Method, device, storage medium and processor for obtaining airspeed of unmanned aerial vehicle

Abstract

The present application discloses a method, device, storage medium and processor for obtaining the airspeed of a drone. The method includes: obtaining the resistance of the drone during flight based on inertial navigation data; querying a relationship function based on the resistance to obtain the airspeed of the drone, wherein the relationship function represents the correlation between different resistances and corresponding airspeeds. The present application solves the technical problem that the airspeed of a drone cannot be obtained due to a malfunction of the airspeed meter or the lack of an airspeed meter installed in the drone.

Description

Technical Field

[0001] The present application relates to the field of UAV airspeed measurement, and more specifically, to a method, device, storage medium, and processor for obtaining the airspeed of a UAV. Background Art

[0002] In the field of UAV airspeed measurement, the existing method of measuring airspeed is generally to measure it through an airspeed meter, which is an airspeed sensor. However, if the airspeed sensor is damaged, the airspeed cannot be measured, and the airspeed sensor has high noise and low accuracy. In addition, in the prior art field, in order to reduce the weight of the UAV, some UAVs are no longer equipped with airspeed meters. In this case, it is also difficult to obtain accurate airspeed.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present application provide a method, device, storage medium and processor for obtaining the airspeed of a drone, so as to at least solve the technical problem that the airspeed of a drone cannot be obtained due to a malfunction of an airspeed meter in the drone or the lack of an airspeed meter installed in the drone.

[0005] According to one aspect of an embodiment of the present application, a method for obtaining the airspeed of a drone is provided, comprising: obtaining the resistance borne by the drone during flight based on inertial navigation data; determining the airspeed of the drone based on the resistance and a relationship function, wherein the relationship function characterizes the correlation between different resistances and corresponding airspeeds.

[0006] Optionally, the resistance experienced by the drone during flight is obtained based on inertial navigation data, including: measuring the acceleration of the drone in an inertial reference system by an accelerometer; and obtaining inertial navigation data based on the measured acceleration, wherein the inertial navigation data includes: air resistance, that is, the resistance experienced by the drone during flight.

[0007] Optionally, before querying the relationship function based on the resistance to obtain the airspeed of the UAV, the method also includes: obtaining the initial airspeed of the UAV and the resistance borne by the fuselage, wherein the initial airspeed is a pre-acquired airspeed value; and obtaining the relationship function based on the initial airspeed and the resistance borne by the fuselage.

[0008] Optionally, the relationship function is represented by the following formula: ,in, , is the air density, =2T / V2 initially, represents the initial airspeed and T represents the drag on the fuselage.

[0009] Optionally, before obtaining the initial airspeed of the drone and the resistance borne by the fuselage, the method further includes: pre-storing the initial airspeed in the drone, wherein the initial airspeed is obtained by detecting an airspeed meter during a test of the drone before it leaves the factory.

[0010] Optionally, before obtaining the initial airspeed of the UAV and the resistance borne by the fuselage, the method also includes: during the process of initializing the UAV, if the UAV is equipped with an airspeed meter, controlling the airspeed meter to work, using the current detection result of the airspeed meter as the initial airspeed, and controlling the airspeed meter to stop working; if the UAV is not equipped with an airspeed meter, reading the initial airspeed pre-stored in the UAV.

[0011] Optionally, if a failure of an airspeed meter installed in the drone is detected, an initial airspeed pre-stored in the drone is read.

[0012] Optionally, if the flight speed of the drone is within a preset range, the relationship function is obtained by approximate fitting using a univariate n-order equation, wherein the relationship function is represented by the following formula: v=f(T)= + + … + + ,in, , … is the fitting parameter of the UAV at different airspeeds within a predetermined time period, and T is the resistance borne by the UAV fuselage at different airspeeds.

[0013] Optionally, the above relationship function is a pre-stored association between different air resistances of the drone and corresponding airspeeds.

[0014] Optionally, after obtaining the airspeed of the UAV, the method further includes: determining the wind speed of the current environment of the UAV based on the airspeed and ground speed of the UAV, wherein, if the UAV is currently subjected to non-lateral winds and the wind speed exceeds a threshold, and there is an error in the airspeed calculated by the functional relationship, then a new airspeed is measured by an airspeed meter installed in the UAV.

[0015] Optionally, if the drone is not equipped with an airspeed meter or the installed airspeed meter is faulty, a new airspeed is remotely requested, wherein the new airspeed is an airspeed value obtained by a pre-test.

[0016] Optionally, a first airspeed is calculated based on the above relationship function, a second airspeed is calculated using an airspeed meter, the first airspeed and the second airspeed are compared, and whether the airspeed meter is faulty is determined based on the comparison result.

[0017] According to an optional embodiment of the present application, a method for obtaining the airspeed of a drone is provided, including: obtaining the resistance borne by the drone during flight based on inertial navigation data; querying a relationship function based on the resistance to obtain the airspeed of the drone, wherein the relationship function is obtained by approximate fitting using a univariate n-order equation, wherein the relationship function is represented by the following formula: v=f(T)= + + … + + ,in, , … is the fitting parameter of the UAV at different airspeeds within a predetermined time period, and T is the resistance borne by the UAV fuselage at different airspeeds.

[0018] According to an optional embodiment of the present application, a method for obtaining the airspeed of a UAV is provided, including: obtaining the resistance borne by the UAV body during flight based on inertial navigation data; querying in a relationship function based on the resistance to obtain the airspeed of the UAV, wherein the relationship function is a pre-stored association between different air resistances of the UAV and the corresponding airspeeds.

[0019] According to an optional embodiment of the present application, a device for obtaining the airspeed of a UAV is provided, including: an acquisition module for obtaining the resistance borne by the UAV during flight based on inertial navigation data; a query module for querying in a relationship function based on the resistance to obtain the airspeed of the UAV, wherein the relationship function represents the correlation between different resistances and corresponding airspeeds.

[0020] According to an optional embodiment of the present application, a storage medium is provided, the storage medium including a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute any one of the above-mentioned methods for obtaining the airspeed of the drone.

[0021] According to an optional embodiment of the present application, a processor is provided, and the processor is used to run a program stored in a memory, wherein when the program is run, any one of the methods for obtaining the airspeed of a drone as described above is executed.

[0022] In an embodiment of the present application, by obtaining the resistance borne by the fuselage of the drone during flight; querying in the relationship function based on the resistance, the airspeed of the drone is obtained, thereby achieving the technical effect of being unable to obtain the airspeed when the drone fails, thereby solving the technical problem of being unable to obtain the airspeed of the drone due to problems such as failure of the airspeed meter. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0024] Figure 1 is a schematic flow chart of a method for obtaining the airspeed of a drone according to an embodiment of the present application;

[0025] Figure 2 is a schematic flow chart of an optional method for obtaining the airspeed of a drone according to an embodiment of the present application;

[0026] Figure 3 is a schematic flow chart of an optional method for obtaining the airspeed of a drone according to an embodiment of the present application;

[0027] Figure 4 It is a schematic diagram of the structure of an optional device for obtaining the airspeed of a drone according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] In order to better understand the embodiments of the present application, the relevant terms involved in the embodiments of the present application are explained as follows:

[0031] Inertial navigation technology (INS, in short): is an autonomous navigation system that does not rely on external information and does not radiate energy to the outside. Its working environment includes not only air and ground, but also underwater. The basic working principle of inertial navigation is based on Newton's laws of mechanics. By measuring the acceleration of the carrier in the inertial reference system, integrating it over time, and transforming it into the navigation coordinate system, it is possible to obtain information such as speed, yaw angle and position in the navigation coordinate system.

[0032] According to an embodiment of the present application, a method embodiment for obtaining the airspeed of a drone is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0033] Figure 1 A method for obtaining the airspeed of a drone according to an embodiment of the present application is as follows: Figure 1 As shown, the method comprises the following steps:

[0034] Step S102, obtaining the resistance borne by the fuselage of the UAV during flight based on the inertial navigation data.

[0035] In an optional embodiment of the present application, when obtaining the resistance data on the fuselage of the UAV during flight based on inertial navigation data, the following operation process can be performed: measuring the acceleration of the UAV in the inertial reference system through an accelerometer, and obtaining the inertial navigation data based on the acceleration measured within a predetermined time period, wherein the inertial navigation data is: air resistance, that is, the resistance on the fuselage of the UAV during flight.

[0036] Specifically, inertial navigation data is obtained based on inertial navigation technology. Inertial navigation technology (INS, referred to as inertial navigation) is an autonomous navigation system that does not rely on external information and does not radiate energy to the outside. Its working environment includes not only air and ground, but also underwater. The basic working principle of inertial navigation is based on Newton's laws of mechanics. By measuring the acceleration of the carrier in the inertial reference system, integrating it over time, and transforming it into the navigation coordinate system, it is possible to obtain information such as speed, yaw angle and position in the navigation coordinate system.

[0037] Step S104, determining the airspeed of the UAV based on the drag and the relationship function, wherein the relationship function represents the correlation between different drags and corresponding airspeeds.

[0038] Specifically, the above relationship function can be represented by the following formula: ,in, , is the air density, 2T / , represents the initial airspeed and T represents the drag on the fuselage.

[0039] In the embodiment of the present application, before querying in the relationship function based on the resistance to obtain the airspeed of the drone, the above method can also be performed by the following steps: obtaining the initial airspeed of the drone and the resistance borne by the fuselage, and based on the initial airspeed and the resistance T borne by the fuselage, and obtain the relationship function. Among them, the initial airspeed is the airspeed value obtained in advance.

[0040] There are many factors that affect the resistance of the fuselage, such as the shape of the drone, the flight speed of the drone, and the flight environment of the drone. Specifically, the shape of the drone can be regular or irregular. When the shape of the drone is regular and streamlined, the resistance it encounters during flight is small; when the shape of the drone is polygonal or irregular, the resistance it encounters during flight is large.

[0041] In an optional embodiment of the present application, before obtaining the initial airspeed of the UAV and the resistance borne by the fuselage, the above method can also perform the following operations: pre-store the initial airspeed in the UAV, wherein the initial airspeed can be obtained by detecting with an airspeed meter during the testing process of the UAV before leaving the factory.

[0042] After a drone leaves the factory, the initial airspeed can be obtained in the following ways: when it is officially used after leaving the factory, the airspeed is measured by an airspeed meter and stored as a backup initial airspeed; the experience value of the initial airspeed can be obtained through a third-party platform, which can be a browser such as Baidu or Google.

[0043] In an optional embodiment of the present application, before obtaining the initial airspeed of the UAV and the resistance borne by the fuselage, the above method can also perform the following operations: during the process of initializing the UAV, if the UAV is equipped with an airspeed meter, the airspeed meter is controlled to work, and the current detection result of the airspeed meter is used as the initial airspeed. At the same time, the measured initial airspeed is stored in the storage unit of the UAV, and the airspeed meter is controlled to stop working; if the UAV is not equipped with an airspeed meter, the initial airspeed pre-stored in the UAV is read.

[0044] Specifically, when there is an airspeed meter, if a failure of the airspeed meter installed in the drone is detected, the initial airspeed pre-stored in the drone can be read; if the airspeed meter is in a working state and consumes a lot of power when the drone is flying, the previously stored initial airspeed can be used, or the airspeed meter can be run only once to detect an initial airspeed when the drone starts flying, and the initial airspeed is stored in the storage unit, and then the airspeed meter is stopped. It should be noted here that since the airspeed is affected by many factors, the airspeed detected in real time using the airspeed meter is the most accurate value.

[0045] In an optional embodiment of the present application, if the flight speed of the drone is within a preset range, the relationship function is obtained by approximate fitting using a univariate n-order equation, wherein the relationship function is characterized by the following formula: v=f(T)= + + … + + ,in, , … is the fitting parameter of the drone at different airspeeds within a predetermined time period, and T is the resistance borne by the drone at different airspeeds. The preset range of the above flight speed can be 0-20m / s.

[0046] In an optional embodiment of the present application, the above relationship function is a pre-stored association between different air resistances of the drone and the corresponding airspeed. After obtaining the airspeed of the drone, the above method can also perform the following operations: based on the airspeed and ground speed of the drone, determine the wind speed of the drone's current environment, wherein, if the drone is currently subject to non-transverse winds and the wind speed exceeds a threshold, the new airspeed is measured by an airspeed meter installed in the drone. It should be noted here that the logical function relationship formula used to obtain the airspeed or the method of approximate fitting using a univariate N-order equation is only applicable to the case where the wind is horizontal transverse wind, and is not applicable to the case of non-transverse wind.

[0047] The non-lateral wind and wind speed exceeding the threshold specifically refers to the wind speed being too high and the wind speed direction being not fixed. Optionally, if the drone is not equipped with an airspeed meter or the installed airspeed meter is faulty, a new airspeed is remotely requested, wherein the new airspeed is an airspeed value obtained by a pre-test.

[0048] In some embodiments of the present application, the first airspeed can be calculated based on the above relationship function, the second airspeed can be calculated by the airspeed meter, the first airspeed and the second airspeed can be compared, and whether the airspeed meter is faulty can be determined based on the comparison result.

[0049] Specifically, the method for judging whether the airspeed meter is faulty according to the comparison result is: setting an error range, when the absolute value of the difference between the first airspeed and the second airspeed is within the error range, the airspeed meter is judged to be in a normal working state; when the absolute value of the difference between the first airspeed and the second airspeed exceeds the set error range, the airspeed meter is judged to be in a faulty state. For example: setting the error range to 0-3m / s, if the calculated first airspeed is 13m / s, the second airspeed measured by the airspeed meter is 15m / s, and the absolute value of the difference between the first airspeed and the second airspeed is 2m / s, since the absolute value of the difference is within the error range, the airspeed meter is in a normal working state at this time; if the calculated first airspeed is 13m / s, the second airspeed measured by the airspeed meter is 17m / s, and the absolute value of the difference between the first airspeed and the second airspeed is 4m / s, since the absolute value of the difference exceeds the error range, the airspeed meter is in a faulty state at this time.

[0050] Through the above steps, the technical effect of being unable to obtain the airspeed when the drone malfunctions or the airspeed meter is not installed in the drone can be achieved, thereby solving the technical problem of being unable to obtain the airspeed of the drone due to problems such as the airspeed meter malfunctioning.

[0051] Figure 2 A method for obtaining the airspeed of a drone according to an embodiment of the present application is as follows: Figure 2 As shown, the method comprises the following steps:

[0052] Step S202, obtaining the resistance borne by the fuselage of the UAV during flight based on the inertial navigation data.

[0053] In an optional embodiment of the present application, when obtaining the drag force borne by the drone during flight based on inertial navigation data, the following operation process can be performed: the acceleration of the drone in the inertial reference system is measured by an accelerometer, and the inertial navigation data is obtained based on the acceleration measured in a predetermined time period, wherein the inertial navigation data T at least includes: air resistance f1 and wind resistance f2. Based on the wind resistance and air resistance, the drag borne by the drone during flight can be calculated.

[0054] Specifically, inertial navigation data is obtained based on inertial navigation technology. Inertial navigation technology (INS, abbreviated as inertial navigation) is an autonomous navigation system that does not rely on external information and does not radiate energy to the outside. Its working environment includes not only air and ground, but also underwater. The basic working principle of inertial navigation is based on Newton's laws of mechanics. By measuring the acceleration of the carrier in the inertial reference system, integrating it over time, and transforming it into the navigation coordinate system, it is possible to obtain information such as speed, yaw angle and position in the navigation coordinate system.

[0055] Step S204, querying the relationship function based on the resistance to obtain the airspeed of the drone, wherein the relationship function is obtained by approximate fitting using a univariate n-order equation, wherein the relationship function is represented by the following formula: v=f(T)= + + … + + ,in, , … is the fitting parameter of the UAV at different airspeeds within a predetermined time period, and T is the resistance borne by the UAV fuselage at different airspeeds.

[0056] The preferred embodiment of this embodiment can refer to Figure 1 The relevant description of the embodiments will not be repeated here.

[0057] Figure 3 A method for obtaining the airspeed of a drone according to an embodiment of the present application is as follows: Figure 2 As shown, the method comprises the following steps:

[0058] Step S302, obtaining the resistance borne by the fuselage of the UAV during flight based on the inertial navigation data.

[0059] In an optional embodiment of the present application, when obtaining the resistance data of the drone's fuselage during flight based on inertial navigation data, the following operation process can be performed: measuring the acceleration of the drone in the inertial reference system through an accelerometer, and obtaining the inertial navigation data based on the acceleration measured within a predetermined time period.

[0060] Step S304, querying in a relationship function based on the resistance to obtain the airspeed of the UAV, wherein the relationship function is a pre-stored association relationship between different resistances of the UAV and the corresponding airspeed.

[0061] It should be noted here that the airspeed value obtained using the above relationship function is only a reference value and may have a large error with the actual airspeed value.

[0062] The preferred embodiment of this embodiment can refer to Figure 1 and Figure 2 The relevant description of the embodiments will not be repeated here.

[0063] Figure 4 is a device for obtaining the airspeed of a drone according to an embodiment of the present application, such as Figure 4 As shown, the method includes the following modules:

[0064] The acquisition module 40 is used to acquire the resistance borne by the fuselage of the UAV during flight based on the inertial navigation data.

[0065] In an optional embodiment of the present application, when obtaining the resistance data of the drone's fuselage during flight based on inertial navigation data, the following operation process can be performed: measuring the acceleration of the drone in the inertial reference system through an accelerometer, and obtaining the inertial navigation data based on the acceleration measured within a predetermined time period.

[0066] The query module 42 is used to query the relationship function based on the resistance to obtain the airspeed of the UAV, wherein the relationship function represents the correlation between different air resistances and corresponding airspeeds.

[0067] It should be noted here that the airspeed value obtained using the above relationship function is only a reference value and may have a large error with the actual airspeed value.

[0068] The preferred embodiment of this embodiment can refer to Figure 1 and Figure 2 The relevant description of the embodiments will not be repeated here.

[0069] According to an optional embodiment of the present application, a storage medium is provided, including a stored program, wherein when the program is running, a method for obtaining the airspeed of a drone is executed by a device where the storage medium is located. For example, the following program may be stored: obtaining the resistance of the drone during flight based on inertial navigation data; querying a relationship function based on the resistance to obtain the airspeed of the drone, wherein the relationship function represents the correlation between different resistances and corresponding airspeeds.

[0070] According to an optional embodiment of the present application, a processor is provided, and the processor is used to run a program stored in a memory, wherein a method for obtaining the airspeed of a drone is executed when the program is running. For example, the following program may be stored: obtaining the resistance of the drone during flight based on inertial navigation data; querying a relationship function based on the resistance to obtain the airspeed of the drone, wherein the relationship function represents the correlation between different resistances and corresponding airspeeds.

[0071] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0072] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0073] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0074] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0075] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0076] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc., which can store program code.

[0077] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for obtaining the airspeed of a drone, characterized in that: include: Obtaining the resistance borne by the fuselage of the UAV during flight based on the inertial navigation data; the resistance includes the resistance borne by the fuselage of the UAV at different airspeeds; the resistance is at least related to the shape of the UAV, the flight speed of the UAV and the flight environment of the UAV; Determining the airspeed of the UAV based on the drag and a relationship function, wherein the relationship function represents a correlation between different drags and corresponding airspeeds; Before determining the airspeed of the drone based on the drag and the relationship function, the method further includes: During the process of initializing the drone, if the drone is equipped with an airspeed meter, the airspeed meter is controlled to work, a current detection result of the airspeed meter is used as the initial airspeed, and the airspeed meter is controlled to stop working; If the drone is not equipped with the airspeed meter, reading the initial airspeed pre-stored in the drone; The relationship function is determined based on the initial airspeed and the drag experienced by the fuselage.

2. The method according to claim 1, characterized in that Based on the inertial navigation data, the resistance of the drone during flight is obtained, including: Measuring the acceleration of the drone in an inertial reference frame by an accelerometer; The inertial navigation data is obtained based on the measured acceleration, wherein the inertial navigation data is air resistance, that is, the resistance experienced by the fuselage of the UAV during flight.

3. The method according to claim 1, characterized in that Before determining the airspeed of the UAV based on the drag and the relationship function, the method further includes: Obtaining an initial airspeed of the UAV and a drag borne by the fuselage, wherein the initial airspeed is an airspeed value obtained in advance; The relationship function is obtained based on the initial airspeed and the drag borne by the fuselage.

4. The method according to claim 3, characterized in that Before obtaining the initial airspeed of the UAV and the resistance borne by the fuselage, the method further includes: The initial airspeed is pre-stored in the drone, wherein the initial airspeed is obtained by detecting an airspeed meter during a test of the drone before it leaves the factory.

5. The method according to claim 1, characterized in that: If a failure of the airspeed meter installed in the drone is detected, an initial airspeed pre-stored in the drone is read.

6. The method according to claim 1, characterized in that If the flight speed of the drone is within a preset range, the relationship function is obtained by approximating the relationship function using a univariate n-order equation, wherein the relationship function is characterized by the following formula: v=f(T)= + + … + + , wherein the , … is the fitting parameter of the UAV at different airspeeds within a predetermined time period, and T is the resistance borne by the fuselage of the UAV at different airspeeds.

7. The method according to claim 1, characterized in that After obtaining the airspeed of the UAV, the method further includes: determining the wind speed of the current environment of the UAV based on the airspeed and ground speed of the UAV, wherein, if the UAV is currently subjected to non-lateral wind and the wind speed exceeds a threshold, and there is an error in the airspeed calculated by the functional relationship, a new airspeed is measured by an airspeed meter installed in the UAV.

8. The method according to claim 7, characterized in that The method further includes: if the drone is not equipped with an airspeed meter or the installed airspeed meter is faulty, remotely requesting the new airspeed from the server, wherein the new airspeed is an airspeed value obtained by a pre-test.

9. The method according to claim 1, characterized in that: A first airspeed is calculated based on the relationship function, a second airspeed is calculated by an airspeed meter, the first airspeed and the second airspeed are compared, and whether the airspeed meter is faulty is determined based on the comparison result.

10. A method for obtaining the airspeed of a drone, characterized in that: include: Obtaining the resistance borne by the fuselage of the UAV during flight based on the inertial navigation data; the resistance includes the resistance borne by the fuselage of the UAV at different airspeeds; the resistance is at least related to the shape of the UAV, the flight speed of the UAV and the flight environment of the UAV; Based on the resistance, a query is performed in a relationship function to obtain the airspeed of the UAV, wherein the relationship function is obtained by approximate fitting using a univariate n-order equation, wherein the relationship function is characterized by the following formula: v=f(T)= a_n*T^n+a_(n-1)*T^(n-1)+ … + a_1*T + a_0, wherein a_0, a_1…a_(n-1) are fitting parameters of the UAV at different airspeeds within a predetermined time period, and T is the resistance borne by the fuselage of the UAV at different airspeeds.

11. A method for obtaining the airspeed of a drone, characterized in that: include: Obtaining the resistance borne by the fuselage of the UAV during flight based on the inertial navigation data; the resistance includes the resistance borne by the fuselage of the UAV at different airspeeds; the resistance is at least related to the shape of the UAV, the flight speed of the UAV and the flight environment of the UAV; Based on the resistance, querying in a relationship function to obtain the airspeed of the UAV, wherein the relationship function is a pre-stored correlation between the resistance of the UAV and the corresponding airspeed; Before querying the relationship function based on the resistance to obtain the airspeed of the drone, the method further includes: During the process of initializing the drone, if the drone is equipped with an airspeed meter, the airspeed meter is controlled to work, a current detection result of the airspeed meter is used as the initial airspeed, and the airspeed meter is controlled to stop working; If the drone is not equipped with the airspeed meter, reading the initial airspeed pre-stored in the drone; The relationship function is determined based on the initial airspeed and the drag experienced by the fuselage.

12. A device for obtaining the airspeed of a drone, characterized in that: include: An acquisition module, configured to acquire the resistance borne by the fuselage of the UAV during flight based on the inertial navigation data; the resistance includes the resistance borne by the fuselage of the UAV at different airspeeds; the resistance is at least related to the shape of the UAV, the flight speed of the UAV and the flight environment of the UAV; A query module, configured to determine the airspeed of the UAV based on the resistance and a relationship function, wherein the relationship function represents the correlation between different resistances and corresponding airspeeds; The acquisition module is further used for, during the process of initializing the UAV, if the UAV is equipped with an airspeed meter, controlling the airspeed meter to work, taking the current detection result of the airspeed meter as the initial airspeed, and controlling the airspeed meter to stop working; if the UAV is not equipped with the airspeed meter, reading the initial airspeed pre-stored in the UAV; The relationship function is determined based on the initial airspeed and the drag experienced by the fuselage.

13. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the method for obtaining the airspeed of the drone as described in any one of claims 1 to 11.

14. A processor, characterized in that: The processor is used to run a program stored in a memory, wherein the program, when running, executes the method for obtaining the airspeed of a drone as described in any one of claims 1 to 11.

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