A method and system for displaying battery power of an unmanned aerial vehicle countermeasure gun based on a coulomb meter

Abstract

The present application relates to the technical field of battery power, in particular to a kind of unmanned aerial vehicle countermeasure gun battery power display method and system based on coulomb meter, including the battery pulse current is collected by electromagnetic shielding type coulomb meter, based on pulse rising edge triggers dynamic variable sampling rate mechanism, generates pulse charge quantity;The pulse charge quantity is input into eddy current-temperature joint compensation module, in combination with gun body surface magnetic field intensity data and battery temperature data, output correction charge quantity;The correction charge quantity is input into nonlinear capacity mapping model, calculate effective charge total amount, according to battery aging coefficient is converted into final residual power and drives display unit.The present application introduces the dynamic variable sampling mechanism triggered by pulse rising edge, significantly improves the collection accuracy and timing response capability of high-speed pulse current, solves the problem of large integral error of traditional fixed-frequency sampling in strong dynamic scene, cooperates with edge compensation algorithm, can effectively restore the charge omission caused by trigger delay.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of battery power, in particular to a battery power display method and system for an unmanned aerial vehicle countermeasure gun based on a coulomb meter. BACKGROUND

[0002] Currently, high-power intermittent electromagnetic equipment such as unmanned aerial vehicle countermeasure guns has higher requirements for the instantaneous output capability and power monitoring accuracy of battery systems; due to the typical pulse characteristics of the discharge process, the current amplitude is large and changes rapidly, and traditional power estimation methods based on fixed-frequency coulomb integration or voltage mapping cannot accurately capture the real charge release process under high dynamic loads; at the same time, the countermeasure gun operates in a complex electromagnetic environment, the local magnetic field of the gun body changes dramatically, and the battery heat accumulates rapidly, which easily causes interference to the current measurement system, further amplifies the power estimation error, and even causes false high power display or false alarm of the remaining capacity, affecting the use safety and task reliability.

[0003] The existing power display system has the following technical deficiencies: first, there is a lack of a rapid identification mechanism for current rising edges and other sudden changes, and the sampling frequency cannot be dynamically adjusted to adapt to pulse loads; second, a joint compensation model for magnetic field disturbance and temperature drift has not been established, and the coulomb meter integration deviation caused by external disturbance cannot be corrected; third, the change in effective capacity caused by battery aging is ignored, and after long-term use, the power display and actual endurance are seriously deviated, and the above problems easily lead to false power judgment, insufficient safety redundancy and other risks in high-intensity task cycles; in view of these bottleneck problems, a power display method and system with high dynamic sampling response capability, environmental compensation capability and life self-adaptive capability are urgently needed to improve the intelligentization and safety protection level of power management of unmanned aerial vehicle countermeasure guns in actual combat scenarios. SUMMARY

[0004] The application provides a battery power display method and system for an unmanned aerial vehicle countermeasure gun based on a coulomb meter, which is based on a dynamic variable sampling mechanism of an electromagnetic shielding type coulomb meter, an eddy current-temperature joint compensation model and a nonlinear capacity mapping method, and can realize high-precision power display and aging compensation in a high dynamic pulse environment, and significantly improves the power estimation accuracy and system reliability in a complex working environment.

[0005] A battery power display method for an unmanned aerial vehicle countermeasure gun based on a coulomb meter, comprising the following steps:

[0006] S1: collecting battery pulse current through an electromagnetic shielding type coulomb meter, triggering a dynamic variable sampling rate mechanism based on a pulse rising edge, and generating a pulse charge quantity;

[0007] S2: inputting the pulse charge quantity into an eddy current-temperature joint compensation module, combining gun body surface magnetic field intensity data and battery temperature data, and outputting a corrected charge quantity;

[0008] S3: Input the corrected charge amount into the nonlinear capacity mapping model, calculate the total effective charge, convert it into the final remaining charge based on the battery aging coefficient, and drive the display unit.

[0009] Optionally, S1 includes:

[0010] S11: During system operation, the battery discharge current is monitored in real time by an electromagnetically shielded coulomb counter. When a rapid increase in current is detected, it is determined to be the starting edge of a pulse signal, triggering the dynamic switching of the sampling mechanism.

[0011] S12: Starts the ultra-high-speed sampling mode at the pulse rising edge stage, and dynamically sets the sampling frequency according to the current rise time;

[0012] S13: When the rate of change of current gradually decreases, switch to the normal sampling mode;

[0013] S14: Calculate the charge of each pulse based on the collected current data, and introduce an edge compensation strategy to correct any missed charges between the starting trigger point and the actual sampling, thus forming a complete pulse charge.

[0014] Optionally, S14 includes:

[0015] S141: Based on the current and time data obtained under the dynamic sampling mechanism, the total charge of the pulse is obtained by discrete integration of all sampling points in each pulse period.

[0016] S142: Considering the missing leading-edge charge caused by the trigger delay, calculate the compensation amount based on the pulse peak current and the start time difference, and add it to the integration result to form the complete pulse charge amount.

[0017] Optionally, S2 includes:

[0018] S21: Extract the charge of the current pulse from the pulse charge quantity, and simultaneously read the real-time temperature of the battery and the magnetic field strength on the surface of the gun.

[0019] S22: Based on the difference between the current temperature and the reference temperature, and combined with the temperature sensitivity coefficient, calculate the impact of temperature drift on the charge measurement results, and obtain the temperature drift compensation amount;

[0020] S23: Based on the difference between the current magnetic field strength and the calibrated magnetic field, and considering the characteristics of eddy current interference decaying over time, estimate the impact of magnetic field disturbance on the measured value and obtain the eddy current interference compensation amount.

[0021] S24: Calculate the joint correction factor and uniformly process the temperature drift compensation and eddy current interference compensation.

[0022] S25: introduce the compensation coefficient related to the pulse intensity, jointly correct the original charge amount, and obtain the final corrected charge amount.

[0023] Optionally, the S22 includes:

[0024] S221: calculate the difference between the current battery temperature and the preset reference temperature;

[0025] S222: estimate the influence of temperature change on the current pulse charge amount according to the temperature deviation and the temperature sensitive coefficient, and output the temperature drift compensation amount.

[0026] Optionally, the S23 includes:

[0027] S231: calculate the deviation between the current magnetic field intensity and the calibration reference magnetic field;

[0028] S232: combine the magnetic field deviation, the eddy current coupling coefficient and the interference decay time, estimate the influence of magnetic field interference on the current pulse charge amount, and output the eddy current interference compensation amount.

[0029] Optionally, the S3 includes:

[0030] S31: input the corrected charge amount after temperature compensation and magnetic field compensation into the non-linear capacity mapping model;

[0031] S32: read the cumulative discharge ampere-hour data of the battery, combine the preset aging attenuation coefficient, and calculate the aging coefficient of the current battery;

[0032] S33: multiply the total amount of effective charge obtained by mapping by the aging coefficient to obtain the current actual available residual charge amount;

[0033] S34: calculate the proportion of the current residual charge amount according to the nominal capacity of the battery, and obtain the final residual capacity percentage;

[0034] S35: transmit the calculated residual capacity percentage to the display unit and output it in numerical or graphical form. When the capacity is lower than the set threshold, automatically trigger the low capacity alarm prompt to remind the user to charge in time.

[0035] Optionally, the S31 includes:

[0036] S311: input the corrected charge amount into the capacity mapping model, extract its linear gain part, improve the conversion efficiency of small charge pulses, and calculate the effective linear capacity;

[0037] S312: introduce an exponential decay term in the mapping result that increases with the charge amount, suppress the capacity false high phenomenon caused by large pulses, and suppress the correction of non-linear capacity.

[0038] Optionally, the S35 comprises:

[0039] S351: transmit the calculated remaining percentage of power to the display unit, and output the current power state in real time through graphical identification and numerical indication;

[0040] S352: when the remaining percentage of power is lower than the set low power threshold, automatically activate the low power alarm mechanism, trigger the prompt sound or flashing warning, and remind the user to timely supplement the power supply.

[0041] A coulomb counter-based unmanned aerial vehicle countermeasure gun battery power display system for implementing the coulomb counter-based unmanned aerial vehicle countermeasure gun battery power display method described above, comprising the following modules:

[0042] Dynamic sampling acquisition module: collect battery pulse current through an electromagnetic shielding coulomb counter, and trigger a dynamic variable sampling rate mechanism based on the pulse rising edge to generate pulse charge quantity;

[0043] Eddy current-temperature compensation module: receive the pulse charge quantity, combine the gun body surface magnetic field strength data and the battery temperature data, perform eddy current interference and temperature drift compensation, and output the corrected charge quantity;

[0044] Capacity mapping and display module: input the corrected charge quantity into a nonlinear capacity mapping model, calculate the total effective charge, and convert the final remaining power according to the battery aging coefficient, and drive the display unit to output the power percentage and low power warning.

[0045] The beneficial effects of the present application are:

[0046] The present application introduces a dynamic variable sampling mechanism triggered by the pulse rising edge, significantly improves the collection accuracy and timing response capability of high-speed pulse current, solves the problem of large integral error of traditional fixed-frequency sampling in strong dynamic scenes, and cooperates with the edge compensation algorithm to effectively recover the charge omission caused by trigger delay; a vortex-temperature joint compensation model is constructed, which first models and compensates the capacity drift caused by magnetic field interference and battery temperature rise as a synergistic factor, overcoming the technical difficulties such as long-term superposition of magnetic memory effect and uncontrollable temperature drift error in existing methods, and improving the robustness of the system in complex environments.

[0047] The present application combines nonlinear capacity mapping and aging factor correction mechanism, realizes dynamic capacity evaluation under different pulse intensity and battery health state, avoids the misjudgment problem of traditional linear SOC model under high load and high aging condition; the aging correction coefficient can be automatically adjusted according to the actual discharge ampere-hour history, ensuring that the power change trend can still be accurately reflected after long-term use, greatly reducing the estimation error, and having significant accuracy, adaptability and engineering practical value. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the present application or the prior art, the drawings needed to be used in the following embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only a part of the present application, and other drawings can also be obtained by those skilled in the art without creative effort.

[0049] Figure 1 Method flowchart of the embodiment of the present application;

[0050] Figure 2 System module diagram of the embodiment of the present application. DETAILED DESCRIPTION

[0051] The present application will be described in detail below with reference to the drawings and specific embodiments. It should be noted that in order to make the embodiments more detailed, the following embodiments are the best, preferred embodiments, and other alternative embodiments can also be implemented by those skilled in the art without creative effort; and the drawings are only used to more specifically describe the embodiments, and are not intended to specifically limit the present application.

[0052] It should be noted that in the specification, "one embodiment", "embodiment", "exemplary embodiment", "some embodiments" and the like indicate that the described embodiments can include a specific feature, structure or property, but not necessarily every embodiment includes the specific feature, structure or property. In addition, when a specific feature, structure or property is described in combination with an embodiment, it should be within the knowledge of those skilled in the related art to realize such a feature, structure or property in combination with other embodiments (whether or not explicitly described).

[0053] Generally, the terms can be understood at least in part from the context of their use. For example, depending on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular or can be used to describe combinations of features, structures, or characteristics, whether large or small, whether related or unrelated to each other. In addition, the term "based on" can be understood as not necessarily intended to convey a set of exclusive factors, but can instead, at least in part, depend on the context, allow the presence of other factors not necessarily explicitly described.

[0054] As Figure 1 shown, a battery power display method for a drone countermeasure gun based on a Coulomb meter, comprising the following steps:

[0055] S1: Collecting battery pulse current through an electromagnetic shielding type Coulomb meter, triggering a dynamic variable sampling rate mechanism based on the pulse rising edge, and generating pulse charge quantity;

[0056] S1 specifically includes:

[0057] S11: Identify the sharp rising stage of current, judge whether it is the front edge of typical pulse signal by analyzing the current rate of change, real-time monitor the battery current by electromagnetic shield Coulomb meter, real-time calculate the current rate of change, when detecting the current rate of change meets , determine the pulse rising edge and trigger the dynamic variable sampling mechanism, prepare for the subsequent high-precision integration;

[0058] Among them, is the first derivative of current with respect to time, which represents the instantaneous rate of change of current, and the value range is 0-10000. In the unmanned aerial vehicle countermeasure gun, the pulse excitation current changes very fast, and setting the trigger threshold to be greater than or equal to 200 can accurately identify the high dynamic front edge. And less than or equal to 50 as the exit condition, can effectively judge the current into the platform section, avoid mis-switching;

[0059] S12: In order to accurately capture the details of the current mutation process, enable the super high-speed sampling mode immediately after detecting the rising edge, the sampling frequency According to the pulse rise time Dynamic setting, expressed as:

[0060] ;

[0061] Among them, is the time of current from static transition to peak, that is, the pulse rise time, which represents the time interval required for the current to change from static to peak, and the value range is 0.1-5, which depends on the circuit driving response and pulse excitation characteristics, and determines the minimum sampling frequency required. The shorter the rise time, the higher the sampling frequency required to obtain effective waveform. This value range can ensure the accuracy, is the super high-speed sampling frequency used in the pulse stage, and the value range is 50-2000000. In order to ensure the capture of pulse detail information, the sampling frequency needs to be higher than twice the signal bandwidth, and the maximum value of 2000000 is the hardware upper limit. Dynamic adjustment avoids resource waste;

[0062] S13: After the pulse enters the platform or descending section, the current changes tend to be flat, and there is no need to maintain high-speed sampling mode. The current rate of change is monitored in real time, and when the current rate of change meets , switch to the regular sampling mode, and the sampling frequency is fixed at ;

[0063] Among them, is the fixed sampling frequency used in the regular sampling stage, ; The regular sampling mode can effectively reduce the power consumption, and is suitable for continuous sampling of slowly changing signals. This frequency is enough to deal with the slow change stage of current, and can significantly reduce the data processing load and system power consumption, and is commonly used for steady-state detection;

[0064] S14: To quantify the amount of charge within each complete pulse, all current values within the sampling interval need to be integrated, based on the discrete integration method, the pulse charge quantity is calculated , is expressed as:

[0065] ;

[0066] Wherein, is the total amount of charge corresponding to the first detected pulse, as the final intermediate quantity used for power estimation, it is obtained by complete integration and compensation, the value range is directly related to the pulse energy, is the sampling time interval, ;

[0067] is the edge compensation term introduced by the missing of the initial edge charge caused by the system response delay, expressed as:

[0068] ;

[0069] Wherein, is the peak current of the pulse, the value range is 10-50, which is the basis for edge compensation calculation, selecting the peak current multiplied by the compensation time can effectively estimate the average current effect in the unsampled interval, represents the time delay between the trigger time and the first sampling point, the value range is 0-0.5, is the edge charge compensation term, which is used to compensate the missing charge between the trigger time and the first sampling point.

[0070] S2: Input the pulse charge quantity into the eddy current-temperature joint compensation module, combine the gun body surface magnetic field intensity data and battery temperature data, and output the corrected charge quantity;

[0071] S2 specifically includes:

[0072] S21: After detecting the pulse charge quantity each time, synchronously collect the current battery temperature and the gun body surface magnetic field intensity , as the basic compensation parameters of temperature and magnetic field disturbance;

[0073] Wherein, is the currently detected pulse charge quantity, which represents the total charge output by the battery in a single pulse event, the value range is 0-15, the specific size is related to the pulse width and current intensity, for the application of unmanned aerial vehicle countermeasure gun, the single pulse charge is usually in the order of milliamperetime, this parameter is used as a basic reference quantity to calculate the relative error caused by temperature deviation, is the current real-time temperature of the battery, the value range is ​, the temperature range of the battery in the normal work is generally , the extension range is used to consider the extreme scene, the temperature is collected in real time through the thermal sensor, which is one of the main physical quantities affecting the capacity drift, is the current gun body surface magnetic field strength, which is obtained by real-time measurement through the sensor, and the value range is 0-400. During the pulse working process, the magnetic field fluctuates violently. In order to capture the disturbance range, the upper limit 400 can cover the actual maximum magnetic disturbance condition;

[0074] S22: due to the high sensitivity of the discharge characteristics of lithium battery to temperature, the charge quantity will appear systematic deviation at high temperature or low temperature, and the temperature drift compensation quantity is introduced to correct the charge estimation error caused by temperature change, and the temperature drift compensation quantity is expressed as:

[0075] ;

[0076] wherein, is the temperature drift compensation quantity, which is used to correct the charge estimation deviation caused by the change of battery temperature, which is proportional to the amplitude of the temperature deviation from the reference value, and is adjusted through the temperature sensitive coefficient , the value range is , which directly determines whether to modify the original charge quantity, is the temperature sensitive coefficient, which represents the proportional deviation of charge estimation caused by unit temperature change, and the value range is 0.003-0.007. The capacity of lithium battery shows nonlinear relationship with temperature, and the capacity attenuation is more obvious at high temperature. In order to realize the differentiated compensation of temperature interval, the segmented setting strategy is adopted, the upper limit value is selected in the high temperature section to enhance the compensation response, and the lower limit value is selected in the low temperature section to control the error amplification, is the reference value of temperature compensation, which represents the ambient temperature in the non-offset state, and the fixed value is 25, which is the normal temperature reference under the standard laboratory measurement condition of lithium battery. At this temperature, the error is the smallest, which can be used as the control point of drift calculation. The greater the deviation from this value, the more significant the drift effect;

[0077] S23: when the countermeasure gun works, the gun body magnetic conductive material will produce transient magnetic field under the driving of strong pulse current, so as to cause induced eddy current, which affects the sampling stability of coulomb meter, therefore, the eddy current interference compensation quantity is introduced, which is based on the amplitude of the actual magnetic field deviation from the reference value, and introduces an exponential decay term to simulate the decay process of eddy current disturbance with time, so as to avoid the cumulative error caused by magnetic field memory effect, and the eddy current interference compensation quantity is expressed as:

[0078] ;

[0079] wherein, is the eddy current interference compensation amount, used to correct the system error caused by magnetic field disturbance to the charge estimation, with a value range of , calculated by the actual magnetic deviation and the decay model, is an important parameter to reduce electromagnetic interference error, used to balance the systematic deviation of charge estimation in strong magnetic environment, is the eddy current coupling coefficient, representing the disturbance intensity of unit magnetic field deviation to charge estimation, with a value range of 0.015-0.025, reflecting the magnetic-electric coupling relationship under multiple factors such as gun body structure, battery arrangement and sensor sensitivity, with a value range considering sensitivity and anti-interference ability, suitable for different model configurations, is the magnetic field calibration reference value, representing the normal magnetic field level in the interference-free environment, with a fixed value of 80, representing the reference point of the magnetic environment in the default state, all disturbance judgments are based on this, avoiding static deviation of the device, is the time decay constant, controlling the speed of exponential decay of eddy current interference over time, with a fixed value of 0.05, used to simulate the natural decay process of induced disturbance, ensuring that the compensation amount does not remain for a long time, with a value of 0.05, the speed of exponential decay of eddy current interference over time can be controlled in an appropriate range, is the time difference between the current time and the corresponding pulse end time, with a value range of 0-100, used to control the dynamic decay degree of disturbance compensation, eddy current influence has delay and short-term memory, setting the maximum delay window to 100 can effectively cover all valid compensation periods;

[0080] S24: Considering the cross influence of temperature and magnetic field on charge estimation, the temperature drift compensation amount and the eddy current interference compensation amount are unified into a joint correction factor , used to modify the original pulse charge as a whole, represented as:

[0081] ;

[0082] wherein, is the joint correction factor, comprehensively reflecting the dual influence of temperature and magnetic field on charge estimation, a value greater than 1 indicates overall positive compensation, a value less than 1 indicates negative offset, with a value range of 0.85-1.2, when environmental factors cause the charge estimation to be too high, greater than 1, when environmental factors cause the charge estimation to be too low, less than 1, ensuring that the correction process achieves a reasonable weight balance among multiple compensation sources;

[0083] S25: Combining the joint correction factor and the compensation proportion factor related to pulse intensity , the final corrected charge is calculated as the input basis for subsequent capacity mapping and power display, represented as:

[0084] ;

[0085] wherein, is the final corrected charge amount, which is the output result after the joint compensation of temperature and magnetic field, directly affects the accuracy of the remaining charge judgment, abnormality detection and user prompt effect, and is the final target value of the system compensation link, is a compensation proportion factor related to pulse intensity, which is used for additional amplification correction for high-energy pulses, is adaptively set according to the size of the current pulse charge amount, ensures that high-intensity pulses are given more sufficient compensation, and the value range is 1.0 or 1.12. When the detected pulse charge amount exceeds the preset threshold 5, the compensation coefficient is automatically amplified to 1.12 to ensure the accuracy of large pulses in the final display and capacity mapping.

[0086] S3: input the corrected charge amount into a nonlinear capacity mapping model, calculate the total effective charge amount, convert the final remaining capacity according to the battery aging coefficient, and drive the display unit.

[0087] S3 specifically includes:

[0088] S31: in order to improve the adaptability of charge amount estimation to pulses of different intensities, the corrected charge amount is input into a nonlinear capacity mapping model for processing. The nonlinear capacity mapping model takes into account both linear gain effect and nonlinear saturation suppression characteristics to more accurately reflect the relationship between charge and effective capacity, and is expressed as:

[0089] ;

[0090] wherein, is the total effective charge amount, which represents the output result after nonlinear capacity mapping, is used to represent the real capacity represented by the current pulse, and the value range is 0-20. The nonlinear mapping relationship between the pulse intensity after compensation and the actual available capacity is comprehensively considered to reflect the gain of small charge and the suppression of large charge, and is the basis for subsequent calculation of the percentage of the electric quantity, is a linear capacity gain coefficient, which is used to improve the capacity conversion efficiency under small charge amount, and the value range is 1.05-1.15. When the pulse is small, the charge estimation value is directly amplified in proportion, which can effectively avoid the underestimation of small signals. Selecting a gain coefficient greater than 1 can improve the sensitivity while avoiding errors caused by excessive amplification, is a nonlinear decay base, which is used to suppress the overestimation of capacity caused by large charge pulses, and the value range is 0.8-1.2. It is an inhibition factor in the nonlinear capacity mapping model. Selecting a positive value close to the linear term can form a balance under high charge conditions to prevent the charge estimation from being distorted by high-amplitude pulses, is an exponential decay rate constant, which determines the decline speed of the nonlinear decay term with the change of charge amount, and the value range is 0.25-0.35, the exponential decay rate constant controls the intensity of nonlinear suppression, the larger the value, the more obvious the suppression effect; reasonable selection can ensure that the mapping curve is promoted in the low charge area and moderately suppressed in the high charge area, is the base of natural logarithm, which is the basic constant of exponential function, and the fixed value is 2.71828;

[0091] S32: Considering the performance degradation trend of the battery in the long-term use process, the system calculates the aging coefficient of the current time according to the total discharge amount of the battery accumulated and counted by the coulomb counter , which is used to correct the error caused by capacity loss, and the aging coefficient gradually decreases with the increase of discharge amount, and is expressed as:

[0092] ;

[0093] Among them, is the cumulative discharge ampere-hour of the battery, which represents the total discharge amount of the battery since use, and the value range is 0-500, which is obtained by continuous integration of the coulomb counter, and is an important indicator to measure the aging degree of the battery, and the larger the value, the longer the use time of the battery and the more obvious the aging, is the aging decay coefficient, which is used to quantify the capacity reduction ratio caused by unit ampere-hour discharge, and the fixed value is 0.00005, which is set as a constant value to simplify the calculation, and is suitable for the typical aging law of ordinary lithium batteries, and each cumulative 100 Ah discharge causes about 0.5% capacity loss, is the aging coefficient, which represents the proportion of the current remaining effective capacity of the battery to the ideal state, and the value range is 0.85-0.98, which is set to 0.98 in the state of new battery, and the longer the use time, the closer to 0.85, which can gradually reflect the capacity reduction trend, and is used for capacity compensation and prompt;

[0094] S33: Multiply the effective total charge amount output by the mapping model with the aging coefficient to obtain the actual available charge amount in the current state, which is used for subsequent SOC calculation, and is expressed as:

[0095] ;

[0096] Among them, is the actual available remaining charge amount in the current state of the battery, which considers the aging influence, and the value range is 0-18, which is obtained by multiplying the effective capacity with the aging coefficient, and is used to reflect the real capacity represented by the input pulse under the current health level;

[0097] S34: Based on the nominal capacity of the battery , the percentage of the current remaining power (State of Charge, SOC) is calculated for user interface display and state judgment, expressed as:

[0098] ;

[0099] wherein, is the nominal capacity of the battery, which is the theoretical maximum charge value set at the factory, and is fixed at 6000, serving as the denominator standard for percentage calculation, which is a unified standard for state estimation and display, and is fixed to facilitate cross-period comparison, is the percentage of the remaining battery power, which is used for state display and early warning judgment, and has a value range of 0-100%, outputting in the form of the proportion of the available remaining charge to the nominal capacity, which is convenient for users to intuitively understand the current power state and trigger different display and alarm logic;

[0100] S35: The obtained SOC value is transmitted to the display unit, and the remaining power indication is output according to the set visual and acoustic rules. When the SOC is less than the set low power threshold ( ), the system will automatically trigger the low power early warning mechanism to prompt the user to replace or charge in time;

[0101] Among them, the low power threshold is set to 15% as a result of comprehensive consideration of battery safety, user response time and industry usage habits. This low power threshold can issue a warning in time before the battery enters deep discharge, effectively avoiding over-discharge damage, and at the same time reserving sufficient reaction time for the user to complete the replacement or charging operation. Compared with the too late warning below 10% and the frequent reminder above 20%, 15% has achieved a good balance between protecting the battery and ensuring the continuous work of the equipment, which meets the engineering use logic and actual application requirements of lithium battery equipment.

[0102] As shown in Figure 2 , a UAV countermeasure gun battery power display system based on a coulomb meter is used to implement the above-mentioned UAV countermeasure gun battery power display method based on a coulomb meter, which includes the following modules:

[0103] Dynamic sampling acquisition module: The battery pulse current is collected by an electromagnetic shielding coulomb meter, and a dynamic variable sampling rate mechanism is triggered based on the pulse rising edge to generate pulse charge;

[0104] Eddy current-temperature compensation module: receives the pulse charge, combines the gun body surface magnetic field strength data and battery temperature data, performs eddy current interference and temperature drift compensation, and outputs the corrected charge;

[0105] Capacity mapping and display module: input the corrected charge amount into a nonlinear capacity mapping model, calculate the total amount of effective charge, and convert it into the final remaining power according to the battery aging coefficient, drive the display unit to output the power percentage and low power warning.

[0106] The present application encompasses any alternatives, modifications, equivalent methods and solutions made to the essence and scope of the present application. In order to make the public have a thorough understanding of the present application, specific details are described in the following preferred embodiments of the present application, and the present application can also be fully understood without the description of these details to those skilled in the art. In addition, in order to avoid unnecessary confusion to the essence of the present application, well-known methods, processes, procedures, elements and circuits, etc. are not described in detail.

[0107] The above is only the preferred embodiment of the present application, and it should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can also be made, which should be considered as the protection scope of the present application.

Claims

1. A method for displaying the battery power of a UAV countermeasure gun based on a coulomb countermeasure, characterized in that, Includes the following steps: S1: The battery pulse current is acquired using an electromagnetically shielded coulomb counter, and a pulse charge quantity is generated based on a dynamic variable sampling rate mechanism triggered by the pulse rising edge; including: S11: During system operation, the battery discharge current is monitored in real time by an electromagnetically shielded coulomb counter. When a rapid increase in current is detected, it is determined to be the starting edge of a pulse signal, triggering the dynamic switching of the sampling mechanism. S12: Starts the ultra-high-speed sampling mode at the pulse rising edge stage, and dynamically sets the sampling frequency according to the current rise time; S13: When the rate of change of current gradually decreases, switch to the normal sampling mode; S14: Calculate the charge of each pulse based on the collected current data, and introduce an edge compensation strategy to correct any missed charges between the starting trigger point and the actual sampling, thus forming a complete pulse charge. S2: Input the pulse charge quantity into the eddy current-temperature joint compensation module, and combine it with the magnetic field strength data of the gun body surface and the battery temperature data to output the correction charge quantity; including: S21: Extract the charge of the current pulse from the pulse charge quantity, and simultaneously read the real-time temperature of the battery and the magnetic field strength on the surface of the gun. S22: Based on the difference between the current temperature and the reference temperature, and combined with the temperature sensitivity coefficient, calculate the impact of temperature drift on the charge measurement results, and obtain the temperature drift compensation amount; S23: Based on the difference between the current magnetic field strength and the calibrated magnetic field, and considering the characteristics of eddy current interference decaying over time, estimate the impact of magnetic field disturbance on the measured value and obtain the eddy current interference compensation amount. S24: Calculate the joint correction factor and uniformly process the temperature drift compensation and eddy current interference compensation. S25: Introduce a pulse intensity-related compensation coefficient to jointly correct the original charge amount and obtain the final corrected charge amount; S3: Input the corrected charge amount into the nonlinear capacity mapping model, calculate the total effective charge, convert it into the final remaining charge based on the battery aging coefficient, and drive the display unit.

2. The method for displaying the battery power of a UAV countermeasure gun based on a coulomb countermeasures unit according to claim 1, characterized in that, S14 includes: S141: Based on the current and time data obtained under the dynamic variable sampling rate mechanism, the total charge of the pulse is obtained by discrete integration of all sampling points in each pulse period. S142: Considering the missing leading-edge charge caused by the trigger delay, calculate the compensation amount based on the pulse peak current and the start time difference, and add it to the integration result to form the complete pulse charge amount.

3. The method for displaying the battery power of a UAV countermeasure gun based on a coulomb countermeasures unit according to claim 1, characterized in that, S22 includes: S221: Calculate the difference between the current battery temperature and the preset reference temperature; S222: Based on the temperature deviation and temperature sensitivity coefficient, estimate the impact of temperature change on the current pulse charge and output the temperature drift compensation amount.

4. The method for displaying the battery power of a UAV countermeasure gun based on a coulomb countermeasures unit according to claim 1, characterized in that, S23 includes: S231: Calculate the deviation between the current magnetic field strength and the calibrated magnetic field; S232: Combines magnetic field deviation, eddy current coupling coefficient and interference decay time to estimate the impact of magnetic field interference on the current pulse charge and outputs the eddy current interference compensation amount.

5. A method for displaying the battery power of a UAV countermeasure gun based on a coulomb countermeasures unit according to claim 1, characterized in that, S3 includes: S31: Input the corrected charge quantity after temperature compensation and magnetic field compensation into the nonlinear capacity mapping model; S32: Read the battery's cumulative discharge ampere-hour data, and calculate the current battery's aging coefficient by combining it with the preset aging degradation coefficient; S33: Multiply the total effective charge obtained from the mapping by the aging coefficient to obtain the current actual usable remaining charge; S34: Calculate the percentage of current remaining charge based on the battery's nominal capacity to obtain the final percentage of remaining charge; S35: Transmits the calculated remaining battery percentage to the display unit and outputs it in numerical or graphical form. When the battery level is lower than the set threshold, it automatically triggers a low battery alarm to remind the user to recharge the battery in time.

6. A method for displaying the battery power of a UAV countermeasure gun based on a coulomb countermeasures unit according to claim 5, characterized in that, S31 includes: S311: Input the corrected charge quantity into the nonlinear capacity mapping model, extract its linear gain part, improve the conversion efficiency of small charge pulses, and calculate the effective linear capacity; S312: An exponential decay term that increases with the amount of charge is introduced into the mapping result to suppress the false high capacity phenomenon caused by large pulses and suppress the correction nonlinear capacity.

7. A method for displaying the battery power of a UAV countermeasure gun based on a coulomb countermeasures unit according to claim 5, characterized in that, The S35 includes: S351: Transmits the calculated remaining battery percentage to the display unit and outputs the current battery status in real time through graphic symbols or numerical indicators; S352: When the remaining battery percentage is lower than the set low battery threshold, the low battery alarm mechanism is automatically activated, triggering a prompt sound or flashing warning to remind the user to replenish the power in time.

8. A coulomb countermeasures gun battery power display system based on a coulomb countermeasures meter, used to implement the battery power display method for a drone countermeasures gun based on a coulomb countermeasures meter as described in any one of claims 1-7, characterized in that, Includes the following modules: Dynamic variable sampling acquisition module: Acquires battery pulse current through an electromagnetically shielded coulomb meter, and generates pulse charge based on a dynamic variable sampling rate mechanism triggered by the pulse rising edge; Eddy current-temperature compensation module: Receives the pulse charge, combines it with the magnetic field strength data of the gun body surface and the battery temperature data, performs eddy current interference and temperature drift compensation, and outputs the correction charge; Capacity mapping and display module: Input the corrected charge amount into the nonlinear capacity mapping model, calculate the total effective charge, and convert it into the final remaining charge based on the battery aging coefficient, driving the display unit to output the charge percentage and low charge warning.

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