Digital twin modeling method and system for unmanned aerial vehicle

Abstract

The invention provides an unmanned aerial vehicle digital twin modeling method and system, and the method comprises the steps: obtaining the parameter information of a key part of an entity unmanned aerial vehicle, building an initial unit model based on the parameter information, carrying out the stress constraint of the initial unit model, obtaining a three-dimensional unit model, and combining a plurality of three-dimensional unit models into a three-dimensional structure model; acquiring a first angular velocity of the entity unmanned aerial vehicle in a ground coordinate system and an Euler angle of the entity unmanned aerial vehicle in a vehicle body coordinate system, and constructing a first dynamic model and a first motion model based on the first angular velocity and the Euler angle; obtaining thrust data of the entity unmanned aerial vehicle, obtaining a second dynamic model based on the thrust data and the first motion model, and generating a second motion model based on the second dynamic model; and associating the four models to a three-dimensional structure model to form a digital twin model. The three-dimensional structure model is driven through the four models, operation of the entity unmanned aerial vehicle is synchronously simulated on the virtual level, and dynamic and accurate operation monitoring of the entity unmanned aerial vehicle is achieved.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a method and system for modeling a digital twin of an unmanned aerial vehicle. Background Art

[0002] Unmanned aerial vehicle, referred to as "UAV", is an unmanned aircraft controlled by radio remote control equipment and self-contained program control device. Compared with manned aircraft, it has the advantages of small size, low cost, easy use and low environmental requirements.

[0003] The complex use environment of drones makes them vulnerable to uncertain damage during operation, and the safety boundary conditions maintained by experience cannot fully guarantee the reliability of the equipment. During the operation of drones, it is difficult to frequently and closely inspect them, that is, it is impossible to dynamically, accurately and regularly monitor their operating damage, resulting in a reduction in their service life. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a UAV digital twin modeling method and system, aiming to solve the technical problem in the prior art that the UAV cannot dynamically, accurately and regularly monitor its operating damage during operation, resulting in a reduction in its service life.

[0005] In order to achieve the above objectives, in a first aspect, an embodiment of the present application provides a method for modeling a drone digital twin, comprising the following steps: Acquire parameter information of key components of the physical drone, construct an initial unit model corresponding to the key component based on the parameter information, perform stress constraints on the initial unit model to obtain a three-dimensional unit model, and combine a plurality of the three-dimensional unit models into a three-dimensional structural model; Acquire a first angular velocity of the physical drone in a ground coordinate system, and acquire Euler angles of the physical drone in a body coordinate system, wherein the Euler angles include a pitch angle, a yaw angle, and a roll angle, and construct a first dynamic model and a first motion model for adjusting the posture of the three-dimensional structure model based on the first angular velocity and the Euler angles; Acquire thrust data of the physical drone, acquire a second power model for adjusting the position of the three-dimensional structure model based on the thrust data and the first motion model, and generate a second motion model for adjusting the position of the three-dimensional structure model based on the second power model; The first power model, the first motion model, the second power model and the second motion model are associated with the three-dimensional structural model to form a digital twin model.

[0006] Compared with the prior art, the beneficial effects of the present invention are as follows: by constructing the three-dimensional structural model, the physical UAV is reproduced at the virtual level; in the process of constructing the three-dimensional structural model, the initial unit model is constructed and combined, and components that have no effect on the operating parameters of the physical UAV are eliminated, which can effectively improve the efficiency of modeling; stress constraints are imposed on the initial unit model to ensure that the initial unit model and the key components achieve a more similar matching degree, so as to accurately grasp the real-time operating parameters of the physical UAV in the subsequent process and improve the accuracy of safety monitoring; the first power model, the first motion model, the second power model and the second motion model are constructed through the operating data of the physical UAV during operation, and the three-dimensional structural model is driven by them, so that the operation of the physical UAV can be synchronously simulated at the virtual level, dynamic and accurate operation monitoring of the physical UAV can be achieved, and the service life of the physical UAV is increased.

[0007] Furthermore, the parameter information includes size information and material information, and the step of constructing an initial unit model corresponding to the key component based on the parameter information is specifically as follows: A basic unit model corresponding to the key component is constructed using the size information, and material information is assigned to the basic unit model using the material information to form an initial unit model.

[0008] Furthermore, the step of applying stress constraints to the initial unit model to obtain a three-dimensional unit model includes: The initial unit model is gridded to obtain a plurality of grid units, and a detection area on the key component is determined based on the plurality of grid units according to a mapping relationship between the initial unit model and the key component; Applying actual stress to the key component and applying simulated stress to the initial unit model, wherein the actual stress is equal to the simulated stress, so as to respectively obtain an actual strain value of the detection area and a simulated strain value of the gridded unit; The material information of the meshed unit is adjusted based on the difference between the actual strain value and the simulated strain value to form the three-dimensional unit model.

[0009] Furthermore, the step of obtaining the first angular velocity of the physical drone in the ground coordinate system includes: Acquiring torque data of the physical drone, wherein the torque data includes aerodynamic torque, control torque, damping torque and cross torque; A first angular velocity is determined based on the torque data.

[0010] Furthermore, the calculation formula of the first angular velocity is: , in, represents the first angular velocity, represents the moment of inertia matrix, represents the aerodynamic moment, represents the control torque, represents the damping torque, represents the cross moment.

[0011] Furthermore, the step of constructing a first dynamic model and a first motion model for adjusting the posture of the three-dimensional structure model based on the first angular velocity and the Euler angle includes: Mapping the first angular velocity from the ground coordinate system to the body coordinate system to obtain a second angular velocity, and dividing the second angular velocity by direction in the body coordinate system to obtain an x-axis angular velocity component, a y-axis angular velocity component, and a z-axis angular velocity component; Constructing a first dynamic model through the x-axis angular velocity component, the y-axis angular velocity component, the z-axis angular velocity component, the pitch angle, and the yaw angle; A first motion model is constructed by using the pitch angle, the yaw angle, and the roll angle.

[0012] Furthermore, the expression of the first dynamic model is: , in, It indicates the rate of change of the UAV flight attitude angle along the x-axis of the body coordinate system. It indicates the rate of change of the UAV flight attitude angle along the y-axis of the body coordinate system. It indicates the rate of change of the UAV flight attitude angle along the z-axis of the body coordinate system. represents the x-axis angular velocity component, represents the y-axis angular velocity component, represents the z-axis angular velocity component, represents the pitch angle, represents the deflection angle; The expression of the first motion model is: , in, , , , All represent variables describing three-dimensional space. Indicates the roll angle.

[0013] Furthermore, the expression of the second dynamic model is: , in, Represents the x-axis velocity component of the entity drone in the body coordinate system, Represents the y-axis velocity component of the physical drone in the body coordinate system, Represents the z-axis velocity component of the physical drone in the body coordinate system, Indicates thrust data, Indicates the mass of the entity drone.

[0014] In a second aspect, an embodiment of the present application provides a drone digital twin modeling system, which is applied to the drone digital twin modeling method as described in the first aspect above, and the system includes: A construction module is used to obtain parameter information of key components of the physical drone, construct an initial unit model corresponding to the key component based on the parameter information, perform stress constraints on the initial unit model to obtain a three-dimensional unit model, and combine a plurality of the three-dimensional unit models into a three-dimensional structural model; a first generating module, configured to obtain a first angular velocity of the physical drone in a ground coordinate system, and obtain Euler angles of the physical drone in a body coordinate system, wherein the Euler angles include a pitch angle, a yaw angle, and a roll angle, and construct a first dynamic model and a first motion model for adjusting the posture of the three-dimensional structure model based on the first angular velocity and the Euler angles; a second generating module, configured to obtain thrust data of the physical drone, obtain a second power model for adjusting the position of the three-dimensional structure model based on the thrust data and the first motion model, and generate a second motion model for adjusting the position of the three-dimensional structure model based on the second power model; A combination module is used to associate the first power model, the first motion model, the second power model and the second motion model with the three-dimensional structural model to form a digital twin model.

[0015] In a third aspect, an embodiment of the present application provides a computer comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the drone digital twin modeling method as described in the first aspect above is implemented.

[0016] In a fourth aspect, an embodiment of the present application provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the method for digital twin modeling of a drone as described in the first aspect above is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a flow chart of the UAV digital twin modeling method in the first embodiment of the present invention; Figure 2It is a structural block diagram of the UAV digital twin modeling system in the second embodiment of the present invention; The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0018] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0019] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0021] See also Figure 1 The first embodiment of the present invention provides a method for modeling a UAV digital twin, comprising the following steps: S10: Acquire parameter information of key components of the physical drone, construct an initial unit model corresponding to the key component based on the parameter information, perform stress constraints on the initial unit model to obtain a three-dimensional unit model, and combine a plurality of the three-dimensional unit models into a three-dimensional structure model; The parameter information includes size information and material information, and further, the parameter information also includes color information and component connection information. Taking a rotor drone as an example, it includes a body, a rotor, a connecting beam, a fixing block and a wire. For the physical drone, the wire has little effect on its operating parameters, so the modeling of the wire can be omitted.

[0022] The step S10 comprises: S110: constructing a basic unit model corresponding to the key component according to the size information, and assigning material information to the basic unit model according to the material information to form an initial unit model; Taking carbon fiber composite materials as an example, when assigning the material information, several layers of carbon fiber composite materials can be laid to make the initial unit model consistent with the material of the key components of the physical drone. However, in actual production or use, the strength of different positions of the key components cannot be ensured to be completely consistent. Therefore, more detailed adjustments are required.

[0023] S120: gridding the initial unit model to obtain a plurality of grid units, and determining a detection area on the key component based on the plurality of grid units according to a mapping relationship between the initial unit model and the key component; S130: applying actual stress to the key component and applying simulated stress to the initial unit model, wherein the actual stress is equal to the simulated stress, so as to respectively obtain an actual strain value of the detection area and a simulated strain value of the gridded unit; After the detection area is determined, a strain sensor may be provided at the detection area on the key component to obtain an actual strain value.

[0024] S140: Adjusting the material information of the meshed unit based on the difference between the actual strain value and the simulated strain value to form the three-dimensional unit model.

[0025] In some embodiments, the actual stress can be applied at different positions of the key component to obtain multiple groups of actual strain values. Similarly, multiple groups of simulated strain values ​​can be obtained simultaneously. By averaging the multiple groups of actual strain values ​​and the multiple groups of simulated strain values, more accurate comparison data can be obtained.

[0026] S20: obtaining a first angular velocity of the physical drone in a ground coordinate system, and obtaining Euler angles of the physical drone in a body coordinate system, wherein the Euler angles include a pitch angle, a yaw angle, and a roll angle, and constructing a first dynamic model and a first motion model for adjusting the posture of the three-dimensional structure model based on the first angular velocity and the Euler angles; The step S20 comprises: S210: Acquire torque data of the physical drone, where the torque data includes aerodynamic torque, control torque, damping torque, and cross torque; S220: Determine a first angular velocity based on the torque data; The calculation formula of the first angular velocity is: , in, represents the first angular velocity, represents the moment of inertia matrix, represents the aerodynamic moment, represents the control torque, represents the damping torque, represents the cross moment.

[0027] S230: Mapping the first angular velocity from the ground coordinate system to the body coordinate system to obtain a second angular velocity, and dividing the second angular velocity by direction in the body coordinate system to obtain an x-axis angular velocity component, a y-axis angular velocity component, and a z-axis angular velocity component; S240: constructing a first dynamic model through the x-axis angular velocity component, the y-axis angular velocity component, the z-axis angular velocity component, the pitch angle, and the yaw angle; The expression of the first dynamic model is: , in, It indicates the rate of change of the UAV flight attitude angle along the x-axis of the body coordinate system. It indicates the rate of change of the UAV flight attitude angle along the y-axis of the body coordinate system. It indicates the rate of change of the UAV flight attitude angle along the z-axis of the body coordinate system. represents the x-axis angular velocity component, represents the y-axis angular velocity component, represents the z-axis angular velocity component, represents the pitch angle, Indicates the deflection angle.

[0028] S250: constructing a first motion model through the pitch angle, the yaw angle, and the roll angle; The expression of the first motion model is: , in, , , , All represent variables describing three-dimensional space. Indicates the roll angle.

[0029] S30: acquiring thrust data of the physical drone, acquiring a second power model for adjusting the position of the three-dimensional structure model based on the thrust data and the first motion model, and generating a second motion model for adjusting the position of the three-dimensional structure model based on the second power model; The expression of the second dynamic model is: , in, Represents the x-axis velocity component of the entity drone in the body coordinate system, Represents the y-axis velocity component of the physical drone in the body coordinate system, Represents the z-axis velocity component of the physical drone in the body coordinate system, Indicates thrust data, Indicates the mass of the entity drone.

[0030] The expression of the second motion model is: , in, It represents the x-axis displacement of the entity drone in the body coordinate system after t time. It represents the y-axis displacement of the entity drone in the body coordinate system after t time. It represents the z-axis displacement of the entity drone in the body coordinate system after t time. Indicates time.

[0031] S40: Associating the first power model, the first motion model, the second power model, and the second motion model with the three-dimensional structure model to form a digital twin model; It can be understood that after the construction of the digital twin model is completed, a virtual scene model is constructed based on the operating area of ​​the physical drone, and a data transmission model is constructed, the three-dimensional structure model is placed in the virtual scene model, the operating data of the physical drone is collected, and the operating data is transmitted to the first power model, the first motion model, the second power model and the second motion model through the data transmission model to drive the three-dimensional structure model to operate in the virtual scene model in the same operating mode as the physical drone. In this way, real-time monitoring of the physical drone can be completed.

[0032] By constructing the three-dimensional structural model, the physical UAV is reproduced at the virtual level. In the process of constructing the three-dimensional structural model, the initial unit model is constructed and combined, and the components that have no effect on the operating parameters of the physical UAV are eliminated, which can effectively improve the efficiency of modeling; stress constraints are imposed on the initial unit model to ensure that the initial unit model and the key components achieve a more similar matching degree, so as to accurately grasp the real-time operating parameters of the physical UAV in the subsequent process and improve the accuracy of safety monitoring; the first power model, the first motion model, the second power model and the second motion model are constructed through the operating data of the physical UAV during operation, and the three-dimensional structural model is driven by them, so that the operation of the physical UAV can be synchronously simulated at the virtual level, and the dynamic and accurate operation monitoring of the physical UAV can be realized, thereby increasing the service life of the physical UAV.

[0033] See also Figure 2, the second embodiment of the present invention provides a UAV digital twin modeling system, which is applied to the UAV digital twin modeling method described in the above embodiment, and will not be repeated here. As used below, the terms "module", "unit", "subunit", etc. can implement a combination of software and / or hardware for predetermined functions. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0034] The system comprises: A construction module 10 is used to obtain parameter information of key components of the physical drone, construct an initial unit model corresponding to the key component based on the parameter information, perform stress constraints on the initial unit model to obtain a three-dimensional unit model, and combine a plurality of the three-dimensional unit models into a three-dimensional structure model; The building block 10 comprises: A first unit is used to construct a basic unit model corresponding to the key component through the size information, and to assign material information to the basic unit model through the material information to form an initial unit model; The second unit is used to grid the initial unit model to obtain a plurality of grid units, and determine the detection area on the key component based on the plurality of grid units through a mapping relationship between the initial unit model and the key component; A third unit is used to apply actual stress to the key component and to apply simulated stress to the initial unit model, wherein the actual stress is equal to the simulated stress, so as to respectively obtain an actual strain value of the detection area and a simulated strain value of the gridded unit; a fourth unit, configured to adjust the material information of the meshed unit based on a difference between the actual strain value and the simulated strain value to form the three-dimensional unit model; A first generating module 20 is used to obtain a first angular velocity of the physical drone in a ground coordinate system, and obtain Euler angles of the physical drone in a body coordinate system, wherein the Euler angles include a pitch angle, a yaw angle, and a roll angle, and construct a first dynamic model and a first motion model for adjusting the posture of the three-dimensional structure model based on the first angular velocity and the Euler angles; The first generating module 20 comprises: A fifth unit is used to obtain torque data of the physical drone, wherein the torque data includes aerodynamic torque, control torque, damping torque and cross torque; A sixth unit, configured to determine a first angular velocity based on the torque data; a seventh unit, configured to map the first angular velocity from the ground coordinate system to the body coordinate system to obtain a second angular velocity, and divide the second angular velocity by direction in the body coordinate system to obtain an x-axis angular velocity component, a y-axis angular velocity component, and a z-axis angular velocity component; An eighth unit is used to construct a first dynamic model through the x-axis angular velocity component, the y-axis angular velocity component, the z-axis angular velocity component, the pitch angle and the yaw angle; A ninth unit, configured to construct a first motion model through the pitch angle, the yaw angle, and the roll angle; a second generating module 30, configured to obtain thrust data of the physical UAV, obtain a second power model for adjusting the position of the three-dimensional structure model based on the thrust data and the first motion model, and generate a second motion model for adjusting the position of the three-dimensional structure model based on the second power model; The combination module 40 is used to associate the first power model, the first motion model, the second power model and the second motion model with the three-dimensional structural model to form a digital twin model.

[0035] The present invention also provides a computer, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the drone digital twin modeling method as described in the above technical solution is implemented.

[0036] The present invention also provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the drone digital twin modeling method as described in the above technical solution is implemented.

[0037] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0038] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for modeling a UAV digital twin, characterized in that: The following steps are involved: Acquire parameter information of key components of the physical drone, construct an initial unit model corresponding to the key component based on the parameter information, perform stress constraints on the initial unit model to obtain a three-dimensional unit model, and combine a plurality of the three-dimensional unit models into a three-dimensional structural model; Acquire a first angular velocity of the physical drone in a ground coordinate system, and acquire Euler angles of the physical drone in a body coordinate system, wherein the Euler angles include a pitch angle, a yaw angle, and a roll angle, and construct a first dynamic model and a first motion model for adjusting the posture of the three-dimensional structure model based on the first angular velocity and the Euler angles; Acquire thrust data of the physical drone, acquire a second power model for adjusting the position of the three-dimensional structure model based on the thrust data and the first motion model, and generate a second motion model for adjusting the position of the three-dimensional structure model based on the second power model; The first power model, the first motion model, the second power model and the second motion model are associated with the three-dimensional structural model to form a digital twin model.

2. The UAV digital twin modeling method according to claim 1, characterized in that: The parameter information includes size information and material information. The step of constructing an initial unit model corresponding to the key component based on the parameter information is specifically as follows: A basic unit model corresponding to the key component is constructed using the size information, and material information is assigned to the basic unit model using the material information to form an initial unit model.

3. The UAV digital twin modeling method according to claim 2, characterized in that: The step of applying stress constraints to the initial unit model to obtain a three-dimensional unit model comprises: The initial unit model is gridded to obtain a plurality of grid units, and a detection area on the key component is determined based on the plurality of grid units according to a mapping relationship between the initial unit model and the key component; Applying actual stress to the key component and applying simulated stress to the initial unit model, wherein the actual stress is equal to the simulated stress, so as to respectively obtain an actual strain value of the detection area and a simulated strain value of the gridded unit; The material information of the meshed unit is adjusted based on the difference between the actual strain value and the simulated strain value to form the three-dimensional unit model.

4. The UAV digital twin modeling method according to claim 1, characterized in that: The step of obtaining the first angular velocity of the physical drone in the ground coordinate system includes: Acquiring torque data of the physical drone, wherein the torque data includes aerodynamic torque, control torque, damping torque and cross torque; A first angular velocity is determined based on the torque data.

5. The UAV digital twin modeling method according to claim 4, characterized in that: The calculation formula of the first angular velocity is: ， in, represents the first angular velocity, represents the moment of inertia matrix, represents the aerodynamic moment, represents the control torque, represents the damping torque, represents the cross moment.

6. The UAV digital twin modeling method according to claim 1, characterized in that: The step of constructing a first dynamic model and a first motion model for adjusting the posture of the three-dimensional structure model based on the first angular velocity and the Euler angle comprises: Mapping the first angular velocity from the ground coordinate system to the body coordinate system to obtain a second angular velocity, and dividing the second angular velocity by direction in the body coordinate system to obtain an x-axis angular velocity component, a y-axis angular velocity component, and a z-axis angular velocity component; Constructing a first dynamic model through the x-axis angular velocity component, the y-axis angular velocity component, the z-axis angular velocity component, the pitch angle, and the yaw angle; A first motion model is constructed by using the pitch angle, the yaw angle, and the roll angle.

7. The UAV digital twin modeling method according to claim 6, characterized in that: The expression of the first dynamic model is: ， in, It indicates the rate of change of the UAV flight attitude angle along the x-axis of the body coordinate system. It indicates the rate of change of the UAV flight attitude angle along the y-axis of the body coordinate system. It indicates the rate of change of the UAV flight attitude angle along the z-axis of the body coordinate system. represents the x-axis angular velocity component, represents the y-axis angular velocity component, represents the z-axis angular velocity component, represents the pitch angle, represents the deflection angle; The expression of the first motion model is: ， in, , , , All represent variables describing three-dimensional space. Indicates the roll angle.

8. The UAV digital twin modeling method according to claim 7, characterized in that: The expression of the second dynamic model is: ， in, Represents the x-axis velocity component of the entity drone in the body coordinate system, Represents the y-axis velocity component of the physical drone in the body coordinate system, Represents the z-axis velocity component of the physical drone in the body coordinate system, Indicates thrust data, Indicates the mass of the entity drone.

9. A UAV digital twin modeling system, applied to the UAV digital twin modeling method according to any one of claims 1 to 8, characterized in that: The system comprises: A construction module is used to obtain parameter information of key components of the physical drone, construct an initial unit model corresponding to the key component based on the parameter information, perform stress constraints on the initial unit model to obtain a three-dimensional unit model, and combine a plurality of the three-dimensional unit models into a three-dimensional structural model; a first generating module, configured to obtain a first angular velocity of the physical drone in a ground coordinate system, and obtain Euler angles of the physical drone in a body coordinate system, wherein the Euler angles include a pitch angle, a yaw angle, and a roll angle, and construct a first dynamic model and a first motion model for adjusting the posture of the three-dimensional structure model based on the first angular velocity and the Euler angles; a second generating module, configured to obtain thrust data of the physical drone, obtain a second power model for adjusting the position of the three-dimensional structure model based on the thrust data and the first motion model, and generate a second motion model for adjusting the position of the three-dimensional structure model based on the second power model; A combination module is used to associate the first power model, the first motion model, the second power model and the second motion model with the three-dimensional structural model to form a digital twin model.

10. A computer comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the drone digital twin modeling method according to any one of claims 1 to 8 is implemented.

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