A miniature mounted detection device for UAV flight indicators

Abstract

The present invention discloses a micro-mounted detection device for UAV flight indicators, belonging to the technical field of UAVs; it includes a multi-configuration mounting tooling, a high-precision integrated navigation module, an electrical control board, a wireless communication module, an antenna receiving and RF module, a storage module, a power management module, and a ground processing module. The present invention has higher precision, better real-time performance and reliability, faster operation speed, especially optimized the integration and power consumption, extremely light weight and extremely small size, minimizing the impact on the center of gravity position and flight performance of the UAV after mounting, meeting the payload capacity of most micro, light, and small UAVs, and is very suitable for the quantitative detection of the flight performance of micro light and small UAVs; adopting an integrated design, configuring flexible tooling fixtures, convenient to install and use.

Description

Technical Field

[0001] The present invention relates to the technical field of drones, and particularly to a micro-mounted detection device for drone flight indicators. Background Art

[0002] In the wave of the fourth industrial revolution, drones have emerged and developed vigorously, and have become an important carrier of advanced productive forces. The drone industry in China is a new form of the aviation industry, an innovation direction of the country, and an important part of the civil aviation power strategy. It has made remarkable achievements in remote sensing mapping, power line inspection, agricultural and forestry plant protection, environmental protection detection, disaster relief, traffic management, communication relay, fire emergency, intelligent logistics and other fields. However, the development of the drone industry in China still has the characteristics of uneven quality, and there are also problems such as weak quality systems, ineffective supervision, and insufficient basic application facilities in the industrial chains of R & D, manufacturing, operation, etc., resulting in frequent problems such as flight safety and accidents in application promotion, which have had an adverse impact on social public safety. In recent years, in order to standardize the development of the drone industry and safeguard national security, public safety and flight safety, the state, localities and industries have issued a number of management regulations. The upcoming "Interim Regulations on the Administration of Unmanned Aerial Vehicle Flights (Draft for Comment)" and "Measures for the Administration of the Production and Manufacturing of Civil Unmanned Aerial Vehicles" have made clear provisions, suggesting that civil drone manufacturers should complete product qualification tests before putting products on the market, and micro, light and small civil drones should pass inspection and certification. The national mandatory standard "Safety Requirements for Civil Unmanned Aerial Vehicle Products" will also be issued and implemented soon. It can be seen that inspection and certification have become an important link in the production and sales of civil drones.

[0003] Currently, for the inspection and detection of drone flight indicators, there are also some related detection methods and equipment. Although they each have some characteristics and advantages, using them as general detection equipment to quantitatively evaluate drone products of various magnitudes and configurations cannot meet the current standards and industry requirements in terms of accuracy, applicable range and real-time performance.

[0004] The Chinese patent "Ground Test System for UAV Flight Performance" with the publication number CN 108225809 A includes a two-axis state test device and a performance test device connected thereto. Its test method is as follows: through the drive and control of a two-axis turntable, the rotary-wing UAV fixed on the turntable is in a simulated flight state, and then various sensors are used to measure and collect the six-dimensional force, torque, voltage, and current of the UAV, calculate the flight power of the rotary-wing UAV, and then analyze the flight performance. The system is relatively complex to construct, requires a large number of sensors to be assembled, and a temperature and wind and rain test chamber is assembled at the same time, which can provide some parameter simulations and test results for the UAV flying in a comprehensive environment. However, it essentially belongs to simulated flight testing, and there are significant differences between the test process and the actual use scenario of the UAV. It is also impossible to obtain indicators such as the true route control accuracy during the programmed flight of the UAV. Therefore, it cannot be used to evaluate the actual flight performance of the UAV.

[0005] The Chinese patent "Test Method, Device and System for UAV Flight Performance Parameters" with the publication number CN 108045595 A has a detection method in which the upper computer establishes a test item task including N test items according to the input information of the user. After the UAV test device is mounted on the UAV, according to the trigger information of the user, the test time information of each of the test items is determined. After the N test items are tested, the test data in the UAV measurement device is obtained, and the UAV flight performance parameters are determined according to the test time information and the test data. The core of this patent is to determine the time information of the UAV test items through the user trigger method, and then match the test data in the test device, and then determine the UAV flight performance parameters. However, the composition, working principle, types of data collected, and data interaction method with the upper computer of the test device (device and system) are not described in the patent, which is limited to a discussion of a method type, and the implementation of the test device is lacking. More importantly, during the test process described in this patent, the operator manually controls the UAV in a large amount, and the test results are not objective and reproducible, and cannot be used as a standard to measure the true flight performance of the UAV.

[0006] The Chinese patent "A Digital UAV Flight Performance Test System" with the publication number CN 108196578 A includes a ground monitoring and analysis system, an airborne detection system, a satellite, etc. Its detection method is as follows: during the flight of the UAV, the true flight motion parameters of the UAV are collected by a high-precision navigator, a high-precision gyroscope, and a high-precision compass in the airborne data acquisition module, and then transmitted to the ground wireless data transmission module through the airborne wireless data transmission module, and then transmitted to the flight performance module for storage and compared with historical data, so as to analyze the flight parameters and obtain a performance evaluation report. The test scenario of this system is consistent with the actual use scenario of the UAV, and the obtained test results are the overall flight indicators of the whole machine. However, there are also many problems. First of all, although the weight of the airborne system is not provided in the patent, considering comprehensively its selection of mature products such as high-precision navigators, high-precision gyroscopes, high-precision compasses, airborne wireless data transmission modules, and external navigation antennas, the quality is relatively heavy, far exceeding the payload capacity of most UAVs, especially consumer UAVs, which affects its applicable range and the accuracy of flight index testing; on the other hand, the overall power consumption of the system and optimization measures are not provided in the patent either. If the power supply of these acquisition sensors and data transmission modules is provided by the UAV under test, it will greatly affect the endurance of the whole UAV. If an independent battery is used for power supply, the weight of the airborne system will increase due to the increased battery capacity requirements; finally, and most importantly, the patent does not give specific implementation plans, only a few general statements are mentioned briefly, without specific implementation steps, evaluation methods and standards, and it has no practical application value.

[0007] The Chinese patent "An Inspection Device, System and Inspection Method for the Flight Performance of Unmanned Aerial Vehicles" with the publication number CN 114313303 A includes an external GPS antenna, an airborne measurement device, a ground analysis device, a data transmission antenna, etc. During the test, the first and second flight data obtained by the airborne measurement device are resolved and fused, and then sent to the ground analysis device, and then the difference compared with the index data of the unmanned aerial vehicle is used as the basis for evaluating the flight performance of the unmanned aerial vehicle. This patent comprehensively introduces the composition, working process, types of sensors and collected index data of the inspection device for the flight performance of unmanned aerial vehicles. However, there are still some problems as an inspection instrument. Its GPS antenna is in an external form, and it needs to be separately mounted during use, which increases the difficulty of use. At the same time, after installation, the position between the GPS antenna on the upper part of the unmanned aerial vehicle and the airborne measurement device on the lower part is arbitrary, which will increase the difficulty and accuracy of the measurement of the lever arm value, and further affect the accuracy of the algorithm fusion at the first and second positions; in the patent, the altitude is obtained through a barometric altimeter, but the barometric altimeter is susceptible to environmental interference and has large errors. The barometric altimeter can be used for data fusion to increase the damping of the altitude channel, but it cannot be used alone as the benchmark for altitude measurement; the patent does not explain the GPS accuracy and the accuracy of the MEMS inertial measurement unit, and the RTK link module is not introduced, but it greatly affects the accuracy, continuity and reliability of the flight test data; in addition, due to the current technical bottleneck of the data transmission radio, using the data transmission radio to transmit data in real time as the benchmark data for evaluating performance has problems such as low data update rate, packet loss, and delay, which greatly affect the accuracy of the evaluation results. Finally, the patent does not provide optimization measures for the total system weight, such as antenna optimization, battery optimization, etc. Therefore, the patent is not very complete overall. Summary of the Invention

[0008] In view of the problems existing in the above-mentioned background technology, the present invention proposes a micro-mounted inspection device for the flight indicators of unmanned aerial vehicles; it has higher accuracy, better real-time performance and reliability, faster operation speed, especially optimizes the integration and power consumption, is extremely light in weight and extremely small in size, minimizes the impact on the center of gravity position and flight performance of the unmanned aerial vehicle after mounting, meets the payload capacity of most micro, light and small unmanned aerial vehicles, and is very suitable for the quantitative inspection of the flight performance of micro light and small unmanned aerial vehicles; adopts an integrated design, is equipped with flexible tooling fixtures, is convenient to install and use.

[0009] In order to achieve the above object, the technical solutions adopted by the present invention are as follows:

[0010] A micro-mounted inspection device for the flight indicators of unmanned aerial vehicles, including a multi-configuration mounting tooling, a high-precision integrated navigation module, an electrical control board, a wireless communication module, an antenna receiving and radio frequency module, a storage module, a power management module and a ground processing module;

[0011] The multi-configuration mounting tooling is used to firmly install the inspection device on the unmanned aerial vehicle;

[0012] The described antenna receiving and RF module integrates a double-layer patch ceramic antenna. The signal frequency band covers GPS L1, L2, BD1, and BD2, enabling high-precision differential positioning and data post-processing. Meanwhile, to optimize weight and size, the ceramic antenna is placed on the top layer of the circuit board, and the integrated secondary low-noise amplifier circuit is placed on the bottom layer to amplify the navigation signals at all frequencies.

[0013] The described high-precision integrated navigation module is composed of a GNSS module and an inertial measurement unit in a deep coupling manner, and is used to obtain the trajectory parameters of the UAV flight. The trajectory parameters include position coordinates, altitude, speed, attitude, and acceleration.

[0014] The described electrical control board is used for the integrated support of power supply, communication, and storage modules, providing interface interaction, data framing, and distribution for each module. Among them, the interface interaction includes RS232 serial port expansion, unified data input interface, and data storage framing and distribution. Data framing and distribution is to analyze the observation data collected by the high-precision integrated navigation module, pack the original observation data and the parsed trajectory data of the UAV aircraft in a predefined format, and distribute them to the storage module together, while meeting the lossless processing of high collection rate. Among them, data framing and distribution, and storage are completed by the single-chip microcomputer integrated on the electrical control board.

[0015] The described communication module adopts an adaptive design of 4G-DTU and wireless data transmission radio. The 4G-DTU has a reserved 5G upgrade interface, which is used for real-time carrier phase differential between the GNSS module and the ground-based augmentation system to achieve centimeter-level position accuracy, and at the same time realizes data interaction with the ground serial port communication.

[0016] The described storage module is integrated on the electrical control board, which is convenient for data copying. The stored data is used for later analysis and result traceability, and is also used for high-precision post-differential processing of data in an environment where real-time transmission is not satisfied.

[0017] The described power management module is integrated on the electrical control board, and it is a high-density lithium battery. The circuit converts the 3.7V provided by the battery through a large-current reverse connection prevention and soft start circuit into the 12V voltage required by the high-precision integrated navigation module, the 3V voltage required by the antenna receiving and RF module, the 5V voltage required by the communication module and the storage module, and a preset adjustable voltage output with a large current output for the wireless data transmission radio in the communication module.

[0018] The described ground processing module refers to the evaluation software deployed on the computer side, integrating a serial port communication data distribution module, which is used to realize data interaction and remote monitoring between 4G DTUs of different manufacturers. It can receive the flight data transmitted in real time by the mounted detection device or read the flight data obtained by differential after landing on the ground, draw the flight trajectory of the UAV in the software map display area, and at the same time display and complete the storage of the trajectory control deviation, flight altitude and stability, flight attitude and stability, flight speed and maneuverability, range and flight time of the UAV according to specific statistical methods, support export, and provide traceability;

[0019] Implementation process of the uplink: The communication module receives the differential data sent by the ground GNSS base station, and transmits the differential data to the high-precision integrated navigation module through the interface conversion circuit of the electrical control board in the serial port protocol. By pre-setting, the high-precision integrated navigation module works in the RTK differential state, continuously calculates and outputs continuous status and navigation data;

[0020] Implementation process of the downlink: After the wireless reception and RF module receives the GNSS signals sent by the multi-frequency multi-satellite system, it performs noise reduction, filtering and amplification processing, and transmits them to the high-precision integrated navigation module, so that the high-precision integrated navigation module can obtain higher-precision positioning data and higher-precision time service. In addition, the electrical control board sends the continuous status data and navigation data output by the high-precision integrated navigation module to the communication module in the way of serial communication through the interface conversion circuit, and then the communication module forwards them to the ground processing module wirelessly or via 4G; In addition, the storage module integrated in the electrical control board receives the original observation data and navigation data sent by the high-precision integrated navigation module and stores them in the SD card in real time; The ground processing module supports the real-time navigation data sent by the airborne measurement module, and can also import the offline data of the airborne measurement module through the SD card for subsequent relevant statistical calculations.

[0021] Furthermore, the electrical control board includes an interface module and a data distribution module;

[0022] The interface module is used to convert the standard RS232 interface of the integrated navigation module into an LVTTL signal with a 3.3V level to realize communication with the 4G DTU / datagram radio and the single-chip microcomputer, and at the same time expand a set serial port for users to test;

[0023] The data distribution module is used to receive the signals of the 4G DTU / datagram radio, and at the same time send heartbeat detection data to the 4G DTU / datagram radio in real time to test the communication signal quality of the 4G DTU / datagram radio.

[0024] Furthermore, the ground processing module supports real-time or post-processing calculation, display, storage, export, and traceability of UAV flight data; the ground computer terminal has functions such as map display, flight trajectory plotting, geofencing, obstacle display, parameter tracking, and playback. At the same time, according to the agreed statistical methods, it conducts statistical analysis, result display, and report export on the trajectory control deviation, flight altitude and stability, flight attitude and stability, flight speed and maneuverability, range and flight time of the UAV.

[0025] The beneficial effects of the present invention adopting the above technical solutions are as follows:

[0026] 1. The present invention is a minimized integrated design in terms of weight and size. Each module, antenna, and battery are preferably integrated. Overall, it adopts a GNSS+IMU component and RTK+deep coupling working mode to ensure high measurement accuracy and stability. At the same time, it meets the standard payload of general lightweight and small UAVs (within 150g). When mounted, it has a minimal impact on the functional components and center of gravity position of the UAV, and the impact on flight performance is almost negligible. At the same time, it is an independent whole, does not draw power from the UAV, and does not rely on any UAV sensors.

[0027] 2. The circuit design of the electrical control board in the present invention is stable and reliable, has a wide voltage input range, and at the same time has functions of reverse connection prevention and soft start, as well as voltage stabilization and overcurrent protection functions. It can meet the access of most patch batteries, and different capacity batteries can be flexibly configured according to the selection of components on the main board.

[0028] 3. The communication module in the present invention is optional and flexible. In test scenarios where the payload capacity of the UAV under test permits and real-time monitoring of the flight state is required, the 4G DTU terminal is converted into a virtual serial port terminal through the serial port data distribution module (software), and it can be directly connected to a networked laptop computer, avoiding the cumbersome operation and unstable contact of an external USB to serial port cable. Further, since a large-capacity hard disk of the computer can be used to synchronously store measurement data and preset information, long-term data collection and traceability playback can be achieved. At the same time, when the network link is interfered with or interrupted, the data stored on the microSD card on the airborne board can also be used for result reproduction and traceability, playing a dual-insurance role.

[0029] 4. All components in the present invention are integrated and fixed within an integrated housing. The entire device only requires a charging interface, a memory card interface, a power switch, a status indicator, etc. externally, which has good usability and is convenient for mass production and standardization. More importantly, for unmanned aerial vehicle (UAV) models suitable for top mounting and helicopters, fixed-wing UAVs, and vertical takeoff and landing UAVs with a cabin, double-sided nano tape can be directly used for fixation to ensure secure fastening and unobstructed satellite signal reception. For rotor UAV models without top mounting space, a special and adaptable telescopic mounting fixture is used and selectively installed on the UAV's arm or landing gear. Coordinate centering calculation is performed on the collected trajectory data to achieve the transformation of the UAV's point target, without affecting its satellite signal reception and working status. The material of the mounting fixture is selected as lightweight but mechanically strong carbon fiber material.

[0030] 4. Since the present invention uses RTK differential positioning + IMU deep coupling as the measurement reference, the position accuracy can reach the centimeter level, and the data update rate is as high as 50 Hz, which is higher than the accuracy of the detection methods in the above-mentioned published patents. More importantly, the data stored on the microSD card on the airborne end plate can be used for post-differential processing. When the payload capacity of the UAV under test is limited and it does not have a communication module, or when there are no real-time communication conditions or the communication link is interfered and interrupted, the continuity of the test and the measurement accuracy can still be ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] To describe this patent more clearly, one or more drawings are provided below. These drawings are intended to provide auxiliary explanations for the background technology, technical principles, and / or certain specific implementation schemes of this patent.

[0032] Figure 1 is the overall composition block diagram of the embodiment of the present invention.

[0033] Figure 2 is the encapsulation housing of the embodiment of the present invention.

[0034] Figure 3 is the schematic diagram of the telescopic fixture installation structure in the embodiment of the present invention.

[0035] Figure 4 is Figure 3 the partial structure schematic diagram of

[0036] Figure 5 is the power management module diagram in the embodiment of the present invention.

[0037] Figure 6 is the radio frequency and navigation signal amplification circuit diagram in the embodiment of the present invention.

[0038] Figure 7 is the functional structure diagram of the ground processing module in the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0039] Next, the present invention will be further described in conjunction with the accompanying drawings and specific embodiments.

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0041] The embodiments of the present application disclose a micro-mounted detection device for unmanned aerial vehicle flight indicators, as Figure 1 shown, an electrical control board 1, a high-precision integrated navigation module 2, a wireless communication module 3, a navigation antenna 4, a radio frequency module 5, a storage module 6, a power management module 7, and a mechanical housing 8. A multi-configuration mounting tooling 9 and a ground processing module 10 are configured.

[0042] The electrical control board 1 is mainly used for power supply, communication, and integrated support of the storage module, providing interface interaction, data framing, and distribution for each module. Among them, the power management module converts the 3.7V voltage output by the lithium battery into the 12V voltage required by the integrated navigation module 2, the 3V voltage required by the radio frequency module 4, and the 5V voltage required by the storage module 5 and the 4G DTU / data radio 3 through two boost chips.

[0043] Interface interaction mainly includes RS232 serial port expansion, unified data input interface (serial port communication and on-board interaction), data storage framing, and distribution, etc. The data flow interfaces between each module uniformly adopt RS232 serial port expansion, and the baud rate is set to 460800bps to meet the 50Hz raw data update frequency. In the intensive design of the data structure, the original observations are stored on-board according to the ephemeris, almanac preset by the GNSS chip and the original observation data output by the IMU, and are not output in real time to save the transmission bandwidth of the communication module; the parsed data preferably extracts the time, position, altitude, speed, positioning mode, number of effective satellites, azimuth data, and attitude data from the standard protocol nmea-0183 statement output by the GNSS chip to form the minimum unit data, and frames and distributes it to the on-board storage 6 and the communication module 3 (if any). High collection rate frame loss judgment and processing are performed during collection and distribution. Among them, data framing, distribution, and storage are completed by the single-chip microcomputer integrated on the electrical control board. Since the original observations such as ephemeris output by the GNSS chip and the IMU raw data have characteristics such as suddenness and high update frequency, the storage module 6 is designed with a large capacity, dual cache, and DMA transmission, and its priority is set to the highest. The capacity of each cache is set considering the maximum data volume received within 1 second × 2 to prevent the problem of overflow of the other cache when the data in one cache is not written to the SD card.

[0044] The described high-precision integrated navigation module 2 is used to obtain the flight trajectory parameters of the UAV, including information such as horizontal position, altitude, speed, attitude, acceleration, etc. The module consists of a GNSS module and an inertial measurement unit (IMU). During integration, the phase center of the navigation antenna and the center of the IMU are calibrated to keep the lever arm value fixed. It is set to work in a deep coupling state through the command mode and is ready for use immediately after power-on during operation, avoiding repeated measurement of the lever arm value and repeated setting of commands. Further, real-time RTK differential positioning is achieved through the communication module, or post-processing differential (PPK) is performed using the original observation data to reach centimeter-level accuracy. Since the maximum speed of the UAV during flight can reach 200 km / h, approximately 55 m / s currently, the detection error is generally required to be controlled at the sub-meter level, and the smaller the better. Therefore, the data output frequency of the high-precision integrated navigation module 2 should be at least 50 Hz. For the purpose of retaining some safety margins and traceability, the output frequency of data post-processing in actual use can meet 100 Hz.

[0045] The described wireless communication module 3 has two functions. On the one hand, it is used for real-time carrier phase differential between the GNSS module and the ground-based augmentation system, and directly stores the parsed centimeter-level position accuracy result locally. On the other hand, it realizes data interaction with the ground end. When a 4G-DTU is selected, real-time data interaction can be carried out with the serial port communication in the ground upper computer. When a wireless data transmission radio is selected, data interaction is carried out with the matching receiving radio on the ground. The 4G-DTU is applied to the low-altitude area (below 120 meters) with the coverage of a reliable mobile communication base station, and the wireless data transmission radio is used for high-altitude areas and remote or unmanned areas without the coverage of mobile communication base stations, ensuring the continuity and reliability of communication while meeting the needs of different scenarios. Further, by using a 4GDTU, multiple virtual serial ports can be set through the serial port communication, which can be extended to monitor multiple UAVs simultaneously. At the same time, it can also realize the transmission of differential data from one base station to multiple detection devices, thus reducing the number of 4GDTUs used. Further, when the test scenario requires greater optimization of weight, the communication module can be uninstalled, and post-coupling and differential processing are performed on the locally saved observation data to obtain accurate measurement results, increasing the selection flexibility and versatility of the device and being able to adapt to more UAV types and application scenarios.

[0046] The described navigation antenna 4 and radio frequency module 5 jointly complete the tracking, acquisition, amplification of navigation signals and transmit them to the GNSS module of the high-precision integrated navigation module 2. The amplifier is preferably NJG1187, which supports GNSS satellite signals in the full frequency band, is packaged in a DFN6 with a size of 1.6 mm, has a gain of more than 34 DB, and the peripheral circuit is a conventional circuit configured with resistors, inductors, and capacitors, which is easier to implement. Refer to Figure 6, the specific working principle is as follows. The GNSS antenna 21 receives satellite signals, which are filtered by the inductor 22 at high frequency and then enter the first-stage amplification circuit of the low-noise amplifier 23 for amplification. The amplified signal is filtered by the capacitor 29 at low frequency and then enters the second-stage amplification circuit. Finally, the amplified signal enters the subsequent GNSS calculation module (GNSS positioning module in the high-precision integrated navigation system) through the filter inductor 24 and the blocking capacitor 25. Among them, the inductor 31 and the capacitor 30 filter the signal output by the first-stage amplification circuit, and the 3.3V power supply provides a certain bias voltage for the signal output by the first-stage amplification circuit through the resistor 28; the inductor 26 and the capacitor 27 filter the signal output by the second-stage amplification circuit, and at the same time, the 3.3V provides a 3.3V bias voltage for the signal output by the second-stage amplification circuit through the inductor 26.

[0047] The working principle of the power management module 7 is as follows. Refer to Figure 5 , when the battery (nominal +3.7VDC) voltage signal BAT+ is normally connected to the circuit, after passing through the toggle switch 32, the toggle switch has a total of 3 electrical pins. Among them, pin 2 is the common terminal, connected to the battery voltage signal BAT+. When the toggle switch 32 is toggled to the first pin position, the first pin and the second pin are connected. When the toggle switch 32 is toggled to the third pin position, the first pin 1 and the second pin are disconnected, and then there is no power input to the subsequent circuit. The battery voltage signal BAT+ flows through the self-resetting fuse 33, capacitors 34 and 35 after passing through the toggle switch 32 to obtain a voltage VCC with less ripple. At the same time, the self-resetting fuse 33 can play a role in protecting against overcurrent in the switch. Also, if there is a misoperation and the battery voltage is connected reversely, the reverse battery voltage will flow through the TVS diode 36 and the self-resetting fuse 33. At this time, the TVS diode 36 conducts forward and clamps (the clamping voltage is generally lower than 0.7V and will not cause faults to the subsequent circuit). The current passing through the self-resetting fuse 33 is very large, and the self-resetting fuse 33 will disconnect the circuit, thus playing a role in protecting against reverse power connection. It will resume the conduction state after a period of time. Generally, if the indicator light is found not to be on after the power is connected, it is very likely that the power is connected reversely, and the power polarity can be changed. The filtered voltage signal VCC is boosted to 12V through the PL7512A and its peripheral circuit for use by the high-precision integrated navigation module 2; VCC is boosted to 5V through the PW5303 and its peripheral circuit for use by the storage module 6 and the communication module 3.

[0048] Refer to Figure 2, for the mechanical housing 8, the bottom plate provides the main body support for the integrated electrical control board 1, high-precision integrated navigation module 2, wireless communication module 3, navigation antenna 4, radio frequency module 5, storage module 6, and power management module 7; the side panels are reasonably arranged with charging interfaces, memory card interfaces, power switches, and status indicators for convenient use. The middle part of the top of the housing is a patch-type ceramic navigation receiving antenna. The bottom plate is made of aviation aluminum material to increase the peel strength for repeated sticking of nano glue, preventing cracking and deformation. The side and top are made of PVC or industrial nylon materials to reduce weight while avoiding shielding of the antennas inside the housing.

[0049] Referring to Figure 3 and Figure 4 , for the multi-configuration mounting tooling 9, it is designed as a telescopic structure for tool-free installation and can be flexibly installed on the arm 18 or landing gear rod of various UAVs under test. When installing, by squeezing the spring handle 11, the two petals of the telescopic clamping cylinder 13 open and are clamped on the UAV arm or landing gear rod. The inner layer of the clamping cylinder is provided with a flexible damping protection layer 14, which is used on the one hand to increase the friction with the arm to prevent relative sliding with the arm during use, and on the other hand to prevent scratching the arm during installation and use; furthermore, in order to ensure the fixed connection between the mounting device and the UAV under test during use and eliminate relative position changes during use, a tightening knob 15 is assembled on the telescopic clamping cylinder 13, and the upper and lower petals of the telescopic clamping cylinder can be firmly closed by hand after installation; the device mounting surface 17, which is integrated with the upper petal of the telescopic clamping cylinder 13, is extended by a stepped transition plate 16, reducing the installation height of the device during use and avoiding unsafe effects on the rotation of the UAV propellers. Both the device mounting surface 17 and the stepped transition plate 16 adopt a hollowing process to reduce the weight of the fixture. At the same time, fastening perforations are added to the device mounting surface 17 to provide backup for strapping during device installation.

[0050] The described ground processing module 10 mainly refers to the evaluation software deployed on the computer side. Using the Labview graphical development language (G language), a software system is developed according to the types of UAV flight indicators. Generally, it includes a user management module 41, a real-time monitoring module 42, a data preprocessing module 43, a post-processing evaluation module 44, and an export query module 45. The user management module 41 realizes the permission management of users to prevent unauthorized access; the real-time monitoring module 42 integrates a serial port communication module, avoiding the need for the computer side to plug in a hardware module for receiving data, which occupies the valuable hardware interface of the computer. It innovatively uses the serial port communication to receive the UAV flight trajectory pose data output by the airborne end in real time, monitors the flight state of the tested UAV in real time, statistically analyzes and displays the state parameters in real time, and projects the flight trajectory onto the ground and displays it on the map; the data preprocessing module 43 mainly completes the reading and data extraction of external files (UAV trajectory files, preset files, etc.), and performs normalization format processing on the data. At the same time, it completes the graphic drawing corresponding to the preset data and the marking of trajectory feature points, and also completes the time synchronization of the data, the unification of the coordinate system and altitude, ensuring the spatio-temporal unity in index evaluation; the post-processing evaluation module 44 uses the post-processing method to statistically analyze, display and draw the result curves of various parameters such as track control accuracy / hover accuracy, speed performance, altitude performance, attitude performance, maneuverability performance and flight stability performance. It can also complete the qualitative / quantitative testing of the geofence, collision function and payload performance. At the same time, it has a playback test module, which provides the flight trajectory for map display during the return visit. At the same time, it has the traceability monitoring and display of parameters such as waypoint longitude and latitude, true flight altitude, maximum flight speed, maximum range / duration, maximum climb rate, and maximum distance from the takeoff point; the export query module 45 mainly completes the storage, export and historical query of the results. It should be noted that the post-processing evaluation module also provides the monitoring and measurement of the multi-aircraft cooperation performance.

Claims

1. A micro-mounted detection device for UAV flight indicators, characterized in that, It includes a multi-configuration mounting tooling, a high-precision integrated navigation module, an electrical control board, a wireless communication module, an antenna receiving and RF module, a storage module, and a power management module; The multi-configuration mounting tooling is used to firmly mount the detection device on the UAV; The antenna receiving and RF module integrates a double-layer patch ceramic antenna, with signal frequency bands covering GPS L1, L2, BD1, and BD2, capable of achieving high-precision differential positioning and data post-processing. At the same time, to optimize weight and size, the ceramic antenna is placed on the top layer of the circuit board, and the integrated secondary low-noise amplifier circuit is placed on the bottom layer to amplify the full-frequency navigation signal; The high-precision integrated navigation module is composed of a GNSS module and an inertial measurement unit in a deep coupling manner, and is used to obtain the trajectory parameters of the UAV flight. The trajectory parameters include position coordinates, altitude, speed, attitude, and acceleration; The electrical control board is used for the integrated support of power supply, communication, and storage modules, providing interface interaction, data framing, and distribution for each module. Among them, the interface interaction includes RS232 serial port expansion, unified data input interface, and data storage framing and distribution; data framing and distribution is to parse the observation data collected by the high-precision integrated navigation module, and pack and distribute the original observation data and the parsed UAV flight trajectory data in a predefined format to the storage module, while meeting the lossless processing of high collection rate. Among them, data framing, distribution, and storage are completed by the single-chip microcomputer integrated on the electrical control board; The communication module adopts an adaptive design of 4G-DTU and a wireless data transmission radio. The 4G-DTU has a reserved 5G upgrade interface, which is used for real-time carrier phase differential of the GNSS module and the ground-based augmentation system, achieving centimeter-level position accuracy, and at the same time realizing data interaction with the ground serial port communication; The storage module is integrated on the electrical control board, which is used to facilitate data copying. The stored data is used for later analysis and result traceability, and at the same time is used for high-precision post-differential processing of data in an environment where real-time transmission is not satisfied; The power management module is integrated on the electrical control board, and it is a high-density lithium battery. The circuit converts the 3.7V provided by the battery through a large-current reverse connection prevention and soft start circuit into the 12V voltage required by the high-precision integrated navigation module, the 3V voltage required by the antenna receiving and RF module, the 5V voltage required by the communication module and the storage module, and a 1-way adjustable voltage output preset with large current output for the wireless data transmission radio in the communication module; Implementation process of the uplink: The communication module receives the differential data sent by the ground GNSS base station, and transmits the differential data to the high-precision integrated navigation module through the interface conversion circuit of the electrical control board in the serial port protocol. By pre-setting, the high-precision integrated navigation module works in the RTK differential state, continuously calculates and outputs continuous state and navigation data; Downlink implementation process: After the wireless reception and RF module receives the GNSS signals sent by the multi-frequency multi-satellite system, it performs noise reduction, filtering, and amplification processing, and transmits them to the high-precision integrated navigation module, enabling the high-precision integrated navigation module to obtain more accurate positioning data and more accurate timing. In addition, the electrical control board sends the continuous status data and navigation data output by the high-precision integrated navigation module to the communication module in the form of serial communication through the interface conversion circuit, and then the communication module forwards them to the ground processing module in a wireless or 4G manner; in addition, the storage module integrated on the electrical control board receives the original observation data and navigation data sent by the high-precision integrated navigation module and stores them in the SD card in real time; the ground processing module supports the real-time navigation data sent by the airborne measurement module or imports the offline data of the airborne measurement module through the SD card for subsequent relevant statistical calculations.

2. The micro-mounted detection device for UAV flight indicators according to claim 1, characterized in that, The electrical control board includes an interface module and a data distribution module; The interface module is used to convert the standard RS232 interface of the integrated navigation module into an LVTTL signal with a 3.3V level to achieve communication with the 4G DTU / datagram radio and the single-chip microcomputer, and at the same time expand a set serial port for users to test; The data distribution module is used to receive the signals of the 4G DTU / datagram radio and at the same time send heartbeat detection data to the 4G DTU / datagram radio in real time to test the communication signal quality of the 4G DTU / datagram radio.

3. The micro-mounted detection device for UAV flight indicators according to claim 1, characterized in that, The ground processing module refers to the evaluation software deployed on the computer side, integrating the serial port communication data distribution module, which is used to realize data interaction and remote monitoring between 4G DTUs of different manufacturers, and can receive the flight data transmitted in real time by the mounted detection device or read the flight data obtained by differential on the ground, draw the flight trajectory of the UAV in the software map display area, and at the same time display and complete the storage of the trajectory control deviation, flight altitude and stability, flight attitude and stability, flight speed and maneuverability, range and flight time of the UAV flight according to specific statistical methods, support export and provide traceability; The ground processing module supports real-time or post-processing calculation, display, storage, export and traceability of UAV flight data; The ground computer side has functions such as map display, flight trajectory drawing, geofence, obstacle display, parameter tracking and playback, and at the same time performs statistical analysis, result display and report export on the trajectory control deviation, flight altitude and stability, flight attitude and stability, flight speed and maneuverability, range and flight time of the UAV flight according to the agreed statistical methods.

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