion of related methods. In this embodiment, the flag FLAG1 is a binary number with a length of 32, and it is most convenient to use 16 bits or 32 bits from a programming point of view. Since there are 6 methods supported by the image pixel similarity analysis method in the present invention, in order to make it more More methods can be enabled, so 32 bits are selected here, leaving 26 reserved state extension methods. As shown in Figure 4, each bit identifies whether to enable the method corresponding to the bit. The specific structure is: the first bit of FLAG1 is the PSNR_En bit, which is used to control whether the peak signal-to-noise ratio method (PSNR) is enabled, and 0 means disabled , 1 means enable; the second bit of FLAG1 is the SSIM_En bit, which is used for whether the structural similarity method (SSIM) is enabled, 0 means disabled, 1 means enabled; the third bit of FLAG1 is the Cosine_En bit, used for cosine distance Whether the method (Cosine Distance) is enabled, 0 means disabled, 1 means enabled; the fourth bit of FLAG1 is PSNR_En bit, which is used to control whether the peak signal-to-noise ratio method (PSNR) is enabled, 0 means disabled, 1 means enabled Can; the fifth bit of FLAG1 is the Pearson_En bit, which is used to control whether the Pearson correlation coefficient method (Pearson correlation coefficient) is enabled or not, 0 means disabled, 1 means enabled; the sixth bit of FLAG1 is the Bray_En bit, used for Bray Whether Bray Curtis Distance is enabled or not, 0 means disabled, 1 means enabled; the 7th to 32nd bits of FLAG1 are reserved bits for Rev, which can be used for the expansion of subsequent methods. In this embodiment, FLAG1 is stored in a 32-bit binary register, and bit 0 of the bit sequence of the binary register is the lowest bit. At this time, bit sequence 0 to 31 of the FLAG register corresponds to bits 1 to 32 of the FLAG structure.

步骤3：所述总控服务器每隔时间T获取一次无人机回传的测评信息并进行分析，直到无人机的工作状态不正常关闭核辐射源，得到经过的时间间隔T 的个数N。开启核辐射源开始评测，首先记录所有的配置信息，并开始计时。Step 3: The master control server acquires and analyzes the evaluation information returned by the drone every time T, until the working state of the drone is not normal and the nuclear radiation source is turned off, and the number N of the elapsed time interval T is obtained . Turn on the nuclear radiation source to start the evaluation, first record all configuration information, and start timing.

步骤31：初始化N＝0，配置标志无人机工作状态的标志FLAG，FLAG为长度为m的二进制数，初始化FLAG的每一位都为0，m的取值范围为9～32；本实施例中m＝32，使用16位或者32位从程序设计角度是最方便的，由于本发明中判断无人机的工作状态有九种情况，为了使后续可扩展的位更多，因此此处选用32位，留有23种状态扩展接口。FLAG的结构如图5所示，第1位为RF_Timeout位，标识无线通信是否超时失败，0表示未超时，1表示超时失败；第2位为Dose_Err位，标识辐射探测器工作是否正常，0表示工作正常，1表示工作异常；第3位为Location_Err位，标识定位模块工作是否正常，0表示工作正常，1表示工作异常；第4位为Lan_Timeout位，标识与旋翼监测***的网络通信是否超时失败，0表示未超时，1表示超时失败；第5位为CmdF_Err位，标识控制飞机向前的命令工作是否正常，0表示工作正常，1表示工作异常；第6位为CmdBack_Err，标识控制飞机向后的命令工作是否正常，0表示工作正常，1表示工作异常；第7位为CmdClimb_Err位，标识控制飞机爬升的命令工作是否正常，0表示工作正常，1表示工作异常；第8位为CmDDesc_Err位，标识控制飞机减速的命令工作是否正常，0表示工作正常，1表示工作异常；第9位为RFPower_Err位，标识遥控器接收信号强度是否工作距离要求，0表示满足要求，1表示不满足要求；第10位为Video_Err位，用于标识视频采集质量是否满足要求，0表示满足要求，1表示不满足要求；第11～32位为Rev保留位，可用于后续方法的扩展。本实施例中FLAG使用32位的二进制寄存器存储，二进制寄存器位序的第0位为最低位，FLAG寄存器的0～31位序即对应FLAG结构的1～32位。Step 31: Initialize N=0, configure the flag FLAG that marks the working state of the drone, FLAG is a binary number with a length of m, each bit of the initialized FLAG is 0, and the value range of m is 9 to 32; this implementation In the example m=32, it is most convenient to use 16 or 32 bits from the programming point of view, because there are nine situations in the present invention to judge the working state of the drone, in order to make the follow-up expandable bits more, so here Choose 32 bits, leaving 23 kinds of state expansion interface. The structure of FLAG is shown in Figure 5. The first bit is the RF_Timeout bit, which indicates whether the wireless communication has failed to time out. 0 indicates that it has not timed out, and 1 indicates that the timeout has failed. The second bit is the Dose_Err bit, which indicates whether the radiation detector is working normally. 0 indicates that It is working normally, 1 means it is working abnormally; the third bit is Location_Err bit, which indicates whether the positioning module is working normally, 0 means it is working normally, and 1 means it is working abnormally; the fourth bit is Lan_Timeout bit, indicating whether the network communication with the rotor monitoring system has failed overtime , 0 means no timeout, 1 means timeout failure; the fifth bit is the CmdF_Err bit, indicating whether the command to control the aircraft forward is working normally, 0 means it is working normally, 1 means it is working abnormally; the sixth bit is CmdBack_Err, indicating that the command to control the aircraft is backward Whether the command is working normally, 0 indicates normal operation, 1 indicates abnormal operation; the 7th bit is the CmdClimb_Err bit, which indicates whether the command to control the aircraft climb is working normally, 0 indicates normal operation, 1 indicates abnormal operation; the 8th bit is CmDDesc_Err bit, Indicates whether the command to control the aircraft deceleration is working normally, 0 means it works normally, 1 means it works abnormally; the 9th bit is RFPower_Err bit, which indicates whether the signal strength received by the remote control is required by the working distance, 0 means it meets the requirements, 1 means it does not meet the requirements; The 10th bit is the Video_Err bit, which is used to identify whether the video capture quality meets the requirements, 0 means that the requirements are met, and 1 means that the requirements are not met; the 11th to 32nd bits are Rev reserved bits, which can be used for the expansion of subsequent methods. In this embodiment, FLAG is stored in a 32-bit binary register, and the 0th bit of the binary register bit sequence is the lowest bit, and the 0-31 bit sequence of the FLAG register corresponds to the 1-32 bits of the FLAG structure.

步骤33：遥控器解析接收到通信数据得到无人机的实时定位数据(Lng，Lat) _t和实时核辐射探测数据，判断实时核辐射探测数据的误差是否在许可范围内，如果不在许可范围内将FLAG的第2为置1，执行步骤34；如果在许可范围内，直接执行步骤34；本实施例中，误差是否在许可范围内具体为：获取核辐射探测器本身的测量误差，若实时核辐射探测数据与无人机在核辐射屏蔽室内所处位置处的核辐射剂量率的差不等于核辐射探测器本身的测量误差，判断为不在许可范围内；若实时核辐射探测数据与无人机在核辐射屏蔽室内所处位置处的核辐射剂量率的差等于核辐射探测器本身的测量误差，判断为在许可范围内。 Step 33: The remote controller analyzes the received communication data to obtain the real-time positioning data (Lng, Lat) _t and real-time nuclear radiation detection data of the drone, and judges whether the error of the real-time nuclear radiation detection data is within the allowable range, if not within the allowable range With the 2nd of FLAG being set 1, execute step 34; If within the allowable range, directly execute step 34; In the present embodiment, whether the error is specifically within the allowable range: obtain the measurement error of the nuclear radiation detector itself, if real-time The difference between the nuclear radiation detection data and the nuclear radiation dose rate at the position of the UAV in the nuclear radiation shielding room is not equal to the measurement error of the nuclear radiation detector itself, and it is judged to be outside the permitted range; The difference in the nuclear radiation dose rate at the position of the man-machine in the nuclear radiation shielding room is equal to the measurement error of the nuclear radiation detector itself, which is judged to be within the allowable range.

步骤34：在用户界面的地图上显示实时定位信息(Lng，Lat) _t，计算(Lng，Lat) _t和(Lng，Lat) _ref的差的绝对值得到(Dlng'，Dlat')，判断Dlng'和Dlat'是否都小于预设的阈值Dmin，如果没有都小于，表明卫星定位模拟***的工作不正常，将FLAG的第3位置1，执行步骤35；如果都小于，表明卫星定位模拟***工作正常，直接执行步骤35； Step 34: Display real-time positioning information (Lng, Lat) _t on the map of the user interface, calculate the absolute value of the difference between (Lng, Lat) _t and (Lng, Lat) _ref to obtain (Dlng', Dlat'), and judge Dlng Whether ' and Dlat' are both less than the preset threshold Dmin, if not, it indicates that the satellite positioning simulation system is not working properly, set the third position of FLAG to 1, and execute step 35; if both are less than, it indicates that the satellite positioning simulation system is working Normal, go to step 35 directly;

步骤36：总控服务器显示并存储此时旋翼监控***测量的时间以及获取此时的各个旋翼的状态、转速，判定此时的无人机飞行状态，如果判定的状态不是前进状态，将FLAG的第5位置1，执行步骤37；如果判定的状态是上升状态，则直接步骤37；Step 36: The master control server displays and stores the time measured by the rotor monitoring system at this time and obtains the state and speed of each rotor at this time, and determines the flight state of the drone at this time. If the determined state is not the forward state, set the FLAG The 5th position is 1, execute step 37; if the determined state is rising state, then go directly to step 37;

步骤38：总控服务器显示并存储此时旋翼监控***测量的时间以及获取此时的各个旋翼的状态、转速，判定此时的无人机飞行状态，如果判定的状态不是后退状态，将FLAG的第6位置1，执行步骤39；如果判定的状态是左转状态，则直接步骤39；Step 38: The master control server displays and stores the time measured by the rotor monitoring system at this time and obtains the status and speed of each rotor at this time, and determines the flight status of the drone at this time. If the determined status is not the backward status, set the FLAG The 6th position is 1, execute step 39; if the determined state is a left turn state, then go directly to step 39;

步骤310：总控服务器显示并存储此时旋翼监控***测量的时间以及获取此时的各个旋翼的状态、转速，判定此时的无人机飞行状态，如果判定的状态不是爬升状态，将FLAG的第7位置1，执行步骤311；如果判定的状态是右转状态，则直接执行步骤311；Step 310: The master control server displays and stores the time measured by the rotor monitoring system at this time and obtains the state and rotational speed of each rotor at this time, and determines the flight state of the drone at this time. If the determined state is not the climbing state, set the FLAG The 7th position is 1, execute step 311; if the determined state is a right turn state, then directly execute step 311;

步骤312：总控服务器显示并存储此时旋翼监控***测量的时间以及获取此时的各个旋翼的状态、转速，判定此时的无人机飞行状态，如果判定的状态不是减速状态，将FLAG的第8位置1，执行步骤313；如果判定的状态是下降状态，则直接步骤313；Step 312: The master control server displays and stores the time measured by the rotor monitoring system at this time and obtains the state and rotational speed of each rotor at this time, and determines the flight state of the drone at this time. If the determined state is not the deceleration state, set the FLAG The 8th position is 1, execute step 313; if the determined state is a descending state, then directly step 313;

步骤313：获取遥控器接收到的实时无线通信信号功率Pr，计算工作距离为D处的遥控器接收到的信号功率Pw并将Pw与Sensitivity进行比较判断是否满足接收灵敏度要求，如果不满足，将FLAG的第9位置1，执行步骤314；如果满足，直接执行步骤314；获取遥控器接收到的实时无线通信信号功率Pr，计算工作距离为D处的遥控器接收到的信号功率Pw并将Pw与Sensitivity进行比较判断是否满足接收灵敏度要求，具体为：结合工作距离D以及当前遥控模块与遥控器引入到核辐射屏蔽室内的天线之间的距离L计算遥控器到工作距离D处时的接收信号功率Pw，Pw的计算公式为10logPw＝10logPr+20log(L)-20log(D)；如果满足10logPw≥Sensitivity，在实际工作环境中遥控器和遥控模块相距D时可以正常通信，判定为遥控器满足接收灵敏度要求；如果不满足10logPw≥Sensitivity，判定为遥控器不满足接收灵敏度要求。Step 313: Obtain the real-time wireless communication signal power Pr received by the remote controller, calculate the signal power Pw received by the remote controller at a working distance of D, and compare Pw with Sensitivity to determine whether the receiving sensitivity requirement is met. If not, set The 9th position of FLAG is 1, execute step 314; if satisfied, directly execute step 314; obtain the real-time wireless communication signal power Pr received by the remote controller, calculate the signal power Pw received by the remote controller at the working distance D and set Pw Comparing with Sensitivity to determine whether the receiving sensitivity requirements are met, specifically: combining the working distance D and the distance L between the current remote control module and the antenna introduced into the nuclear radiation shielding room by the remote control to calculate the receiving signal when the remote control reaches the working distance D Power Pw, the calculation formula of Pw is 10logPw=10logPr+20log(L)-20log(D); if 10logPw≥Sensitivity is satisfied, the remote controller and remote control module can communicate normally when the distance between the remote controller and the remote controller module is D in the actual working environment, and it is determined that the remote controller meets Receiving sensitivity requirements; if 10logPw≥Sensitivity is not met, it is determined that the remote control does not meet the receiving sensitivity requirements.

步骤314：当前主流程根据在视频分析线程的评测流程中的视频分析线程实时的工作状态标志Vstatus的值判断视频分析线程是否正常工作，其中在视频分析线程的评测流程中的视频分析线程实时的工作具体包括：Step 314: The current main process judges whether the video analysis thread is working normally according to the value of the real-time working status sign Vstatus of the video analysis thread in the evaluation process of the video analysis thread, wherein the video analysis thread in the evaluation process of the video analysis thread is real-time The work specifically includes:

步骤314.1：视频采集模块采集一帧视频数据并判断视频采集是否正常，如果不正常，判定视频分析线程不正常，设置Vstatus＝1；如果正常，执行步骤314.2；Step 314.1: the video capture module collects a frame of video data and judges whether the video capture is normal, if not normal, determines that the video analysis thread is abnormal, and sets Vstatus=1; if normal, execute step 314.2;

步骤314.2：视频采集模块采集一帧视频并存储，对当前帧进行图像滤波降噪处理得到图像curImg，按FLAG1确认使能的方法利用CurImg和参考图像Img0计算图像的相似度Similar1[N1]，然后根据权重A[N1]计算得到综合相似度curSim，curSim＝Similar1[1]×A[1]+Similar1[2]×A[2]+...+Similar1[N1]×A[N1]，执行步骤314.3；Step 314.2: The video capture module collects a frame of video and stores it, performs image filtering and noise reduction processing on the current frame to obtain the image curImg, uses CurImg and the reference image Img0 to calculate the image similarity Similar1[N1] according to the method of FLAG1 confirmation enablement, and then Calculate the comprehensive similarity curSim according to the weight A[N1], curSim=Similar1[1]×A[1]+Similar1[2]×A[2]+...+Similar1[N1]×A[N1], execute Step 314.3;

步骤314.6：结束视频分析线程。使用图像像素相似性分析方法，选用一个像素比较相似性不受背景图片种类限制且对静态的环境来讲更容易判断出有物体入侵。Step 314.6: End the video analysis thread. Using the image pixel similarity analysis method, selecting a pixel to compare the similarity is not limited by the type of background image and it is easier to judge that there is an object intrusion in a static environment.

根据视频分析线程实时的工作状态标志Vstatus的值判断视频分析线程是否正常工作，如果Vstatus＝1则视频分析线程工作不正常将FLAG的第10位置1，执行步骤315；如果Vstatus＝0则视频分析线程工作正常，执行步骤315；According to the value of the real-time working status sign Vstatus of the video analysis thread, it is judged whether the video analysis thread works normally, if Vstatus=1, then the video analysis thread does not work properly and the 10th position of FLAG is 1, and step 315 is performed; if Vstatus=0, then the video analysis The thread works normally, go to step 315;

步骤315：总控服务器存储计时信息、FLAG值和实时的反馈信息，判断FLAG的值是否为0，如果不为0，发出报警信息，执行步骤317；如果为0，直接执行步骤316；其中报警方式包括：通过总控服务器的扬声器报警，总控服务器界面警示信息闪烁报警，对操作人员预存的手机号码短信报警，对操作人员预存的Email发邮件报警。本实施例中报警方式为四种中的一种或多种。Step 315: the master control server stores timing information, FLAG value and real-time feedback information, judges whether the value of FLAG is 0, if not 0, sends an alarm message, and executes step 317; if it is 0, directly executes step 316; wherein the alarm The methods include: alarming through the speaker of the master control server, flashing alarm information on the master control server interface, SMS alarm to the operator's pre-stored mobile phone number, and sending an email alarm to the operator's pre-stored Email. In this embodiment, the alarm modes are one or more of four types.

步骤316：判断是否接收到停止评测指令，如果接收到，停止计时，执行步骤317；如果没有接收到，经过时间间隔T分钟后令N＝N+1，执行步骤32；其中停止评测指令主要包括以下三种形式：操作人员直接控制总控服务器发送停止评测指令、操作人员远程发送停止评测指令给总控服务器、核辐射源异常时发送停止评测指令强制停止测试。Step 316: judge whether to receive the stop evaluation instruction, if received, stop timing, and execute step 317; if not received, make N=N+1 after time interval T minutes, execute step 32; Wherein the stop evaluation instruction mainly includes The following three forms: the operator directly controls the master control server to send a stop evaluation command, the operator remotely sends a stop evaluation command to the master control server, and sends a stop evaluation command to force the test to stop when the nuclear radiation source is abnormal.

步骤317：输出经过的时间间隔T的个数N，关闭核辐射源，启动核辐射安全处理措施并关闭稳压电源输出，结束测评。通过周期性地每隔T分钟执行步骤32～步骤315，可以实现基于时间线的无人机的工作状态测评，用于计算无人机的最大抗核辐射剂量，对无人机的抗核辐射性能进行综合评测。本实施例中，时间间隔T的取值为{0.5,1,1.5,...,4.5,5}分钟，优选0.5分钟。直到无人机的工作状态不正常时，即所述标志FLAG的值不为0时关闭核辐射源，得到经过的时间间隔T的个数N，计算得到无人机的最大抗核辐射剂量R _max＝N×T×R。 Step 317: Output the number N of elapsed time intervals T, turn off the nuclear radiation source, start the nuclear radiation safety processing measures and turn off the output of the regulated power supply, and end the evaluation. By periodically executing steps 32 to 315 every T minutes, the timeline-based evaluation of the working status of the UAV can be realized, which can be used to calculate the maximum anti-nuclear radiation dose of the UAV and the anti-nuclear radiation of the UAV. Comprehensive evaluation of performance. In this embodiment, the value of the time interval T is {0.5, 1, 1.5, . . . , 4.5, 5} minutes, preferably 0.5 minutes. When the working state of the drone is abnormal, that is, when the value of the flag FLAG is not 0, the nuclear radiation source is turned off, and the number N of the elapsed time interval T is obtained, and the maximum anti-nuclear radiation dose R of the drone is calculated _max =N×T×R.

本实施例中还提供一种核定无人机抗核辐射剂量的无人机监测方法，包括：所述无人机进入核辐射区域探测前，使用上述实施例中的无人机抗核辐射性能综合评测方法获取无人机的最大抗核辐射剂量R _max；所述无人机进入核辐射区域进行探测时，通过远程遥控器控制无人机的运动。每隔时间间隔T'读取无人机上挂载的核辐射探测器的实时剂量率数据R' _i(T')，经过N'个时间间隔后，无人机已受到的核辐射量

若

则所述无人机自动返航，其中E为预设的最大抗核辐射剂量余量，用于保障无人机可正常返航，E取值为正常数。本实施例中，T'为0.5分钟，无人机受到的总的核辐射剂量实时叠加，考虑返程受到的核辐射剂量相同，当满足

时返程，可以保证无人机在损坏前可以返程，避免造成探测数据丢失。 This embodiment also provides a UAV monitoring method for verifying the anti-nuclear radiation dose of the UAV, including: Before the UAV enters the nuclear radiation area for detection, use the anti-nuclear radiation performance of the UAV in the above embodiment The comprehensive evaluation method obtains the maximum anti-nuclear radiation dose R _max of the UAV; when the UAV enters the nuclear radiation area for detection, the movement of the UAV is controlled by a remote controller. Read the real-time dose rate data R' _i (T') of the nuclear radiation detector mounted on the UAV at intervals T', after N' time intervals, the amount of nuclear radiation that the UAV has received

like

Then the UAV returns automatically, wherein E is the preset maximum anti-nuclear radiation dose margin, which is used to ensure that the UAV can return normally, and the value of E is a normal number. In this embodiment, T' is 0.5 minutes, and the total nuclear radiation dose received by the UAV is superimposed in real time. Considering that the nuclear radiation dose received by the return trip is the same, when the

Returning in time can ensure that the UAV can return before it is damaged, avoiding the loss of detection data.

参照图6所示，本发明中一种无人机抗核辐射性能综合评测***的实施例，包括总控服务器、核辐射屏蔽室、遥控器、卫星定位模拟***和稳压电源，所述核辐射屏蔽室内设有天线、核辐射源、背景图片、旋翼监控***和无人机，所述核辐射屏蔽室用于模拟核辐射环境，所述核辐射屏蔽室内有核辐射源且核辐射屏蔽室内各处均标定有核辐射剂量率，所述核辐射源打开后产生的核辐射使屏蔽室内各处充满与标定的核辐射剂量率相同的核辐射剂量率；所述天线用于使所述总控服务器与所述遥控模块通信，使所述卫星定位模拟***与所述卫星定位模块通信；所述卫星定位模拟***由所述总控服务器在地图上选取位置配置自定义的定位信息并发生该自定义的卫星信号传送给卫星定位模块；所述遥控器用于使所述天线与所述总控服务器通信，所述背景图片为无人机提供视频采集源。所述无人机为被测设备，所述无人机包括遥控模块、卫星定位模块、核辐射探测器、视频采集模块、飞行控制模块和供电模块；所述稳压电源用于给所述供电模块和给所述旋翼监控***供电；稳压电源置于核辐射屏蔽室外，采用两路输出应用，一路用于为旋翼监控***供电，另一路用于为旋翼式无人机供电。稳压电源支持串口或网口通信接口，总控服务器可以控制稳压电源的两路输出状态。所述总控服务器在地图上选取位置自定义定位信息设置定位数据并发送给卫星定位模拟***，卫星定位模拟***将定位数据转换成卫星信号并发送给所述卫星定位模块，所述卫星定位模块在核辐射环境中接收卫星信号产生实时定位数据并将实时定位数据通过所述遥控模块回传给总控服务器；所述遥控模块用于接收所述总控服务器发送的指令并将产生的确认信息回传给总控服务器，所述核辐射探测器用于检测无人机所处位置处的核辐射剂量率并通过所述遥控模块回传给总控服务器，所述视频采集模块用于采集所述背景图片处的视频数据并通过有线网络回传给总控服务器，所述飞行控制模块用于根据所述总控服务器发送的指令驱动无人机飞行并将飞行状态信息通过所述遥控模块回传给总控服务器，所述旋翼监控***用于监控无人机的旋翼状态并产生飞行状态信息回传给总控服务器，所述供电模块用于给无人机供电；所述总控服务器控制所述核辐射源的开关，监控所述稳压电源的工作状态，根据发送的指令、接收到视频采集模块传送的视频数据、旋翼监控***回传的飞行状态信息和所述遥控模块回传的确认信息、定位数据、核辐射剂量率和飞行状态信息测评无人机可承受的最大抗核辐射剂量。由于核辐射屏蔽室屏蔽了卫星信号，在核辐射屏蔽室内卫星定位模块无法搜索到提供卫星信号，因此使用卫星定位模拟***。卫星定位模拟***接收核辐射屏蔽室外的卫星定位信号并转发到核辐射屏蔽室内，接收核辐射屏蔽室外的卫星定位信号并解析定位信息(经纬度数据)，采用USB接口通信可以配置定位模式并按模式获取该位置处的定位信息。所述卫星定位模拟***包括接收天线、微波功分器、微波功放模块、卫星定位信号解析模块和电源模块。所述接收天线接收自然界中的卫星信号，所述微波功分器将卫星信号分为两路并分别传送给所述微波功放模块和卫星定位信号解析模块，所述微波功放模块将卫星信号放大后经过射频电缆传送给所述转发天线，所述卫星定位信号解析模块将卫星信号解析成定位数据并经过USB接口传送给总控服务器，所述电源模块给所述卫星定位模拟***供电。卫星定位模拟***配置通信协议从而使总控服务器可以通过USB口与卫星定位模拟***通信。接收天线采用同轴接口与微波功分器连接，微波功分器为一分二的功分器，输入端接收来自接收天线的微波信号，然后分两路微波信号输出。微波功放模块的输入端与微波功分器的一路输出端相连接，放大输入的微波信号并通过低损耗射频电缆引入到核辐射屏蔽室内，通过天线进行辐射，实现卫星定位信号从核辐射屏蔽室外到核辐射屏蔽室内的信号转发。卫星定位信号解析模块的输入端也与微波功分器的另一个输出端相连接，自带低噪声微波信号放大器，实现卫星定位信号的解析并输出对应的经纬度数据，该模块支持北斗二代卫星***、全球定位***和全球导航卫星新***三种主要模式，主要通过USB接口与计算机设备相连接，实现基于计算机软件的工作模式配置和定位信息获取。电源模块输入为220V家用交流电，转换出整个卫星定位模拟***各个模块所需的电源信号。核辐射屏蔽室内设有核辐射源控制***，总控服务器通过所述核辐射源控制***控制所述核辐射源的开关。核辐射实验环境用于模拟核辐射环境，核辐射源和核辐射源控制***为了安全置于核辐射屏蔽室内，防止核辐射外泄。所述天线包括转发天线和通信天线，所述转发天线通过有线方式与所述卫星定位模拟***连接，用于将卫星信号通过无线方式传送给所述卫星定位模块；所述通信天线通过有线方式与所述遥控器连接，用于将总控服务器发送的指令通过无线方式传送给所述遥控模块并将无人机回传的确认信息、定位数据、核辐射剂量率和飞行状态信息通过无线方式传送给所述总控服务器。所述视频采集模块通过有线方式与所述总控服务器相连，用于通过有线方式回传视频数据给所述总控服务器。遥控器由操作人员在核辐射屏蔽室外使用，用于远程控制无人机。采用USB接口与总控服务器相连接，可以接收总控服务器发送的指令并转换成遥控射频信号通过通信天线发射出去。由于核辐射屏蔽室具有屏蔽射频信号的作用，故将通信天线置于核辐射屏蔽室内，通过低损耗射频电缆与遥控器相连接。同时，遥控器可以通过置于核辐射屏蔽室内的通信天线接收无人机回传的确认信息、定位数据、核辐射剂量率、视频数据和飞行状态信息，然后进行解析后通过USB接口将信息发送给总控服务器进行比对分析。遥控器同时可以测量接收到的射频信号强度，用于评测无人机远距离通信受核辐射影响的情况。本实施例中的***还包括补光灯、路由器和防护罩。路由器提供网络路由功能，通过路由器将总控服务器、稳压电源和无人机构成局域网，实现网络通信。旋翼监控***包括网络模块、处理器、电源模块和对射管应用模块。所述网络模块用于与所述总控服务器通信，所述处理器接收所述总控服务器通过所述网络模块传送来的指令并将飞行状态信息通过所述网络模块回传给总控服务器，所述电源模块用于使用所述稳压电源提供的电力给旋翼监控***供电；为保护旋翼监控***不受核辐射影响，旋翼监控***置于屏蔽盒内，降低核辐射影响。所述对射管应用模块连接与所述无人机的旋翼数量一致的对射管，即其主要采用红外对射管(或者激光对射管)作为无人机的旋翼状态探测装置，对射管的发射端和对射管的接收端分别位于所述无人机的旋翼的两侧并垂直于无人机的旋翼设置，所述处理器控制对射管的发射端发射红外(或激光)信号并读取对射管的接收端的状态从而判断无人机的旋翼是否旋转、计算旋转时转速得到飞行状态信息。每个无人机的旋翼对应安装一组对射管进行状态监测，通过无人机的各个旋翼状态进行旋翼式飞机飞行控制模式的判定。为防止核辐射损害对射管，为对射管加装防护罩保护对射管，本实施例中防护罩为铅屏蔽板。核辐射探测器的采集端指向核辐射方向，可用于进行核辐射剂量率检测，结果采用无线方式发送给总控服务器进行存储和显示。视频采集模块的镜头正对核辐射源。为降低评测时无线通信的负担，采用有线网络方式进行连接，使视频采集模块与总控服务器通过有线方式通信。为防止旋翼式无人机起飞，旋翼采用平板式，安装时旋翼与地面平行，保障旋翼旋转时在垂直方向上不产生力，同时将无人机固定在被测位置。本发明的评测不涉及对供电模块的评测，可以在不考虑供电的情况下实现长时间的测量，有利于测得无人机中各部分的最大核定核辐射剂量。With reference to shown in Fig. 6, the embodiment of a kind of unmanned aerial vehicle anti-nuclear radiation performance comprehensive evaluation system among the present invention, comprises general control server, nuclear radiation shielding room, remote controller, satellite positioning simulation system and stabilized voltage supply, described nuclear The radiation shielding room is equipped with antenna, nuclear radiation source, background picture, rotor monitoring system and unmanned aerial vehicle. The nuclear radiation shielding room is used to simulate the nuclear radiation environment. The nuclear radiation shielding room has a nuclear radiation source and the nuclear radiation shielding room The nuclear radiation dose rate is calibrated everywhere, and the nuclear radiation generated after the nuclear radiation source is turned on fills the shielding room with the same nuclear radiation dose rate as the calibrated nuclear radiation dose rate; the antenna is used to make the total The control server communicates with the remote control module, so that the satellite positioning simulation system communicates with the satellite positioning module; the satellite positioning simulation system selects a location on the map to configure self-defined positioning information by the master control server and generates this The self-defined satellite signal is sent to the satellite positioning module; the remote controller is used to make the antenna communicate with the master control server, and the background picture provides a video acquisition source for the drone. The unmanned aerial vehicle is a device under test, and the unmanned aerial vehicle includes a remote control module, a satellite positioning module, a nuclear radiation detector, a video acquisition module, a flight control module and a power supply module; the stabilized power supply is used to supply power to the The module and the rotor monitoring system are powered; the stabilized power supply is placed outside the nuclear radiation shielding room, and two output applications are used, one is used to supply power to the rotor monitoring system, and the other is used to supply power to the rotor UAV. The regulated power supply supports serial or network communication interfaces, and the master control server can control the two output states of the regulated power supply. The master control server selects the position on the map and sets the positioning data by customizing the positioning information and sends it to the satellite positioning simulation system. The satellite positioning simulation system converts the positioning data into satellite signals and sends them to the satellite positioning module. The satellite positioning module Receive satellite signals in a nuclear radiation environment to generate real-time positioning data and send the real-time positioning data back to the master control server through the remote control module; the remote control module is used to receive instructions sent by the master control server and generate confirmation information Back to the master control server, the nuclear radiation detector is used to detect the nuclear radiation dose rate at the position of the drone and is passed back to the master control server through the remote control module, and the video acquisition module is used to collect the The video data at the background picture is sent back to the master control server through the wired network, and the flight control module is used to drive the drone to fly according to the instructions sent by the master control server and return the flight status information through the remote control module To the master control server, the rotor monitoring system is used to monitor the rotor state of the drone and generates flight status information to send back to the master control server, and the power supply module is used to supply power to the drone; the master control server controls the The switch of the nuclear radiation source monitors the working state of the stabilized power supply, according to the instructions sent, the received video data transmitted by the video acquisition module, the flight status information returned by the rotor monitoring system and the confirmation returned by the remote control module Information, positioning data, nuclear radiation dose rate and flight status information evaluate the maximum anti-nuclear radiation dose that the UAV can withstand. Since the nuclear radiation shielding room shields satellite signals, the satellite positioning module cannot search for and provide satellite signals in the nuclear radiation shielding room, so a satellite positioning simulation system is used. The satellite positioning simulation system receives the satellite positioning signal outside the nuclear radiation shielding room and forwards it to the nuclear radiation shielding room, receives the satellite positioning signal outside the nuclear radiation shielding room and analyzes the positioning information (latitude and longitude data), and uses USB interface communication to configure the positioning mode and press the mode Get positioning information at this location. The satellite positioning simulation system includes a receiving antenna, a microwave power splitter, a microwave power amplifier module, a satellite positioning signal analysis module and a power supply module. The receiving antenna receives satellite signals in nature, the microwave power divider divides the satellite signals into two paths and transmits them to the microwave power amplifier module and the satellite positioning signal analysis module respectively, and the microwave power amplifier module amplifies the satellite signals The satellite positioning signal analysis module analyzes the satellite signal into positioning data and transmits it to the master control server through the USB interface, and the power supply module supplies power to the satellite positioning simulation system. The satellite positioning simulation system is configured with a communication protocol so that the master control server can communicate with the satellite positioning simulation system through the USB port. The receiving antenna is connected to the microwave power splitter through a coaxial interface. The microwave power splitter is a power splitter divided into two. The input end of the microwave power amplifier module is connected with one output end of the microwave power divider, amplifies the input microwave signal and introduces it into the nuclear radiation shielding room through a low-loss radio frequency cable, and radiates through the antenna to realize the satellite positioning signal from the nuclear radiation shielding room Signal relay to nuclear radiation shielded room. The input end of the satellite positioning signal analysis module is also connected to the other output end of the microwave power divider, and it has a low-noise microwave signal amplifier to realize the analysis of satellite positioning signals and output the corresponding longitude and latitude data. This module supports Beidou second-generation satellites System, global positioning system and new global navigation satellite system are three main modes, which are mainly connected with computer equipment through USB interface to realize the configuration of working mode and acquisition of positioning information based on computer software. The input of the power module is 220V household alternating current, which converts the power signal required by each module of the entire satellite positioning simulation system. A nuclear radiation source control system is installed in the nuclear radiation shielding room, and the master control server controls the switch of the nuclear radiation source through the nuclear radiation source control system. The nuclear radiation experiment environment is used to simulate the nuclear radiation environment. The nuclear radiation source and the nuclear radiation source control system are placed in the nuclear radiation shielding room for safety to prevent the leakage of nuclear radiation. The antenna includes a forwarding antenna and a communication antenna, and the forwarding antenna is connected to the satellite positioning simulation system by wire, and is used to transmit satellite signals to the satellite positioning module by wireless; the communication antenna is connected to the satellite positioning simulation system by wire. The remote control connection is used to wirelessly transmit the instructions sent by the master control server to the remote control module and wirelessly transmit the confirmation information, positioning data, nuclear radiation dose rate and flight status information returned by the UAV to the master control server. The video acquisition module is connected to the master control server by wire, and is used to return video data to the master control server by wire. The remote control is used by the operator outside the nuclear radiation shielding room to remotely control the drone. The USB interface is used to connect with the master control server, which can receive the command sent by the master control server and convert it into a remote control radio frequency signal and transmit it through the communication antenna. Since the nuclear radiation shielding room has the function of shielding radio frequency signals, the communication antenna is placed in the nuclear radiation shielding room and connected to the remote controller through a low-loss radio frequency cable. At the same time, the remote control can receive the confirmation information, positioning data, nuclear radiation dose rate, video data and flight status information returned by the drone through the communication antenna placed in the nuclear radiation shielding room, and then analyze and send the information through the USB interface Perform comparative analysis for the master control server. The remote control can also measure the received radio frequency signal strength, which is used to evaluate the influence of nuclear radiation on the long-distance communication of drones. The system in this embodiment also includes a fill light, a router and a protective cover. The router provides the network routing function. Through the router, the general control server, the regulated power supply and the UAV form a local area network to realize network communication. The rotor monitoring system includes a network module, a processor, a power supply module and an application module for the tube. The network module is used to communicate with the general control server, the processor receives the instruction transmitted by the general control server through the network module and sends the flight status information back to the general control server through the network module, The power module is used to supply power to the rotor monitoring system using the power provided by the stabilized power supply; in order to protect the rotor monitoring system from nuclear radiation, the rotor monitoring system is placed in a shielding box to reduce the impact of nuclear radiation. The anti-radiation tube application module is connected with the anti-radiation tube consistent with the number of rotors of the UAV, that is, it mainly uses an infrared anti-radiation tube (or laser anti-radiation tube) as the rotor state detection device of the UAV, and the anti-radiation tube The transmitting end of the tube and the receiving end of the shooting tube are respectively located on both sides of the rotor of the drone and are arranged perpendicular to the rotor of the drone, and the processor controls the transmitting end of the shooting tube to emit infrared (or laser) Signal and read the state of the receiving end of the shooting tube to judge whether the rotor of the UAV is rotating, and calculate the rotation speed to obtain flight state information. The rotor of each UAV is correspondingly installed with a group of jet tubes for state monitoring, and the determination of the flight control mode of the rotor aircraft is carried out through the status of each rotor of the UAV. In order to prevent nuclear radiation from damaging the radio tube, a protective cover is installed on the radio tube to protect the radio tube. In this embodiment, the protective cover is a lead shielding plate. The acquisition end of the nuclear radiation detector points to the direction of nuclear radiation, which can be used for nuclear radiation dose rate detection, and the results are sent to the master control server in a wireless manner for storage and display. The lens of the video acquisition module is facing the nuclear radiation source. In order to reduce the burden of wireless communication during the evaluation, a wired network is used for connection, so that the video acquisition module and the master control server communicate through wired. In order to prevent the rotor UAV from taking off, the rotor adopts a flat plate type. When installed, the rotor is parallel to the ground to ensure that no force is generated in the vertical direction when the rotor rotates, and the UAV is fixed at the measured position. The evaluation of the present invention does not involve the evaluation of the power supply module, and can realize long-term measurement without considering the power supply, which is beneficial to measure the maximum approved nuclear radiation dose of each part of the drone.

本发明的上述技术方案相比现有技术具有以下优点：本发明在无人机进入核辐射区域进行实地探测之前模拟核辐射环境，通过使用卫星定位模拟***在模拟核辐射环境下对无人机的最大可承受的抗核辐射剂量进行综合评测和标定，使后续实际探测过程中可实时根据无人机已受到的核辐射剂量对无人机进行远程操作和控制，便于在无人机失灵前及时召回无人机，有效避免因受过量辐射而导致无人机无法返航或者损坏、甚至丢失探测数据的情况。评测时使用卫星定位模拟***可以在地图上任意选择位置进行评测，满足不同场景下的需求；同时不受天气、环境影响，定位成功概率高。Compared with the prior art, the above technical solution of the present invention has the following advantages: the present invention simulates the nuclear radiation environment before the UAV enters the nuclear radiation area for on-the-spot detection, and uses a satellite positioning simulation system to simulate the nuclear radiation environment of the UAV. Comprehensive evaluation and calibration of the maximum tolerable anti-nuclear radiation dose, so that in the subsequent actual detection process, the UAV can be remotely operated and controlled in real time according to the nuclear radiation dose that the UAV has received, so that it is convenient for the UAV to fail. Recall the UAV in time to effectively avoid the situation that the UAV cannot return to the voyage or is damaged or even loses detection data due to excessive radiation. The satellite positioning simulation system can be used in the evaluation to arbitrarily select a location on the map for evaluation to meet the needs of different scenarios; at the same time, it is not affected by weather and environment, and the probability of successful positioning is high.

本领域内的技术人员应明白，本申请的实施例可提供为方法、***、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。本申请是参照根据本申请实施例的方法、设备(***)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。显然，上述实施例仅仅是为清楚地说明所作的举例，并非对实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引申出的显而易见的变化或变动仍处于本发明创造的保护范围之中。Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein. The present application is described with reference to flowcharts and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram. These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram. These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams. Apparently, the above-mentioned embodiments are only examples for clear description, and are not intended to limit the implementation. For those of ordinary skill in the art, on the basis of the above description, other changes or changes in various forms can also be made. It is not necessary and impossible to exhaustively list all the implementation manners here. However, the obvious changes or changes derived therefrom are still within the scope of protection of the present invention.

Claims

一种自定义定位信息的无人机抗核辐射性能评测方法，其特征在于，包括：A method for evaluating the anti-nuclear radiation performance of an unmanned aerial vehicle with custom positioning information, characterized in that it includes:

步骤1：将背景图片、天线、旋翼监控***和无人机置于核辐射屏蔽室内，将总控服务器、稳压电源、遥控器和卫星定位模拟***置于核辐射屏蔽室外，所述核辐射屏蔽室内有核辐射源且核辐射屏蔽室内各处均标定有核辐射剂量率；所述无人机包括遥控模块、飞行控制模块、卫星定位模块、核辐射探测器、视频采集模块和供电模块；Step 1: Place the background picture, antenna, rotor monitoring system and UAV in the nuclear radiation shielding room, and place the master control server, regulated power supply, remote control and satellite positioning simulation system in the nuclear radiation shielding room. There is a nuclear radiation source in the shielding room and the nuclear radiation dose rate is calibrated everywhere in the nuclear radiation shielding room; the drone includes a remote control module, a flight control module, a satellite positioning module, a nuclear radiation detector, a video acquisition module and a power supply module;

所述总控服务器选取地图上的位置自定义定位信息设置定位数据，并将定位数据发送给卫星定位模拟***，卫星定位模拟***将定位数据转换成卫星信号并发送给所述卫星定位模块，所述卫星定位模块在核辐射环境中接收卫星信号产生实时定位数据；所述总控服务器通过所述遥控器向遥控模块发送指令，遥控模块接收到指令后产生确认信息；所述核辐射探测器检测所处环境中的核辐射剂量率，所述飞行控制模块控制无人机的飞行状态并产生飞行状态信息，所述视频采集模块采集背景图片处的视频数据并传送给所述总控服务器；所述供电模块给无人机提供电力，所述稳压电源给在所述供电模块和所述旋翼监控***供电；无人机将包括实时定位数据、确认信息、核辐射剂量率、飞行状态信息和电池信息的测评信息通过所述遥控器传送给所述总控服务器；The master control server selects the position on the map and sets the positioning data by customizing the positioning information, and sends the positioning data to the satellite positioning simulation system, and the satellite positioning simulation system converts the positioning data into satellite signals and sends them to the satellite positioning module, so that The satellite positioning module receives satellite signals in a nuclear radiation environment to generate real-time positioning data; the master control server sends instructions to the remote control module through the remote controller, and the remote control module generates confirmation information after receiving the instructions; the nuclear radiation detector detects The nuclear radiation dose rate in the environment, the flight control module controls the flight state of the unmanned aerial vehicle and generates flight state information, and the video acquisition module collects the video data at the background picture and sends it to the master control server; The power supply module provides power to the drone, and the stabilized power supply supplies power to the power supply module and the rotor monitoring system; the drone will include real-time positioning data, confirmation information, nuclear radiation dose rate, flight status information and The evaluation information of the battery information is transmitted to the master control server through the remote controller;

步骤2：开启所述核辐射源，获取无人机所在位置的核辐射剂量率R；Step 2: Turn on the nuclear radiation source to obtain the nuclear radiation dose rate R at the location of the drone;

步骤3：所述总控服务器每隔时间间隔T获取一次无人机回传的测评信息并进行分析，直到无人机的工作状态不正常时关闭所述核辐射源，得到经过的时间间隔T的个数N，计算得到无人机的最大抗核辐射剂量R _max＝N×T×R。 Step 3: The master control server obtains and analyzes the evaluation information returned by the UAV every time interval T, and closes the nuclear radiation source when the UAV is not working properly, and obtains the elapsed time interval T The number N of the UAV is calculated to obtain the maximum anti-nuclear radiation dose R _max =N×T×R of the UAV.
根据权利要求1所述的自定义定位信息的无人机抗核辐射性能评测方法，其特征在于：所述开启所述核辐射源前，所述总控服务器进行初始化配置并进行初始化检测，具体包括：The anti-nuclear radiation performance evaluation method of UAV according to claim 1, characterized in that: before the nuclear radiation source is turned on, the master control server performs initialization configuration and initialization detection, specifically include:

步骤21：配置稳压电源给无人机中的供电模块和旋翼监控***供电的输出电压和最大允许电流，最大允许电流用于起限流作用防止电路电流过大造成设备损坏；Step 21: Configure the output voltage and maximum allowable current of the regulated power supply to supply power to the power supply module and rotor monitoring system in the drone. The maximum allowable current is used to limit the current to prevent equipment damage caused by excessive circuit current;

步骤22：配置总控服务器与卫星定位模拟***的通信协议，选择卫星定位模拟***的卫星导航***的工作模式；总控服务器在地图上选取位置自定义定位信息设定定位数据(Lng，Lat) _ref并使用定位数据配置卫星定位模拟***生成卫星信号，判断卫星定位模拟***是否成功生成卫星信号，如果有效，执行步骤23；如果无效，总控服务器重新配置卫星定位模拟***直至成功生成卫星信号； Step 22: Configure the communication protocol between the master control server and the satellite positioning simulation system, select the working mode of the satellite navigation system of the satellite positioning simulation system; the master control server selects the position on the map to customize the positioning information and set the positioning data (Lng, Lat) _ref and use the positioning data to configure the satellite positioning simulation system to generate satellite signals, judge whether the satellite positioning simulation system successfully generates satellite signals, if valid, perform step 23; if invalid, the master control server reconfigures the satellite positioning simulation system until the satellite signals are successfully generated;

步骤23：使能稳压电源，执行步骤24；Step 23: Enable the regulated power supply, go to step 24;

步骤24：配置遥控器的接收灵敏度Sensitivity、工作距离D以及遥控模块与遥控器天线之间的距离L，执行步骤25；Step 24: Configure the receiving sensitivity Sensitivity of the remote control, the working distance D and the distance L between the remote control module and the antenna of the remote control, and perform step 25;

步骤25：配置总控服务器与遥控器的通信协议，配置好后总控服务器与遥控器进行通信以检测通信是否正常，如果不正常，检查电路连线并重新配置总控服务器与遥控器的通信协议直至通信正常，执行步骤26；如果正常，直接执行步骤26；Step 25: Configure the communication protocol between the master control server and the remote controller. After configuration, the master control server communicates with the remote controller to check whether the communication is normal. If not, check the circuit connection and reconfigure the communication between the master control server and the remote controller Protocol until the communication is normal, execute step 26; if normal, directly execute step 26;

步骤26：配置遥控器与无人机通信时的等待时间Timeout，总控服务器向遥控器发出读取定位数据和核辐射探测数据的指令，执行步骤27；Step 26: Configure the waiting time Timeout when the remote controller communicates with the UAV, the master control server sends an instruction to the remote controller to read positioning data and nuclear radiation detection data, and execute step 27;

步骤27：遥控器等待接收无人机的通信数据并判断是否成功接收到通信数据，如果超过等待时间仍然没有接收到数据，则判定超时，输出无线通信失败的错误信息，执行步骤214；如果接收到通信数据，执行步骤28；Step 27: The remote controller waits to receive the communication data of the drone and judges whether the communication data is successfully received. If the data is still not received after the waiting time, the judgment is timed out, and an error message of wireless communication failure is output, and step 214 is executed; to the communication data, execute step 28;

步骤28：遥控器解析接收到的通信数据得到初始化状态时无人机的定位数据(Lng，Lat) _t0和核辐射探测数据，执行步骤29； Step 28: The remote controller parses the received communication data to obtain the positioning data (Lng, Lat) _t0 and nuclear radiation detection data of the UAV in the initialization state, and executes step 29;

步骤29：计算(Lng，Lat) _t0和(Lng，Lat) _ref的差的绝对值得到(Dlng，Dlat)，判断Dlng和Dlat是否都小于预设的阈值Dmin，如果都小于表示误差在允许范围内，此时卫星定位模块工作正常，执行步骤210；如果没有都小于表示误差超出允许范围，此时卫星定位模块的工作不正常，输出定位失败的错误提示信息，执行步骤214； Step 29: Calculate the absolute value of the difference between (Lng, Lat) _t0 and (Lng, Lat) _ref to obtain (Dlng, Dlat), and judge whether Dlng and Dlat are both smaller than the preset threshold Dmin, if they are both smaller, the error is within the allowable range In this case, the satellite positioning module is working normally, and step 210 is performed; if not all less than, the error exceeds the allowable range, and the satellite positioning module is not working properly at this time, and the error message of output positioning failure is executed, and step 214 is performed;

步骤210：配置访问无人机上挂载的视频模块的RTSP地址，配置图像降噪滤波器；设置标志图像像素相似性分析方法的标志FLAG1，FLAG1为长度为n位的二进制数，n的取值范围为6～32，FLAG1中每一位用于标志一种图像像素相似性分析方法，按位配置每一位都为0或1，0表示禁止使用该位标志的图像像素相似性分析方法，1表示使能该位标志的图像像素相似性分析方法；将使能的图像像素相似性分析方法的数量记做N1，执行步骤211；Step 210: configure the RTSP address of the video module mounted on the access drone, configure the image noise reduction filter; set the flag FLAG1 of the method for analyzing the similarity of the image pixels of the logo, and FLAG1 is a binary number with a length of n bits, and the value of n The range is 6 to 32. Each bit in FLAG1 is used to mark an image pixel similarity analysis method, and each bit is configured as 0 or 1. 0 means that the image pixel similarity analysis method marked by this bit is prohibited. 1 means that the image pixel similarity analysis method of the bit flag is enabled; the number of image pixel similarity analysis methods enabled is recorded as N1, and step 211 is executed;

步骤211：配置FLAG1中使能的图像像素相似性分析方法的权重A[N1]，判断N1项使能方法的权重是否满足足A[1]+A[2]+...+A[N1]＝1；如果不满足，重新配置权重A[N1]直至满足要求；如果满足，配置相似性分析方法的阈值Threshold，执行步骤212；Step 211: Configure the weight A[N1] of the image pixel similarity analysis method enabled in FLAG1, and determine whether the weight of the N1 enabled method satisfies A[1]+A[2]+...+A[N1 ]=1; if not satisfied, reconfigure the weight A[N1] until the requirement is met; if satisfied, configure the threshold Threshold of the similarity analysis method, and perform step 212;

步骤212：启动视频分析线程，配置标志视频分析线程的工作状态的标志Vstatus并初始化Vstatus＝0，配置标志人脸识别错误次数的计数器N_err并初始化N_err＝0；判断视频采集模块采集视频是否正常以对视频采集模块的工作状态进行初始化检测，如果采集视频不正常，此时视频采集模块的初始化工作状态不正常，执行步骤214；如果采集视频正常，此时视频采集模块的初始化工作状态正常，采集一帧图像，并判断当前采集到的视频数据是否为第一帧图像，如果是第一帧图像，将当前帧图像的像素值存入Img0中，如果不是第一帧图像，将当前帧图像的像素值与Img0对应像素相加后取平均值存入Img0中，等待主线程通知进入评测流程，主线程执行步骤213；Step 212: start the video analysis thread, configure the sign Vstatus of the work status of the video analysis thread and initialize Vstatus=0, configure the counter N_err of the wrong number of times of face recognition and initialize N_err=0; judge whether the video acquisition module gathers the video normally and then The working status of the video capture module is initialized and detected, if the video capture is abnormal, the initial working status of the video capture module is abnormal, and step 214 is performed; if the video capture is normal, the initial working status of the video capture module is normal, and the acquisition One frame image, and judge whether the currently collected video data is the first frame image, if it is the first frame image, store the pixel value of the current frame image in Img0, if it is not the first frame image, save the current frame image pixel value The pixel value is added to the corresponding pixel of Img0, and the average value is stored in Img0, and the main thread is notified to enter the evaluation process, and the main thread executes step 213;

步骤213：获取旋翼监控***提供输出的旋翼状态信息判断是否可以正常通信获取信息，如果不能正常获取，则输出相应的错误信息，执行步骤214；如果可以正常获取，则开启核辐射源，获取无人机所在位置的核辐射剂量率R，开始测评，同时通知视频分析线程进入评测阶段；Step 213: Obtain the rotor status information provided by the rotor monitoring system to determine whether the information can be obtained through normal communication. If it cannot be obtained normally, output the corresponding error message and perform step 214; if it can be obtained normally, turn on the nuclear radiation source and obtain the information without The nuclear radiation dose rate R at the location of the man-machine is evaluated, and the video analysis thread is notified to enter the evaluation stage at the same time;

步骤214：关闭稳压电源输出，结束当前评测流程。Step 214: Turn off the output of the regulated power supply, and end the current evaluation process.
根据权利要求2所述的自定义定位信息的无人机抗核辐射性能评测方法，其特征在于：所述总控服务器每隔时间间隔T获取一次无人机回传的信息并进行分析，直到无人机的工作状态不正常时关闭所述核辐射源，得到经过的时间间隔T的个数N，具体包括：The anti-nuclear radiation performance evaluation method of the UAV according to the self-defined positioning information of claim 2, wherein: the master control server acquires the information returned by the UAV every time interval T and analyzes it until When the working state of the unmanned aerial vehicle is abnormal, the nuclear radiation source is turned off, and the number N of the elapsed time interval T is obtained, which specifically includes:

步骤31：初始化N＝0，配置标志无人机工作状态的标志FLAG，FLAG为长度为m的二进制数，初始化FLAG的每一位都为0，m的取值范围为9～32；Step 31: Initialize N=0, configure the flag FLAG that marks the working state of the drone, FLAG is a binary number with a length of m, each bit of the initialized FLAG is 0, and the value range of m is 9 to 32;

步骤32：总控服务器向遥控器发出读取无人机定位数据和核辐射探测数据的指令，遥控器等待接收无人机的通信数据并判断是否成功接收到通信数据，如果超过等待时间仍然没有接收到数据，此时无线通信失败，将FLAG的第1位置1，执行步骤33；如果接收到通信数据，直接执行步骤33；Step 32: The master control server sends instructions to the remote controller to read the UAV positioning data and nuclear radiation detection data. The remote controller waits to receive the communication data of the UAV and judges whether the communication data is successfully received. If the waiting time is exceeded, there is still no Receive data, at this time the wireless communication fails, set the first bit of FLAG to 1, and execute step 33; if communication data is received, directly execute step 33;

步骤33：遥控器解析接收到通信数据得到无人机的实时定位数据(Lng，Lat) _t和实时核辐射探测数据，判断实时核辐射探测数据的误差是否在许可范围内，如果误差不在许可范围内，将FLAG的第2为置1，执行步骤34；如果误差在许可范围内，直接执行步骤34； Step 33: The remote controller analyzes the received communication data to obtain the real-time positioning data (Lng, Lat) _t and real-time nuclear radiation detection data of the UAV, and judges whether the error of the real-time nuclear radiation detection data is within the allowable range, if the error is not within the allowable range , set the second bit of FLAG to 1, and execute step 34; if the error is within the allowable range, directly execute step 34;

步骤34：计算(Lng，Lat) _t和(Lng，Lat) _ref的差的绝对值得到(Dlng'，Dlat')，判断Dlng'和Dlat'是否都小于预设的阈值Dmin，如果没有都小于，表明卫星定位模块的工作不正常，将FLAG的第3位置1，执行步骤35；如果都小于，表明卫星定位模块工作正常，直接执行步骤35； Step 34: Calculate the absolute value of the difference between (Lng, Lat) _t and (Lng, Lat) _ref to obtain (Dlng', Dlat'), and determine whether Dlng' and Dlat' are both smaller than the preset threshold Dmin, if not both are smaller than , indicating that the satellite positioning module is not working properly, set the third bit of FLAG to 1, and execute step 35; if both are less than, indicating that the satellite positioning module is working normally, directly execute step 35;

步骤35：开始飞行控制评测流程，总控服务器通过遥控器发送控制无人机前进的命令，然后等待接收旋翼监控***传送的反馈信息，如果等待超时仍没有接收到旋翼监控***传送的反馈信息，将FLAG的第4位置1，执行步骤37；如果正常接收到旋翼监控***传送的反馈信息，直接执行步骤36；Step 35: Start the flight control evaluation process. The master control server sends the command to control the UAV to advance through the remote control, and then waits to receive the feedback information sent by the rotor monitoring system. If the feedback information sent by the rotor monitoring system is not received after waiting for a timeout, Set the 4th bit of FLAG to 1, and execute step 37; if the feedback information sent by the rotor monitoring system is normally received, directly execute step 36;

步骤36：总控服务器获取旋翼监控***测量的此时的各个旋翼的状态、转速，判定此时的无人机飞行状态，如果判定的状态不是前进状态，将FLAG的第5位置1，执行步骤37；如果判定的状态是上升状态，则直接步骤37；Step 36: The master control server obtains the state and rotational speed of each rotor measured by the rotor monitoring system at this time, and determines the flight state of the drone at this time. If the determined state is not the forward state, set the fifth position of FLAG to 1, and execute the step 37; if the determined state is rising state, then go directly to step 37;

步骤37：总控服务器通过遥控器发送控制无人机后退的命令，然后等待接收旋翼监控***传送的反馈信息，如果等待超时仍没有接收到旋翼监控***传送的反馈信息，将FLAG的第4位置1，执行步骤39；如果正常接收到旋翼监控***传送的反馈信息，直接执行步骤38；Step 37: The master control server sends a command to control the UAV to retreat through the remote control, and then waits to receive the feedback information transmitted by the rotor monitoring system. 1. Execute step 39; if the feedback information transmitted by the rotor monitoring system is normally received, directly execute step 38;

步骤38：总控服务器获取旋翼监控***测量的此时的各个旋翼的状态、转速，判定此时的无人机飞行状态，如果判定的状态不是后退状态，将FLAG的第6位置1，执行步骤39；如果判定的状态是左转状态，则直接步骤39；Step 38: The master control server obtains the state and speed of each rotor measured by the rotor monitoring system at this time, and determines the flight state of the drone at this time. If the determined state is not the backward state, set the sixth position of FLAG to 1, and execute the step 39; if the determined state is a left turn state, then go directly to step 39;

步骤39：总控服务器通过遥控器发送控制无人机爬升的命令，然后等待接收旋翼监控***传送的反馈信息，如果等待超时仍没有接收到旋翼监控***传送的反馈信息，将FLAG的第4位置1，执行步骤311；如果正常接收到旋翼监控***传送的反馈信息，直接执行步骤310；Step 39: The master control server sends a command to control the UAV to climb through the remote control, and then waits to receive the feedback information sent by the rotor monitoring system. If the feedback information sent by the rotor monitoring system is not received after waiting for a timeout, set the 4th position of FLAG to 1. Execute step 311; if the feedback information transmitted by the rotor monitoring system is normally received, directly execute step 310;

步骤310：总控服务器获取旋翼监控***测量的此时的各个旋翼的状态、转速，判定此时的无人机飞行状态，如果判定的状态不是爬升状态，将FLAG的第7位置1，执行步骤311；如果判定的状态是右转状态，则直接执行步骤311；Step 310: The master control server obtains the state and rotational speed of each rotor measured by the rotor monitoring system at this time, and determines the flight state of the drone at this time. If the determined state is not the climbing state, set the seventh position of FLAG to 1, and execute the step 311; if the determined state is a right turn state, then directly execute step 311;

步骤311：总控服务器通过遥控器发送控制无人机减速的命令，然后等待接收旋翼监控***传送的反馈信息，如果等待超时仍没有接收到旋翼监控***传送的反馈信息，将FLAG的第4位置1，执行步骤313；如果正常接收到旋翼监控***传送的反馈信息，直接执行步骤312；Step 311: The master control server sends a command to control the deceleration of the UAV through the remote control, and then waits to receive the feedback information transmitted by the rotor monitoring system. 1. Execute step 313; if the feedback information transmitted by the rotor monitoring system is normally received, directly execute step 312;

步骤312：总控服务器获取旋翼监控***测量的此时的各个旋翼的状态、转速，判定此时的无人机飞行状态，如果判定的状态不是减速状态，将FLAG的第8位置1，执行步骤313；如果判定的状态是下降状态，则直接步骤313；Step 312: The master control server obtains the state and rotational speed of each rotor measured by the rotor monitoring system at this time, and determines the flight state of the drone at this time. If the determined state is not the deceleration state, set the eighth position of FLAG to 1, and execute the step 313; if the determined state is a falling state, then go directly to step 313;

步骤313：获取遥控器接收到的实时无线通信信号功率Pr，计算工作距离为D处的遥控器接收到的信号功率Pw并将Pw与Sensitivity进行比较判断是否满足接收灵敏度要求，如果不满足，将FLAG的第9位置1，执行步骤314；如果满足，直接执行步骤314；Step 313: Obtain the real-time wireless communication signal power Pr received by the remote controller, calculate the signal power Pw received by the remote controller at a working distance of D, and compare Pw with Sensitivity to determine whether the receiving sensitivity requirement is met. If not, set The 9th bit of FLAG is 1, execute step 314; if satisfied, directly execute step 314;

步骤314：当前主流程根据在视频分析线程的评测流程中的视频分析线程实时的工作状态标志Vstatus的值判断视频分析线程是否正常工作，如果Vstatus＝1则视频分析线程工作不正常，将FLAG的第10位置1，执行步骤315；如果Vstatus＝0则视频分析线程工作正常，执行步骤315；Step 314: the current main process judges whether the video analysis thread is working normally according to the value of the real-time working status sign Vstatus of the video analysis thread in the evaluation process of the video analysis thread, if Vstatus=1 then the video analysis thread is not working properly, and the FLAG The 10th position is 1, execute step 315; if Vstatus=0 then the video analysis thread works normally, execute step 315;

步骤315：总控服务器存储FLAG值和实时的反馈信息，判断FLAG的值是否为0，如果不为0，发出报警信息，执行步骤317；如果为0，执行步骤316；Step 315: the master control server stores the FLAG value and real-time feedback information, and judges whether the value of FLAG is 0, if not 0, sends an alarm message, and executes step 317; if it is 0, executes step 316;

步骤316：判断是否接收到停止评测指令，如果接收到，执行步骤317；如果没有接收到，经过时间间隔T分钟后令N＝N+1，执行步骤32；Step 316: judge whether to receive the stop evaluation instruction, if received, execute step 317; if not received, make N=N+1 after time interval T minutes, execute step 32;

步骤317：输出经过的时间间隔T的个数N，关闭核辐射源，启动核辐射安全处理措施并关闭稳压电源输出，结束测评。Step 317: Output the number N of elapsed time intervals T, turn off the nuclear radiation source, start the nuclear radiation safety processing measures and turn off the output of the regulated power supply, and end the evaluation.
根据权利要求3所述的自定义定位信息的无人机抗核辐射性能评测方法，其特征在于：所述步骤314中在视频分析线程的评测流程中的视频分析线程实时的工作，具体包括：The anti-nuclear radiation performance evaluation method of the UAV according to the self-defined positioning information of claim 3, characterized in that: the real-time work of the video analysis thread in the evaluation process of the video analysis thread in the step 314, specifically includes:

步骤314.1：视频采集模块采集一帧视频数据并判断视频采集是否正常，如果不正常，判定视频分析线程不正常，设置Vstatus＝1；如果正常，执行步骤314.2；Step 314.1: the video capture module collects a frame of video data and judges whether the video capture is normal, if not normal, determines that the video analysis thread is abnormal, and sets Vstatus=1; if normal, execute step 314.2;

步骤314.2：视频采集模块采集一帧视频并存储，对当前帧进行图像滤波降噪处理得到图像curImg，按FLAG1确认使能的方法利用CurImg和参考图像Img0计算图像的相似度Similar1[N1]，然后根据权重A[N1]计算得到综合相似度curSim，curSim＝Similar1[1]×A[1]+Similar1[2]×A[2]+...+Similar1[N1]×A[N1]，执行步骤314.3；Step 314.2: The video capture module collects a frame of video and stores it, performs image filtering and noise reduction processing on the current frame to obtain the image curImg, uses CurImg and the reference image Img0 to calculate the image similarity Similar1[N1] according to the method of FLAG1 confirmation enablement, and then Calculate the comprehensive similarity curSim according to the weight A[N1], curSim=Similar1[1]×A[1]+Similar1[2]×A[2]+...+Similar1[N1]×A[N1], execute Step 314.3;

步骤314.3：判别curSim是否小于Threshold，如果小于，则令错误次数计数器N_err＝N_err+1，执行步骤314.4；如果不小于，执行步骤314.5；Step 314.3: judge whether curSim is less than Threshold, if less than, make the error count counter N_err=N_err+1, execute step 314.4; if not less than, execute step 314.5;

步骤314.4：判断N_err是否大于预设的次数最大值N_err_max，如果大于，此时已经有N_err_max帧图像与参考图像Img0不相似，则设置Vstatus＝1，执行步骤314.6；如果不大于，不改变Vstatus的值，执行步骤314.5；Step 314.4: Judging whether N_err is greater than the preset maximum number of times N_err_max, if greater, at this time there are N_err_max frame images that are not similar to the reference image Img0, then set Vstatus=1, and execute step 314.6; if not greater, do not change the value of Vstatus value, execute step 314.5;

步骤314.5：判断是否接收到停止评测命令，如果接收到，执行步骤314.6；如果没有接收到，执行步骤314.2；Step 314.5: Judging whether a stop evaluation command has been received, if so, go to step 314.6; if not, go to step 314.2;

步骤314.6：结束视频分析线程。Step 314.6: End the video analysis thread.
根据权利要求4所述的自定义定位信息的无人机抗核辐射性能评测方法，其特征在于：所述步骤313中获取遥控器接收到的实时无线通信信号功率Pr，计算工作距离为D处的遥控器接收到的信号功率Pw并将Pw与Sensitivity进行比较判断是否满足接收灵敏度要求，具体为：结合工作距离D以及当前遥控模块与遥控器引入到核辐射屏蔽室内的天线之间的距离L计算遥控器到工作距离D处时的接收信号功率Pw，Pw的计算公式为10logPw＝10logPr+20log(L)-20log(D)；如果满足10logPw≥Sensitivity，在实际工作环境中遥控器和遥控模块相距D时可以正常通信，判定为遥控器满足接收灵敏度要求；如果不满足10logPw≥Sensitivity，判定为遥控器不满足接收灵敏度要求。The anti-nuclear radiation performance evaluation method of the UAV according to the self-defined positioning information according to claim 4, characterized in that: in the step 313, the real-time wireless communication signal power Pr received by the remote controller is obtained, and the calculated working distance is D. The signal power Pw received by the remote control and compare Pw with Sensitivity to judge whether the receiving sensitivity requirement is met, specifically: combined with the working distance D and the distance L between the current remote control module and the antenna introduced into the nuclear radiation shielding room by the remote control Calculate the received signal power Pw from the remote control to the working distance D. The calculation formula of Pw is 10logPw=10logPr+20log(L)-20log(D); if 10logPw≥Sensitivity is satisfied, the remote control and remote control module in the actual working environment Normal communication is possible at a distance of D, and it is judged that the remote controller meets the receiving sensitivity requirements; if 10logPw≥Sensitivity is not satisfied, it is judged that the remote controller does not meet the receiving sensitivity requirements.
根据权利要求5所述的自定义定位信息的无人机抗核辐射性能评测方法，其特征在于：所述标志图像像素相似性分析方法的标志FLAG1为长度为32的二进制数，每个位标识是否使能该位对应的方法，具体结构为：The anti-nuclear radiation performance evaluation method of UAV according to claim 5, characterized in that: the flag FLAG1 of the flag image pixel similarity analysis method is a binary number with a length of 32, and each bit identifies Whether to enable the method corresponding to this bit, the specific structure is:

FLAG1的第1位为PSNR_En位，用于控制峰值信噪比法是否使能，0表示禁用，1表示使能；The first bit of FLAG1 is the PSNR_En bit, which is used to control whether the peak signal-to-noise ratio method is enabled, 0 means disabled, 1 means enabled;

FLAG1的第2位为SSIM_En位，用于结构相似性法是否使能，0表示禁用，1表示使能；The second bit of FLAG1 is the SSIM_En bit, which is used to enable or disable the structural similarity method, 0 means disabled, 1 means enabled;

FLAG1的第3位为Cosine_En位，用于余弦距离法法是否使能，0表示禁用，1表示使能；The third bit of FLAG1 is the Cosine_En bit, which is used to enable the cosine distance method, 0 means disabled, 1 means enabled;

FLAG1的第4位为PSNR_En位，用于控制峰值信噪比法是否使能，0表示禁用，1表示使能；The fourth bit of FLAG1 is the PSNR_En bit, which is used to control whether the peak signal-to-noise ratio method is enabled, 0 means disabled, 1 means enabled;

FLAG1的第5位为Pearson_En位，用于控制皮尔逊相关系数法是否使能，0表示禁用，1表示使能；The fifth bit of FLAG1 is the Pearson_En bit, which is used to control whether the Pearson correlation coefficient method is enabled, 0 means disabled, 1 means enabled;

FLAG1的第6位为Bray_En位，用于布雷柯蒂斯距离法是否使能，0表示禁用，1表示使能；The sixth bit of FLAG1 is the Bray_En bit, which is used to enable or disable the Bray Curtis distance method, 0 means disabled, 1 means enabled;

FLAG1的第7～32位为Rev保留位，可用于后续方法的扩展。The 7th to 32nd bits of FLAG1 are reserved for Rev, which can be used for the expansion of subsequent methods.
根据权利要求5所述的自定义定位信息的无人机抗核辐射性能评测方法，其特征在于：所述标志无人机工作状态的标志FLAG为长度为32的二进制数，每个位标识无人机的工作状态，具体结构为：The anti-nuclear radiation performance evaluation method of the UAV according to the self-defined positioning information of claim 5, wherein: the flag FLAG of the working state of the UAV is a binary number with a length of 32, and each bit identifies no The working state of the man-machine, the specific structure is:

FLAG的第1位为RF_Timeout位，用于标识无线通信是否超时失败，0表示未超时，1表示超时失败；The first bit of FLAG is the RF_Timeout bit, which is used to identify whether the wireless communication fails to time out, 0 means no timeout, 1 means timeout failure;

FLAG的第2位为Dose_Err位，用于标识辐射探测器工作是否正常，0表示工作正常，1表示工作异常；The second bit of FLAG is the Dose_Err bit, which is used to identify whether the radiation detector is working normally, 0 means it is working normally, and 1 means it is working abnormally;

FLAG的第3位为Location_Err位，用于标识定位模块工作是否正常，0表示工作正常，1表示工作异常；The third bit of FLAG is the Location_Err bit, which is used to identify whether the positioning module is working normally, 0 means it works normally, and 1 means it works abnormally;

FLAG的第4位为Lan_Timeout位，用于标识与旋翼监测***的网络通信是否超时失败，0表示未超时，1表示超时失败；The fourth bit of FLAG is the Lan_Timeout bit, which is used to identify whether the network communication with the rotor monitoring system has failed overtime, 0 means no timeout, 1 means timeout failure;

FLAG的第5位为CmdF_Err位，用于标识控制飞机向前的命令工作是否正常，0表示工作正常，1表示工作异常；The fifth bit of FLAG is the CmdF_Err bit, which is used to identify whether the command to control the aircraft forward is working normally, 0 means it works normally, and 1 means it works abnormally;

FLAG的第6位为CmdBack_Err，用于标识控制飞机向后的命令工作是否正常，0表示工作正常，1表示工作异常；The 6th bit of FLAG is CmdBack_Err, which is used to identify whether the command to control the aircraft backward is working normally, 0 means it works normally, and 1 means it works abnormally;

FLAG的第7位为CmdClimb_Err位，用于标识控制飞机爬升的命令工作是否正常，0表示工作正常，1表示工作异常；The seventh bit of FLAG is the CmdClimb_Err bit, which is used to identify whether the command to control the aircraft to climb is working normally, 0 means it works normally, and 1 means it works abnormally;

FLAG的第8位为CmDDesc_Err位，用于标识控制飞机减速的命令工作是否正常，0表示工作正常，1表示工作异常；The 8th bit of FLAG is the CmDDesc_Err bit, which is used to identify whether the command to control the aircraft deceleration works normally, 0 means it works normally, and 1 means it works abnormally;

FLAG的第9位为RFPower_Err位，用于标识遥控器接收信号强度是否工作距离要求，0表示满足要求，1表示不满足要求；The ninth bit of FLAG is the RFPower_Err bit, which is used to identify whether the received signal strength of the remote control is required by the working distance, 0 means that the requirements are met, and 1 means that the requirements are not met;

FLAG的第10位为Video_Err位，用于标识视频采集质量是否满足要求，0表示满足要求，1表示不满足要求；The 10th bit of FLAG is the Video_Err bit, which is used to identify whether the video capture quality meets the requirements, 0 means that the requirements are met, and 1 means that the requirements are not met;

FLAG的第11～32位为Rev保留位，用于后续方法的扩展。The 11th to 32nd bits of FLAG are reserved bits for Rev, which are used for the expansion of subsequent methods.
一种核定无人机抗核辐射剂量的无人机监测方法，其特征在于，包括：An unmanned aerial vehicle monitoring method for checking and approving the anti-nuclear radiation dose of an unmanned aerial vehicle is characterized in that it includes:

无人机进入核辐射区域探测前，使用如权利要求1-7任一项所述的自定义定位信息的无人机抗核辐射性能评测方法获取无人机的最大抗核辐射剂量R _max； Before the unmanned aerial vehicle enters the nuclear radiation area detection, the maximum anti-nuclear radiation dose R _max of the unmanned aerial vehicle is obtained using the unmanned aerial vehicle anti-nuclear radiation performance evaluation method of the self-defined positioning information as described in any one of claims 1-7;

所述无人机进入核辐射区域进行探测时，每隔时间间隔T'读取无人机上挂载的核辐射探测器的实时剂量率数据R' _i(T')，经过N'个时间间隔后，若
则所述无人机自动返航，其中E为预设的最大抗核辐射剂量余量。 When the unmanned aerial vehicle enters the nuclear radiation area for detection, it reads the real-time dose rate data R' _i (T') of the nuclear radiation detector mounted on the unmanned aerial vehicle at intervals T', after N' time intervals later, if
Then the drone automatically returns, where E is the preset maximum anti-nuclear radiation dose margin.
一种自定义定位信息的无人机抗核辐射性能评测***，其特征在于：包括总控服务器、核辐射屏蔽室、遥控器、卫星定位模拟***和稳压电源，所述核辐射屏蔽室内设有天线、核辐射源、背景图片、旋翼监控***和无人机，An anti-nuclear radiation performance evaluation system for UAVs with custom positioning information, characterized in that: it includes a master control server, a nuclear radiation shielding room, a remote controller, a satellite positioning simulation system and a stabilized power supply, and the nuclear radiation shielding room is equipped with There are antennas, nuclear radiation sources, background pictures, rotor monitoring systems and drones,

所述无人机为被测设备，所述无人机包括遥控模块、卫星定位模块、核辐射探测器、视频采集模块、飞行控制模块和供电模块；所述稳压电源用于给所述供电模块和给所述旋翼监控***供电；The unmanned aerial vehicle is a device under test, and the unmanned aerial vehicle includes a remote control module, a satellite positioning module, a nuclear radiation detector, a video acquisition module, a flight control module and a power supply module; the stabilized power supply is used to supply power to the module and powering the rotor monitoring system;

所述核辐射屏蔽室用于模拟核辐射环境，所述核辐射屏蔽室内有核辐射源且核辐射屏蔽室内各处均标定有核辐射剂量率，所述核辐射源打开后产生的核辐射使屏蔽室内各处充满与标定的核辐射剂量率相同的核辐射剂量率；所述天线用于使所述总控服务器与所述遥控模块通信，使所述卫星定位模拟***与所述卫星定位模块通信；所述卫星定位模拟***由所述总控服务器在地图上选取位置配置自定义的定位信息并发生该自定义的卫星信号传送给卫星定位模块；所述遥控器用于使所述天线与所述总控服务器通信，所述背景图片为无人机提供视频采集源；The nuclear radiation shielding room is used to simulate a nuclear radiation environment. There is a nuclear radiation source in the nuclear radiation shielding room and nuclear radiation dose rates are marked everywhere in the nuclear radiation shielding room. The nuclear radiation generated after the nuclear radiation source is turned on makes The shielded room is filled with the same nuclear radiation dose rate as the calibrated nuclear radiation dose rate; the antenna is used to make the master control server communicate with the remote control module, so that the satellite positioning simulation system and the satellite positioning module Communication; the satellite positioning simulation system selects a location on the map by the master control server to configure self-defined positioning information and generates the self-defining satellite signal and transmits it to the satellite positioning module; the remote controller is used to connect the antenna with the The master control server communicates, and the background picture provides a video acquisition source for the unmanned aerial vehicle;

所述总控服务器在地图上选取位置自定义定位信息设置定位数据并发送给卫星定位模拟***，卫星定位模拟***将定位数据转换成卫星信号并发送给所述卫星定位模块，所述卫星定位模块在核辐射环境中接收卫星信号产生实时定位数据并将实时定位数据通过所述遥控模块回传给总控服务器；所述遥控模块用于接收所述总控服务器发送的指令并将产生的确认信息回传给总控服务器，所述核辐射探测器用于检测无人机所处位置处的核辐射剂量率并通过所述遥控模块回传给总控服务器，所述视频采集模块用于采集所述背景图片处的视频数据并通过有线网络回传给总控服务器，所述飞行控制模块用于根据所述总控服务器发送的指令驱动无人机飞行并将飞行状态信息通过所述遥控模块回传给总控服务器，所述旋翼监控***用于监控无人机的旋翼状态并产生飞行状态信息回传给总控服务器，所述供电模块用于给无人机供电；The master control server selects the position on the map and sets the positioning data by customizing the positioning information and sends it to the satellite positioning simulation system. The satellite positioning simulation system converts the positioning data into satellite signals and sends them to the satellite positioning module. The satellite positioning module Receive satellite signals in a nuclear radiation environment to generate real-time positioning data and send the real-time positioning data back to the master control server through the remote control module; the remote control module is used to receive instructions sent by the master control server and generate confirmation information Back to the master control server, the nuclear radiation detector is used to detect the nuclear radiation dose rate at the position of the drone and is passed back to the master control server through the remote control module, and the video acquisition module is used to collect the The video data at the background picture is sent back to the master control server through the wired network, and the flight control module is used to drive the drone to fly according to the instructions sent by the master control server and return the flight status information through the remote control module To the master control server, the rotor monitoring system is used to monitor the rotor state of the UAV and generates flight status information and sends it back to the master control server, and the power supply module is used to supply power to the UAV;

所述总控服务器控制所述核辐射源的开关，监控所述稳压电源的工作状态，根据发送的指令、接收到视频采集模块传送的视频数据、旋翼监控***回传的飞行状态信息和所述遥控模块回传的确认信息、定位数据、核辐射剂量率和飞行状态信息测评无人机可承受的最大抗核辐射剂量。The master control server controls the switch of the nuclear radiation source, monitors the working state of the stabilized power supply, receives the video data sent by the video acquisition module, the flight status information returned by the rotor monitoring system and the The confirmation information, positioning data, nuclear radiation dose rate and flight status information returned by the remote control module are used to evaluate the maximum anti-nuclear radiation dose that the UAV can withstand.
根据权利要求9所述的自定义定位信息的无人机抗核辐射性能评测***，其特征在于：所述天线包括转发天线和通信天线，The anti-nuclear radiation performance evaluation system of UAV according to claim 9, wherein the antenna includes a forwarding antenna and a communication antenna,

所述转发天线通过有线方式与所述卫星定位模拟***连接，用于将卫星信号通过无线方式传送给所述卫星定位模块；The forwarding antenna is connected to the satellite positioning simulation system by wire, and is used to wirelessly transmit satellite signals to the satellite positioning module;

所述通信天线通过有线方式与所述遥控器连接，用于将总控服务器发送的指令通过无线方式传送给所述遥控模块并将无人机回传的确认信息、定位数据、核辐射剂量率和飞行状态信息通过无线方式传送给所述总控服务器，The communication antenna is connected to the remote controller by wire, and is used to wirelessly transmit the instructions sent by the master control server to the remote control module and the confirmation information, positioning data, and nuclear radiation dose rate returned by the UAV. and flight status information are transmitted to the master control server by wireless means,

所述视频采集模块通过有线方式与所述总控服务器相连，用于通过有线方式回传视频数据给所述总控服务器；The video acquisition module is connected to the master control server by wire, and is used to return video data to the master control server by wire;

所述旋翼监控***包括网络模块、处理器、电源模块和对射管应用模块，所述网络模块用于与所述总控服务器通信，所述处理器接收所述总控服务器通过所述网络模块传送来的指令并将飞行状态信息通过所述网络模块回传给总控服务器，所述电源模块用于使用所述稳压电源提供的电力给旋翼监控***供电；所述对射管应用模块连接与所述无人机的旋翼数量一致的对射管，对射管的发射端和对射管的接收端分别位于所述无人机的旋翼的两侧并垂直于无人机的旋翼设置，所述处理器控制对射管的发射端发射信号并读取对射管的接收端的状态从而得到飞行状态信息。The rotor monitoring system includes a network module, a processor, a power supply module and a shooter application module, the network module is used to communicate with the general control server, and the processor receives the information from the general control server through the network module The transmitted instructions and the flight status information are sent back to the master control server through the network module, and the power supply module is used to supply power to the rotor monitoring system using the power provided by the stabilized power supply; The number of anti-shooting tubes consistent with the number of rotors of the UAV, the transmitting end of the anti-firing tube and the receiving end of the anti-firing tube are respectively located on both sides of the rotor of the UAV and are arranged perpendicular to the rotor of the UAV, The processor controls the transmitting end of the shooting tube to transmit signals and reads the state of the receiving end of the shooting tube to obtain flight status information.