Solar-powered unmanned aerial vehicle endurance ground testing method and apparatus

Abstract

The application discloses a kind of solar unmanned aerial vehicle endurance ground test method and device, wherein the method is suitable for solar unmanned aerial vehicle endurance ground test system, wherein the endurance ground test system can obtain the endurance of unmanned aerial vehicle by the power and electrical energy test data obtained by ground test calculation length of time;Including: obtaining the power test data and electrical energy test data of target unmanned aerial vehicle according to test task instruction;According to the power test data and the electrical energy test data, obtain power consumption power and electrical energy charging power;According to the power consumption power and the electrical energy charging power, obtain the residual electrical energy of the battery of target unmanned aerial vehicle, so as to estimate the endurance of target unmanned aerial vehicle according to the residual electrical energy.The application scheme can carry out linkage test to power and electrical energy, so as to estimate the endurance of unmanned aerial vehicle according to test data, effectively improve system design effect.

Description

Technical Field

[0001] This specification relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a ground testing method, apparatus, electronic device, and storage medium for solar-powered UAV flight time. Background Technology

[0002] Solar-powered drones are unmanned aerial vehicles that utilize solar energy as their power source. They convert solar energy into electrical energy using solar cells, which then drives motors to rotate propellers and generate flight propulsion. Designing a solar-powered drone presents a new technological and engineering challenge. Besides complex system design, it requires testing and collecting performance data from various drone systems to verify the design's accuracy in estimating its solar-powered endurance. This is crucial for the electrical power design of solar-powered drones. Currently, there is no ground-based testing system specifically for the flight time of solar-powered drones. Previous systems conducted power and electrical tests separately, resulting in ineffective testing of the linkage between electrical energy and power consumption, affecting the accuracy of system performance testing and flight time estimation. Therefore, to accurately measure the performance of the power and electrical systems of solar-powered drones, a scheme for simultaneously testing the power and electrical systems is needed to effectively assist in verifying the flight time design of solar-powered drones. Summary of the Invention

[0003] The purpose of the embodiments in this specification is to address the above-mentioned problems by providing a ground testing method, apparatus, electronic device, and storage medium for solar-powered unmanned aerial vehicle (UAV) flight time.

[0004] To solve the above-mentioned technical problems, the embodiments in this specification are implemented as follows:

[0005] Firstly, a ground-based test method for the flight time of a solar-powered unmanned aerial vehicle (UAV) is proposed, applicable to a ground-based test system for the flight time of a solar-powered UAV, wherein the ground-based test system can estimate the flight time of the UAV based on power and electrical energy test data obtained from ground tests; the method includes:

[0006] Based on the test mission instructions, obtain the target UAV's power test data and electrical energy test data;

[0007] Based on the power test data and the electrical energy test data, the power consumption and electrical charging power are obtained;

[0008] Based on the power consumption and the charging power, the remaining battery power of the target UAV is obtained, so as to estimate the flight time and / or range of the target UAV based on the remaining battery power.

[0009] Furthermore, obtaining the power test data includes obtaining the power test data through the power test subsystem of the flight time ground test system, wherein the power test data includes the aerodynamic parameters of the target UAV, and the aerodynamic parameters include one or more of the following: thrust, lift, drag, gravity, and torque; and / or,

[0010] Obtaining power test data includes obtaining the power test data through the power test subsystem of the flight time ground test system. The power test data includes the solar panel charging characteristics and battery discharging characteristics under set influencing factors. The solar panel charging characteristics include charging voltage and charging current, and the battery discharging characteristics include discharging voltage and discharging current.

[0011] Furthermore, the test mission instructions include sending preset corresponding test mission instructions to the power test subsystem and / or the electrical energy test subsystem via the host computer of the flight time ground test system.

[0012] Further, based on the power test data and the electrical energy test data, the power consumption and electrical energy charging power are obtained, including:

[0013] Based on the power test data and the electrical energy test data, a power model and a solar radiation model are established respectively;

[0014] Based on the aforementioned dynamic model, the power consumption is obtained;

[0015] The electrical charging power is obtained based on the solar radiation model.

[0016] Furthermore, the dynamic model is determined according to the aerodynamic principles of the UAV, so that the dynamic model can characterize the relationship between the dynamic test data and the onboard motor speed and the power consumption.

[0017] Furthermore, the solar radiation model is determined according to the solar panel charging principle, so that the solar radiation model can characterize the relationship between the power test data, the UAV flight parameters and the power charging power.

[0018] Furthermore, based on the power consumption power and the electrical charging power, the remaining electrical energy of the target drone's battery is obtained, including: calculating the remaining electrical energy of the target drone's battery from the charging electrical energy corresponding to the electrical charging power, the power consumption electrical energy corresponding to the power consumption power, and the electrical energy consumed by the circuit components of the target drone.

[0019] Secondly, a ground testing device for solar-powered unmanned aerial vehicle (UAV) flight time is proposed, applicable to a ground testing system for solar-powered UAV flight time, wherein the ground testing system for flight time can estimate the flight time of the UAV based on power and electrical energy test data obtained from ground tests; the device includes:

[0020] The first module is able to obtain the power test data and electrical energy test data of the target UAV according to the test mission instructions;

[0021] The second module is able to obtain the power consumption power and the power charging power based on the power test data and the power test data.

[0022] The third module is able to obtain the remaining power of the target UAV's battery based on the power consumption and the charging power, so as to estimate the flight time and / or range of the target UAV based on the remaining power.

[0023] Thirdly, an electronic device is proposed, comprising: a processor; and a memory arranged to store computer-executable instructions, which, when executed, cause the processor to perform the solar-powered unmanned aerial vehicle flight time ground testing method described in the first aspect.

[0024] Fourthly, a computer-readable storage medium is provided, characterized in that the computer-readable storage medium stores one or more programs, which, when executed by an electronic device including multiple applications, cause the electronic device to perform the solar-powered UAV flight time ground testing method described in the first aspect.

[0025] This instruction manual can achieve at least the following technical effects:

[0026] The present invention constructs a ground testing system suitable for the flight time of solar-powered UAVs. Based on the test mission instructions, it can obtain the power test data and electrical energy test data of the target UAV; based on the power test data and electrical energy test data, it can obtain the power consumption power and electrical energy charging power; based on the power consumption power and electrical energy charging power, it can obtain the remaining electrical energy of the target UAV's battery, so as to estimate the flight time of the target UAV based on the remaining electrical energy, which can effectively improve the system design effect. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the structure of a solar-powered UAV flight time ground test system provided in the embodiments of this specification.

[0029] Figure 2 This is a schematic diagram of the power testing subsystem of the solar-powered UAV flight time ground testing system provided in the embodiments of this specification.

[0030] Figure 3 This is a schematic diagram of the power testing subsystem of the solar-powered UAV flight time ground testing system provided in the embodiments of this specification.

[0031] Figure 4 This is one of the schematic diagrams of a ground test method for the flight time of a solar-powered UAV provided in the embodiments of this specification.

[0032] Figure 5 This is the second schematic diagram of a ground test method for the flight time of a solar-powered UAV, provided as an embodiment of this specification.

[0033] Figure 6 This is the third schematic diagram of the ground test method for the flight time of a solar-powered UAV provided in the embodiments of this specification.

[0034] Figure 7 This is the fourth schematic diagram of the ground test method for the flight time of a solar-powered UAV provided in the embodiments of this specification.

[0035] Figure 8 This is a schematic diagram of a ground-based solar-powered UAV flight time testing device provided in an embodiment of this specification.

[0036] Figure 9 This is a schematic diagram of the structure of an electronic device provided as an embodiment of this specification. Detailed Implementation

[0037] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0038] The following detailed description of a ground-based flight time testing scheme for a solar-powered unmanned aerial vehicle (UAV) described in this manual is illustrated with a specific example.

[0039] The purpose of this invention is to accurately measure the performance of the power and electrical systems of solar-powered drones. By simultaneously conducting power and electrical system tests, it aims to effectively assist in verifying the technical issues related to the endurance design of solar-powered drones. Solar-powered drones are unmanned aerial vehicles that utilize solar radiation energy as their power source. They convert solar energy into electrical energy using solar panels to power motors that drive propellers and generate flight propulsion. Solar energy is highly reliable and sustainable; once deployed, the process of generating electricity from solar energy will almost completely eliminate carbon emissions. Designing solar-powered drones presents a new technological and engineering challenge. In addition to complex overall, aerodynamic, structural, electrical, control, and system integration design work, it also requires testing and collecting performance data from various drone systems. This data is crucial for verifying the accuracy of the estimated endurance design and is essential for the iterative design process.

[0040] Based on the prior art known to the inventors of this application, there is currently no ground-based testing system for the flight time of solar-powered UAVs. Existing testing schemes conduct power and electrical tests of the UAV separately. For example, the propeller slipstream can dissipate heat from the solar panels operating for extended periods, affecting their power generation performance. This impact is not accurately measured or estimated in existing testing schemes. Taking propeller power testing as another example, assuming a scenario where throttle is used as a control variable to indirectly control propeller speed for thrust testing, a separate testing device is needed for actual speed testing. However, it is still impossible to simultaneously acquire power consumption at the corresponding speed while obtaining aerodynamic test data. In conclusion, to accurately evaluate the performance of the power and electrical systems of solar-powered UAVs, a comprehensive ground-based testing system that meets the requirements for simultaneous testing is needed to assist in verifying the design of the solar-powered UAV's endurance capability.

[0041] Example 1

[0042] To illustrate the present invention more intuitively, in one embodiment of the invention, as shown below... Figure 1 The schematic diagram of the solar-powered UAV flight time ground test system is shown below for illustration. Figure 1 As shown, the solar-powered UAV flight time ground test system of this embodiment includes a power test subsystem, an electrical energy test subsystem, and a host computer, so as to calculate the flight time of the UAV through power and electrical energy test data obtained from ground tests.

[0043] From a hardware perspective, the testing system consists of a programmable DC regulated power supply, force and torque sensors, motor control and measurement circuits, a radiometer, a power meter, and a test bench. The host computer can be an independent terminal or a server software or hardware. This dynamic testing subsystem can test the UAV motor speed control response, measure the relationship between throttle and time-averaged aerodynamic forces, torque, and power consumption; this electrical energy testing subsystem can test the relationship between solar power generation and light intensity, and monitor the charging and discharging processes of the airborne power supply; the host computer can communicate with the sensors, power supply, and motor control and measurement circuits according to the test program settings to complete data acquisition, processing, and storage. Therefore, the flight time ground testing system of this embodiment has a high degree of integration and can complete the test fully automatically. Figure 2 As shown, the power testing subsystem includes a propeller, motor, motor control circuit, speed measuring device, programmable DC regulated power supply, power meter, pressure sensor, torque sensor, electronic speed controller, and amplifier; among them, the power meter, motor control circuit, and amplifier have communication connections with the host computer. Figure 3 As shown, the power testing subsystem includes a solar panel, a maximum power tracker, a battery, a power meter, a radiometer, and an electronic load; among them, the radiometer, power meter, and electronic load have communication connections with the host computer.

[0044] Based on such Figures 1 to 3 The solar-powered UAV flight time ground test system shown in the present invention proposes a solar-powered UAV flight time ground test method according to an embodiment of the present invention, such as... Figure 4 The diagram shown is a schematic representation of a ground-based test method for the flight time of a solar-powered unmanned aerial vehicle (UAV) according to an embodiment of the present invention, including:

[0045] S1: Based on the test mission instructions, obtain the power test data and electrical energy test data of the target UAV.

[0046] In some embodiments, obtaining power test data includes obtaining the power test data through the power test subsystem of the flight time ground test system, wherein the power test data includes the aerodynamic parameters of the target UAV, and the aerodynamic parameters include one or more of the following: tension, lift, drag, gravity, and torque.

[0047] Specifically, in combination Figure 1 and Figure 2The schematic diagram of the power subsystem is shown below. Assuming the motor control circuit is a brushless motor electronic speed controller, the input control signal is a PWM signal. Different throttle commands are achieved by changing the signal's duty cycle. The speed measuring device is a single-chip microcomputer controlled by an ARM architecture. It compares the potential difference between any two phases of the brushless motor's power supply lines, sampling data every time the motor rotates a certain angle, achieving non-contact speed measurement. The speed measuring device communicates with the host computer via an RS232 interface, transmitting, processing, and storing speed information in real time. A programmable DC regulated power supply provides constant voltage DC power for the power system test, and a power meter is connected to the bus to measure the consumed electrical power and transmit this power data to the host computer via RS232. The motor can be mounted on a stable bracket fixed to the ground. The bracket is equipped with pressure and torque measurement sensors. After sampling and filtering by an amplifier, the data is transmitted to the host computer via RS485 to measure the aerodynamic thrust and counter-torque generated by the propeller. The power testing subsystem generates a corresponding PWM control signal sequence based on the test task sent by the host computer. During the power test, the continuously changing motor speed is acquired, and the resulting power consumption, pulling force, and corresponding lift, resistance, gravity, torque, etc. are measured and recorded simultaneously. The host computer processes and stores the data using a low-pass filter.

[0048] In some embodiments, obtaining power test data includes obtaining the power test data through the power test subsystem of the flight time ground test system, wherein the power test data includes solar panel charging characteristics and battery discharging characteristics under set influencing factors, the solar panel charging characteristics including charging voltage and charging current, and the battery discharging characteristics including discharging voltage and discharging current.

[0049] Specifically, in combination Figure 1 and Figure 3The schematic diagram of the power subsystem is shown below. During power subsystem testing, data can be collected on the rechargeable battery capacity, charge / discharge voltage curves, solar panel power generation efficiency and power characteristics, and the conversion efficiency characteristics of the solar maximum power tracking device (MPT). When measuring solar intensity, a radiometer is used, placed in a flat, unobstructed area near the test site. The measured solar energy values ​​are transmitted to the host computer via RS485 protocol. The power circuit of the solar-powered drone can be led out and connected in series with a power meter to measure the power output directly from the solar panel and the power output after passing through the MPT. An electronic load can also be connected to the battery terminal, communicating with the host computer via RS232 protocol to measure the battery capacity and discharge curve. The MPT is a DC-DC converter circuit that converts the fluctuating DC power generated by the solar panel into stable DC power. Furthermore, by changing the circuit load, the solar panel can always operate at its highest conversion efficiency. Meanwhile, when conducting energy system tests, electronic loads can be used to measure the discharge characteristics of the storage battery. Depending on weather conditions and test requirements, fully automated outdoor energy self-sufficiency tests of solar-powered drones can be completed to measure data such as the conversion efficiency of the solar panels installed on the drone and the cycle of fully charging the storage battery, providing data support for modeling the energy system of solar-powered drones.

[0050] In some embodiments, the test task instruction includes sending a preset corresponding test task instruction to the power test subsystem and / or the electrical energy test subsystem via a host computer of the flight time ground test system. For example, the host computer can preset the test task and generate a corresponding PWM control signal sequence to control the power test subsystem or the electrical energy test subsystem to execute the corresponding test task.

[0051] S2: Based on the power test data and the electrical energy test data, obtain the power consumption power and the electrical energy charging power.

[0052] In some embodiments, power consumption and charging power are obtained based on the power test data and the electrical energy test data, such as... Figure 5 As shown, it includes:

[0053] S511: Based on the power test data and the electrical energy test data, establish a power model and a solar radiation model respectively.

[0054] S512: Based on the power model, obtain the power consumption.

[0055] S513: Obtain the electrical charging power based on the solar radiation model.

[0056] In one embodiment, the dynamic model is determined according to the aerodynamic principles of the unmanned aerial vehicle (UAV) so that the dynamic model can characterize the relationship between the dynamic test data and the onboard motor speed and the power consumption. Specifically, the dynamic model is described as follows: T = C T N 2 P=C P N 3 Where T is the pulling force generated by the power system, P is the power consumption of the power system, and C is the tensile force generated by the power system. T It is the tensile coefficient, C P This is the power coefficient, a regression parameter related to the power system, and N is the propeller speed. The aerodynamic forces of the UAV, including lift L, drag D, gravity G, and thrust T, are balanced as follows: Lsinθ + Dcosθ = T, Lcosθ - Dsinθ = G; where θ is the angle of attack under optimal energy conditions for the UAV's cruise, and the lift and drag at this point have been obtained numerically and through other means. Substituting these values ​​into the above equation yields the required propeller speed and power consumption.

[0057] In one embodiment, the solar radiation model is determined according to the solar panel charging principle so that the solar radiation model can characterize the relationship between the power test data, the UAV flight parameters and the power charging power.

[0058] Specifically, the solar photovoltaic radiation model adopts the Keidel solar energy model, which treats the sun as a uniformly emitting point light source and calculates the light intensity of the Earth's orbit outside the atmosphere. This value is only related to the date and reflects the periodic relative motion of the Earth during the day. n represents the day of the year.

[0059]

[0060] The solar declination angle δ refers to the angle between the incident sunlight and the Earth's equator. The angle between the Earth's rotational axis and its revolution axis is called the obliquity of the ecliptic.

[0061] a=23°27′8.26″-0.4684″t y

[0062] Among them, t y It is the Julian year, calculated from 1900. The obliquity of the ecliptic decreases at a rate of approximately 46.84″ per century, so it can be considered a constant. Therefore, the solar declination only changes periodically with different dates within a year.

[0063]

[0064] Solar hour angle θ sDefined as: local time t, starting at noon (0), increasing by 15° every hour. The value is negative in the morning and positive in the afternoon, varying by ±180° per day, i.e., θ. s =π(t / 12-1).

[0065] Combined with local latitude φ La It can calculate the solar altitude angle α. s Solar altitude angle (α) refers to the angle between the sun's rays at a given location and a cross-section of the Earth's surface connecting that location to the Earth's center. Solar radiation intensity is highest when the solar altitude angle is 90°. As the solar altitude angle decreases, solar radiation gradually decreases. According to geometric relationships, we can obtain: sinα s =sinφ La sinδ+cosφ La cosδcosθ s .

[0066] Solar azimuth γ s It is the angle measured clockwise with the target object as the axis, the north of the target object as the starting direction, and the direction of sunlight as the ending direction.

[0067]

[0068] Among them, γ is solved by inverse cosine value s At that time, it is necessary to determine based on θ s , for γ s Make positive and negative corrections.

[0069] The solar altitude angle needs to be corrected based on the object's altitude, where R is the Earth's radius and H is the altitude.

[0070]

[0071] At any height, within the plane of illumination, the solar irradiance I measured per unit area. b :

[0072] I b =I0e c ,

[0073] Considering the scattering effect of the atmosphere, the irradiance scattered by the atmosphere is represented by I. d This means that, on a horizontal plane at any height, solar illuminance can be obtained by superimposing the two:

[0074] I d =0.08I b e -H / 7000 ,I h =I b sinα s +I d

[0075] For a solar panel attached to an aircraft, the irradiance of the vertically incident solar energy needs to be calculated based on the aircraft's attitude angle to determine its energy output. In a ground-based inertial coordinate system, the solar radiation vector can be expressed as:

[0076] n s =[cosα s cosγ s cosα s sinγ s -sinα s ] T

[0077] In the body axis frame, the vector incident on the solar panel can be represented as n b =[0 0 1] T .

[0078] The angle between the incident sunlight rays and the target angle can be obtained using vector arithmetic rules.

[0079] cosλ=n b ×(L bg ×n s )

[0080] Therefore, the output power of the solar panel can be expressed as:

[0081] P s =S s η s η mppt cosλI h

[0082] Where: η s For the energy conversion efficiency of photovoltaic cells, η mppt For MPPT conversion efficiency, S s The area to be covered by solar panels needs to be projected onto the body axis O. xy Within a plane. Solar power P at any given moment. s It can be expressed by the following composite function.

[0083] P s =f s (q,H,t,φ La ,η,S s )

[0084] Through actual measurements, some parameters in the above formula were identified and regressed to obtain a solar radiation model that conforms to local lighting conditions. This model shows that the solar power generation capacity of the UAV is solely dependent on the UAV's attitude, described by a quaternion q, including time t, latitude and longitude φ. LaAltitude H, efficiency parameter η of the UAV energy conversion system, and wing area S s This is relevant, and energy acquisition can then be simulated through kinematic simulation.

[0085] S3: Based on the power consumption and the charging power, obtain the remaining power of the target UAV's battery, so as to estimate the flight time and / or range of the target UAV based on the remaining power.

[0086] In one embodiment, obtaining the remaining battery energy of the target drone based on the power consumption power and the electrical charging power includes: calculating the remaining battery energy of the target drone based on the charging power corresponding to the electrical charging power, the power consumption power corresponding to the power consumption power, and the electrical energy consumed by the circuit components of the target drone.

[0087] Specifically, the battery capacity should be determined during the selection of the system. During flight, the remaining battery charge can be calculated using the following formula:

[0088]

[0089] Among them, t s Let t be the starting time. f As of the cutoff time, P S The charging power of the solar panel, P TH Power is consumed by the power components. Let t represent the average power consumption of the circuit board, t be the local time, and V be the flight speed. The battery energy changes of the drone during flight can be calculated numerically.

[0090] In one embodiment, the host computer can also run a control program, including, for example... Figure 6 The interactive interface shown is used to set parameters for the solar-powered UAV flight time ground test system. Based on real-time data collection and processing by the host computer, the interface displays parameters such as... Figure 7 The performance analysis chart shown below, in which Figure 7 (a) is a graph showing the relationship between the charging current and efficiency of the maximum power tracker (MPPT). Figure 7 (b) is a graph showing the relationship between local time and solar irradiance. Figure 7 (c) A graph showing the relationship between local time, charging voltage, and charging current during the charging process of the solar panel, for designers to analyze and refer to.

[0091] The present invention constructs a ground testing system suitable for the flight time of solar-powered UAVs. Based on the test mission instructions, it can obtain the power test data and electrical energy test data of the target UAV; based on the power test data and electrical energy test data, it can obtain the power consumption power and electrical energy charging power; based on the power consumption power and electrical energy charging power, it can obtain the remaining electrical energy of the target UAV's battery, so as to estimate the flight time of the target UAV based on the remaining electrical energy, which can effectively improve the system design effect.

[0092] Example 2

[0093] Figure 8 This is a schematic diagram of a solar-powered UAV flight time ground testing device 600 provided as an embodiment of this specification. Please refer to... Figure 8 In one embodiment, the solar-powered UAV flight time ground testing device 800 is suitable for a solar-powered UAV flight time ground testing system, wherein the flight time ground testing system can calculate the UAV's endurance time based on power and electrical energy test data obtained from ground tests; the device includes:

[0094] The first module 801 is able to obtain the power test data and electrical energy test data of the target UAV according to the test mission instructions;

[0095] The second module 802 is able to obtain the power consumption power and the power charging power based on the power test data and the power test data;

[0096] The third module 803 is able to obtain the remaining power of the target UAV's battery based on the power consumption and the power charging, so as to estimate the flight time and / or range of the target UAV based on the remaining power.

[0097] It should be understood that the solar-powered UAV flight time ground testing device 800 of the embodiments of this specification can also perform... Figures 1 to 7 The method for performing flight time ground testing on a solar-powered unmanned aerial vehicle (UAV) and realizing the flight time ground testing on a solar-powered UAV. Figures 1 to 7 The functionality of the example shown will not be elaborated upon here.

[0098] Example 3

[0099] Figure 9 This is a schematic diagram of the structure of an electronic device according to one embodiment of this specification. Please refer to it. Figure 9At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and memory. The memory may include main memory, such as high-speed random-access memory (RAM), or non-volatile memory, such as at least one disk drive. Of course, the electronic device may also include other hardware required for other business operations.

[0100] The processor, network interface, and memory can be interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 9 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0101] Memory is used to store programs. Specifically, programs may include program code, which includes computer operation instructions. Memory may include main memory and non-volatile memory, and provides instructions and data to the processor.

[0102] The processor reads the corresponding computer program from non-volatile memory into main memory and then executes it, forming a shared resource access control mechanism at the logical level. The processor executes the program stored in memory and specifically performs the following operations:

[0103] A ground-based flight time testing system for solar-powered unmanned aerial vehicles (UAVs) is provided, wherein the system can estimate the flight time of the UAV based on power and electrical test data obtained from ground tests; the method includes:

[0104] Based on the test mission instructions, obtain the target UAV's power test data and electrical energy test data;

[0105] Based on the power test data and the electrical energy test data, the power consumption and electrical charging power are obtained;

[0106] Based on the power consumption and the charging power, the remaining battery power of the target UAV is obtained, so as to estimate the flight time and / or range of the target UAV based on the remaining battery power.

[0107] The above is as described in this instruction manual. Figures 1 to 7The ground testing method for solar-powered UAV flight time disclosed in the illustrated embodiments can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this specification. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this specification can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0108] Of course, in addition to the software implementation, the electronic devices in the embodiments of this specification do not exclude other implementation methods, such as logic devices or a combination of hardware and software, etc. That is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0109] Example 4

[0110] This specification also provides an embodiment of a computer-readable storage medium that stores one or more programs, the programs including instructions that, when executed by a portable electronic device including multiple applications, enable the portable electronic device to perform... Figures 1 to 7 The illustrated embodiment provides a ground-based method for testing the flight time of a solar-powered unmanned aerial vehicle (UAV), specifically used to perform the following methods:

[0111] A ground-based flight time testing system for solar-powered unmanned aerial vehicles (UAVs) is provided, wherein the system can estimate the flight time of the UAV based on power and electrical test data obtained from ground tests; the method includes:

[0112] Based on the test mission instructions, obtain the target UAV's power test data and electrical energy test data;

[0113] Based on the power test data and the electrical energy test data, the power consumption and electrical charging power are obtained;

[0114] Based on the power consumption and the charging power, the remaining battery power of the target UAV is obtained, so as to estimate the flight time and / or range of the target UAV based on the remaining battery power.

[0115] In summary, the above description is merely a preferred embodiment of this specification and is not intended to limit the scope of protection of this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

[0116] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an electronic data carrier device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0117] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0118] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0119] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

Claims

1. A ground-based method for testing the flight time of a solar-powered unmanned aerial vehicle (UAV), characterized in that, A ground-based flight test system for solar-powered unmanned aerial vehicles (UAVs) is provided. This system can estimate the flight time of the UAV based on power and electrical energy test data obtained from ground tests. The ground-based flight test system includes a power test subsystem, an electrical energy test subsystem, and a host computer. The power test subsystem includes a propeller, a motor, a motor control circuit, a speed measuring device, a programmable DC regulated power supply, a power meter, a pressure sensor, a torque sensor, an electronic speed controller, and an amplifier. The power testing subsystem includes a solar panel, a maximum power tracker, a battery, a power meter, a radiometer, and an electronic load; the method includes: Based on the test mission instructions, obtain the target UAV's power test data and electrical energy test data; Based on the power test data and the electrical energy test data, the power consumption and electrical charging power are obtained; Based on the power consumption and the charging power, the remaining battery power of the target drone is obtained, so as to estimate the flight time of the target drone based on the remaining battery power. Based on the power test data and the electrical energy test data, the power consumption and electrical charging power are obtained, including: Based on the power test data and the electrical energy test data, a power model and a solar radiation model are established respectively; Based on the aforementioned dynamic model, the power consumption is obtained; The electrical charging power is obtained based on the solar radiation model. The dynamic model is determined in accordance with the aerodynamic principles of UAVs, so that the dynamic model can characterize the relationship between the dynamic test data and the airborne motor speed and the power consumption. The dynamic model is described as follows: , Where T is the pulling force generated by the power system, and P is the power consumption of the power system. It is the tensile coefficient. This is the power coefficient, where N is the propeller speed. The aerodynamic balance of the UAV is as follows: , The aerodynamic forces of the UAV include lift L, drag D, gravity G, and thrust T; wherein, the optimal cruise state of the UAV... The angle of attack under optimal energy conditions.

2. The method according to claim 1, characterized in that, Obtaining power test data includes acquiring the power test data through the power test subsystem of the flight time ground test system, wherein the power test data includes aerodynamic parameters of the target UAV, and the aerodynamic parameters include one or more of thrust, lift, drag, gravity, and torque; and / or, Obtaining power test data includes obtaining the power test data through the power test subsystem of the flight time ground test system. The power test data includes the solar panel charging characteristics and battery discharging characteristics under set influencing factors. The solar panel charging characteristics include charging voltage and charging current, and the battery discharging characteristics include discharging voltage and discharging current.

3. The method according to claim 2, characterized in that, According to the test mission instructions, the corresponding preset test mission instructions are sent from the host computer of the flight time ground test system to the power test subsystem and / or the electrical energy test subsystem.

4. The method according to claim 1, characterized in that, The solar radiation model is determined based on the solar panel charging principle, so that the solar radiation model can characterize the relationship between the power test data, the UAV flight parameters and the power charging power.

5. The method according to claim 1, characterized in that, The remaining energy of the target drone's battery is obtained based on the power consumption power and the electrical charging power, including: calculating the remaining energy of the target drone's battery from the charging energy corresponding to the electrical charging power, the power consumption power corresponding to the power consumption power, and the electrical energy consumed by the target drone's circuit components.

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