Large unmanned aerial vehicle telemetry data fusion method based on multi-channel automatic optimization
A technology of telemetry data and fusion method, applied in the field of unmanned aerial vehicle telemetry, can solve the problems of reducing accuracy, channel evaluation and optimization, inability to handle channel data errors, etc., to achieve the effect of increasing stability
Active Publication Date: 2021-11-19
四川腾盾科技有限公司
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Problems solved by technology
[0004] One type of method is to switch channels to select a channel with better quality for telemetry data reception. This method can only use data on one channel at the same time, and cannot handle data errors within the channel;
[0005] Another method is to directly fuse multiple channel data. This method does not evaluate and optimize the channels participating in the fusion, resulting in erroneous channel data that will affect the final output and reduce its accuracy.
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[0040] Such as figure 1 , figure 2 As shown, this embodiment proposes a large-scale unmanned aerial vehicle telemetry data fusion method based on multi-channel automatic selection, including the following steps:
[0041] Step 1: Extract the i-th frame of the telemetry data from n channels, count the number of channels that can extract the i-th frame as m, m≤n; judge the value of m:
[0042] When m=0, output a warning message, such as "the i-th frame is missing in the telemetry data";
[0043] When m=1, output the i-th frame content of the channel;
[0044] When m=2, select the i-th frame content in the channel with higher priority among the two channels (the priority of each channel is preset) for output;
[0045] When m≥3, go to step 2;
[0046] Wherein, when performing step 1, it is necessary to judge the states of the n channels first, and only extract the i-th frame of the telemetry data from the channels that are not marked as being isolated among the n channels.
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The invention provides a large unmanned aerial vehicle telemetry data fusion method based on multi-channel automatic optimization. The large unmanned aerial vehicle telemetry data fusion method comprises an automatic channel selection method, a multi-channel data fusion method, a channel quality evaluation method and a fusion result output method. The method is suitable for multiple channels, and the quality of each channel of telemetry data is detected, so that on the basis of fusion of the telemetry data of the multiple channels, according to the data quality condition of each channel in the actual fusion process, the channels are automatically optimized, the channels with excessive error data are isolated, and the influence of the channel with poor data quality on the data fusion result is reduced.
Description
technical field [0001] The invention relates to the technical field of unmanned aerial vehicle telemetry, in particular to a large-scale unmanned aerial vehicle telemetry data fusion method based on multi-channel automatic selection. Background technique [0002] Large-scale UAV telemetry data provides real-time UAV platform parameter information and load information data for ground operators. It is even more important to improve the accuracy and stability of telemetry data when performing tasks. [0003] In actual use, in order to improve the reliability of data transmission between the UAV and the ground station, multiple channels are generally designed and configured for telemetry data transmission. But at this stage, there are still deficiencies in the fusion method of multi-channel telemetry information: [0004] One type of method is to switch channels to select a channel with better quality for telemetry data reception. This method can only use data on one channel a...
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IPC IPC(8): H04Q9/00G06K9/62
CPCH04Q9/00G06F18/25
Inventor 钟智胡秋李治钢陈翔黄力志何昆
Owner 四川腾盾科技有限公司