Reference map data verification method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of data verification, in particular to a reference map data verification method and device, electronic equipment and a storage medium. The method comprises the following steps: receiving reference map data sent by a comprehensive control machine; verifying the byte length of the reference map data; if the byte length of the reference map data is not equal to the standard byte length, first verification failure information is sent to the comprehensive control machine, so that the comprehensive control machine resends the reference map data according to the first verification failure information; if the byte length of the reference map data is equal to the standard byte length, verifying the reference map data according to a check and algorithm; if the reference map data have errors, sending second verification failure information to the comprehensive control machine, so that the comprehensive control machine resends the reference map data according to the second verification failure information; and if no error exists in the reference image data, tracking the target object according to the reference image data. The method improves the verification accuracy, and improves the data verification efficiency of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of data verification, and in particular to a reference image data verification method, device, electronic device and storage medium. Background Art

[0002] The control and processing circuit board (control device) is installed on the drone, and the drone can achieve real-time communication with the integrated control machine and other airborne equipment through the control and processing circuit board. Due to the special requirements of the aerospace field, the types and number of drones are increasing. The data transmission distance between the integrated control machine and the drone is long and the transmission environment is relatively harsh. Therefore, people now have higher requirements for the reliability of the data transmission method of the control and processing circuit board.

[0003] The ultimate goal of data communication is to accurately transmit the data sent by the transmitter of the integrated control machine and other airborne equipment to the receiving end of the control and processing circuit board. Due to the influence of external factors, the receiving end of the control and processing circuit board may receive erroneous data or even no data at all.

[0004] At present, the control and management processing circuit board verifies the integrity and accuracy of the reference image data sent by the integrated control machine through DSP (Digital Signal Processing). However, this method has a slow verification speed and poor verification efficiency for the reference image data received by the control and management processing circuit board.

[0005] Application Contents

[0006] In view of this, the purpose of the present application is to provide a reference image data verification method, device, electronic device and storage medium to solve the above-mentioned problems and improve the verification efficiency.

[0007] In a first aspect, an embodiment of the present application provides a reference image data verification method, which is applied to a drone, and the method includes:

[0008] Receiving reference image data sent by the integrated control machine; wherein the reference image data is used to characterize the characteristics of the target object;

[0009] Verifying the byte length of the reference image data to obtain a first verification result;

[0010] If the first verification result is that the byte length of the reference image data is not equal to the standard byte length, sending first verification failure information to the integrated control machine, so that the integrated control machine resends the reference image data according to the first verification failure information;

[0011] If the first verification result is that the byte length of the reference image data is equal to the standard byte length, verifying the reference image data according to a checksum algorithm to obtain a second verification result;

[0012] If the second verification result is that the reference image data has an error, sending second verification failure information to the integrated control machine, so that the integrated control machine resends the reference image data according to the second verification failure information;

[0013] If the second verification result is that there is no error in the reference image data, the target object is tracked according to the reference image data.

[0014] Preferably, the step of verifying the reference image data according to a checksum algorithm to obtain a second verification result comprises:

[0015] Circularly right-shift each byte of the reference image data to obtain a first operation result;

[0016] An XOR operation is performed on the first operation result to obtain a second operation result; wherein, if the second operation result is not 0, a second verification result is obtained indicating that there is an error in the reference image data; if the second operation result is 0, a second verification result is obtained indicating that there is no error in the reference image data.

[0017] Preferably, the UAV comprises: a DSP module and an SRIO module;

[0018] The step of sending first verification failure information to the integrated control machine includes:

[0019] The SRIO module generates a verification completion flag and the first verification result;

[0020] The SRIO module sends the verification completion flag and the first verification result to the DSP module, so that the DSP module sends the first verification failure information to the integrated control machine based on the verification completion flag and the first verification result.

[0021] Preferably, the step of sending the second verification failure information to the integrated control machine includes:

[0022] The SRIO module generates the verification completion flag and the second verification result;

[0023] The SRIO module sends the verification completion flag and the second verification result to the DSP module, so that the DSP module sends the second verification failure information to the integrated control machine based on the verification completion flag and the second verification result.

[0024] Preferably, the drone is equipped with a camera; the method further comprises:

[0025] Acquire multiple sample images through the camera;

[0026] Comparing the features of the sample image with the reference image data to obtain a target object image; wherein the target object image is the sample image with the highest matching degree with the reference image data;

[0027] The moving trajectory and / or position of the target object is tracked according to the target object image.

[0028] Preferably, the method further comprises:

[0029] Obtain the command data sent by the integrated control machine and perform tasks according to the command data; wherein the command data includes at least one of the following: drone shutdown, drone startup, drone tracking, drone hovering and drone obstacle avoidance.

[0030] Preferably, the step of executing the task according to the instruction data includes:

[0031] Performing DSP processing on the instruction data to obtain an instruction data analog signal;

[0032] The task is executed according to the instruction data simulation signal.

[0033] The reference image data verification method provided by this application brings the following beneficial effects:

[0034] The present application provides a reference map data verification method, wherein the drone determines whether the reference map data sent by the integrated control machine is complete based on the first verification result, and determines whether there is an error in the reference map data based on the second verification result. If the reference map data is incomplete or has an error, the drone obtains the reference map data resent by the integrated control machine. The method verifies the reference map data based on verification and algorithms, improves the verification accuracy, reduces the burden of the drone verifying data through the DSP, and improves the data verification efficiency of the drone.

[0035] In a second aspect, the present application further provides a reference image data verification device, the device comprising:

[0036] An acquisition module is used to receive reference image data sent by the integrated control machine; wherein the reference image data is used to characterize the characteristics of the target object;

[0037] A data processing module, used for verifying the byte length of the reference image data to obtain a first verification result;

[0038] The data processing module is further configured to send first verification failure information to the integrated control machine if the first verification result is that the byte length of the reference image data is not equal to the standard byte length, so that the integrated control machine resends the reference image data according to the first verification failure information;

[0039] The data processing module is further configured to verify the reference image data according to a checksum algorithm to obtain a second verification result if the first verification result is that the byte length of the reference image data is equal to the standard byte length;

[0040] The data processing module is further configured to send second verification failure information to the integrated control machine if the second verification result is that the reference image data has an error, so that the integrated control machine resends the reference image data according to the second verification failure information;

[0041] The data processing module is further configured to track the target object according to the reference image data if the second verification result is that there is no error in the reference image data.

[0042] The reference image data verification device provided in the embodiment of the present application has the same technical features as the reference image data verification method provided in the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0043] In a third aspect, the present application also provides an electronic device, 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 beneficial effects of any of the methods described above are achieved, which will not be repeated here.

[0044] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the beneficial effects of any of the methods described above are achieved, which will not be repeated here.

[0045] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0046] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 A schematic diagram of a reference image data verification method provided in an embodiment of the present application;

[0049] Figure 2 A schematic diagram of the communication method between the integrated control machine and the drone provided in the embodiment of the present application;

[0050] Figure 3 A schematic diagram of the structure of a reference image data verification device provided in an embodiment of the present application;

[0051] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0052] Reference numerals

[0053] 300-integrated control machine; 200-UAV; 201-optical fiber module; 202-high-speed data bus; 203-DSP module; 204-SRIO module; 205-FPGA module; 206-EMIF DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0055] To facilitate understanding of this embodiment, the embodiments of the present application are described in detail below.

[0056] The present application embodiment provides a reference image data verification method, which is applied to a drone, such as Figure 1 As shown, Figure 1 A flowchart of a reference image data verification method provided in an embodiment of the present application. The method comprises the following steps:

[0057] S101, receiving reference map data sent by the integrated control machine.

[0058] The reference image data is used to characterize the features of the target object.

[0059] Specifically, Figure 2 As shown, Figure 2 Schematic diagram of the communication method between the integrated control machine and the drone provided in the embodiment of the present application. The integrated control machine 300 is a device that can integrate control, monitoring, and communication functions. The drone 200 has an optical fiber module 201. The optical fiber module 201 is used to receive a wireless signal carrying reference image data, and obtain the reference image data sent by the integrated control machine 300 through the high-speed data bus 202 based on the SRIO (Serial RapidIO, high-speed serial interface) communication protocol. SRIO is a high-performance, low-pin-count, data packet exchange-based serial communication protocol with a high transmission speed.

[0060] Such an arrangement improves the communication efficiency between the drone 200 and the integrated control machine 300 and speeds up the speed at which the drone 200 acquires the reference map data.

[0061] S102, verifying the byte length of the reference image data to obtain a first verification result.

[0062] Specifically, the byte length of the reference image data is verified, and the obtained first verification result can be used to determine whether the acquired reference image data is complete.

[0063] S103: If the first verification result is that the byte length of the reference image data is not equal to the standard byte length, first verification failure information is sent to the integrated control machine, so that the integrated control machine resends the reference image data according to the first verification failure information.

[0064] Specifically, the above-mentioned reference image data is divided into 32 data packets for transmission, each data packet should have 8 bytes, so one reference image data should have 256 bytes, that is, the byte length of one reference image data should be 2048 bits. The above-mentioned standard byte length is 2048 bits. If the byte length of the obtained reference image data is not equal to the standard byte length, it means that all or part of the 32 data packets of the reference image data are lost during the transmission process, and the reference image data is incomplete. At this time, the drone 200 will feedback the first verification failure information to the integrated control machine 300, and the integrated control machine 300 will resend the reference image data according to the first verification failure information. This setting reduces the packet loss rate of data transmission between the integrated control machine 300 and the drone 200.

[0065] S104: If the first verification result is that the byte length of the reference image data is equal to the standard byte length, the reference image data is verified according to a checksum algorithm to obtain a second verification result.

[0066] Specifically, the above-mentioned checksum algorithm is an algorithm for verifying the reference image data specified in the GJB1188A standard. The GJB1188A standard is a military verification standard, which is relatively strict. Verifying the reference image data according to the checksum algorithm specified in the standard can obtain an accurate second verification result. The second verification result can be used to determine whether the reference image data obtained by the drone 200 has errors.

[0067] S105: If the second verification result is that the reference image data has an error, a second verification failure message is sent to the integrated control machine, so that the integrated control machine resends the reference image data according to the second verification failure message.

[0068] Specifically, the above-mentioned reference image data will be modulated and demodulated during the transmission process, and this process will be interfered by external noise, causing errors in all or part of the bytes of the reference image data obtained by the drone 200. At this time, the drone 200 will feedback the second verification failure information to the integrated control machine 300, and the integrated control machine 300 will resend the reference image data according to the second verification failure information. This setting reduces the bit error rate of data transmission between the integrated control machine 300 and the drone 200.

[0069] S106: If the second verification result is that there is no error in the reference image data, track the target object according to the reference image data.

[0070] Specifically, if there are no errors in the reference map data after verification, the drone can accurately determine the target object based on the correct reference map data.

[0071] In the reference image data verification method provided in the embodiment of the present application, the drone 200 determines whether the reference image data sent by the integrated control machine 300 is complete based on the first verification result, and determines whether there is an error in the reference image data based on the second verification result. If the reference image data is incomplete or there is an error, the drone 200 obtains the reference image data resent by the integrated control machine 300. In the prior art, the reference image data is verified by DSP. Since the byte length of the reference image data is generally longer than that of other data, the verification speed is slow. Compared with the prior art, this method obtains the reference image data sent by the integrated control machine 300 based on the SRIO communication protocol, improves the verification speed, verifies the reference image data based on the verification and algorithm, improves the verification accuracy, reduces the burden of the drone 200 verifying the data through the DSP, and improves the data verification efficiency of the drone 200.

[0072] The following is an introduction to a method for verifying the accuracy of the reference image data, which includes: performing a circular right shift on each byte of the reference image data to obtain a first operation result; performing an XOR operation on the first operation result to obtain a second operation result; wherein, if the second operation result is not 0, a second verification result is obtained indicating that an error exists in the reference image data; and if the second operation result is 0, a second verification result is obtained indicating that there is no error in the reference image data.

[0073] Specifically, after receiving the reference image data sent by the integrated control machine 300, the drone 200 first caches it through DDR3 (Double-Data-Rate Three Synchronous Dynamic Random Access Memory, the third generation double data rate synchronous dynamic random access memory) (not shown in the figure), and then verifies the correctness of the reference image data. DDR3 is a high-speed, low-power memory. Caching the reference image data through DDR3 can improve the reading, writing and transmission efficiency of the drone 200 for the reference image data. The following takes 4 bytes of reference image data as an example to illustrate the verification method of the accuracy of the reference image data. The first byte of the reference image data is: 0000-0000-0000-0001, the second byte of the reference image data is: 1100-0000-0000-0000, the third byte of the reference image data is: 0000-1111-0000-0000, and the checksum byte of the reference image data is: 0001-1110-0000-1011. The above bytes are circularly shifted right, and the first operation results obtained are 0000-0000-0000-0001, 0110-0000-0000-0000, 0000-0011-1100-0000, and 0110-0011-1100-0001. The first operation results are XORed, and the second operation result obtained is 0, then the reference image data has no error. If the second operation result is not 0, it means that some or all bytes in the reference image data have errors.

[0074] Compared with the verification of reference image data by DSP in the prior art, the verification method of circular right shift and XOR operation in this method has a shorter verification time and a higher accuracy of verification result.

[0075] The following is an introduction to the data transmission method inside the drone, such as Figure 2 As shown, Figure 2A schematic diagram of the structure of the integrated control machine and the drone provided in the embodiment of the present application. The drone 200 includes a DSP module 203 and an SRIO module 204, and the method includes: the SRIO module 204 generates a verification completion flag and a first verification result, and the SRIO module 204 sends the verification completion flag and the first verification result to the DSP module 203, so that the DSP module 203 sends the first verification failure information to the integrated control machine 300 based on the verification completion flag and the first verification result.

[0076] Specifically, the SRIO module 204 generates a verification completion flag and a first verification result. The verification completion flag represents that the verification process of the byte length of the reference image data by the SRIO module 204 is completed, and the first verification result is that the byte length of the reference image data is not equal to the standard byte length, that is, the reference image data is incomplete. After receiving the verification completion flag and the first verification result sent by the SRIO module 204, the DSP module 203 will generate a first verification failure message according to the verification completion flag and the first verification result, and send it to the integrated control machine 300 to inform the integrated control machine 300 that the reference image data has not passed the byte length verification in the SRIO module 204, so that the integrated control machine 300 resends the reference image data to the drone 200. Among them, the SRIO module 204 is installed on the FPGA (Field-Programmable Gate Array) module 205 and is connected to the DSP module 203 through the EMIF (External Memory Interface) 206. The SRIO module 204 sends the verification completion flag and the first verification result to the DSP module 203 through the EMIF206.

[0077] This method generates a verification completion mark and a first verification result through the SRIO module 204, thereby reducing the data processing burden of the DSP module 203. The EMIF 206 improves the efficiency of data transmission between the SRIO module 204 and the DSP module 203. The DSP module 203 promptly feeds back the first verification failure information to the integrated control machine 300 based on the verification completion mark and the first verification result, thereby greatly improving the real-time response and reliability of data transmission.

[0078] In one embodiment, the SRIO module 204 generates a verification completion flag and a second verification result; the SRIO module 204 sends the verification completion flag and the second verification result to the DSP module 203, so that the DSP module 203 sends the second verification failure information to the integrated control machine 300 based on the verification completion flag and the second verification result.

[0079] Specifically, the SRIO module 204 generates a verification completion flag and a second verification result. The verification completion flag represents that the verification process of the accuracy of the reference map data by the SRIO module 204 is completed, and the second verification result is that there is an error in the reference map data. After the DSP module 203 receives the verification completion flag and the second verification result sent by the SRIO module 204, it will generate a second verification failure message according to the verification completion flag and the second verification result, and send it to the integrated control machine 300 to inform the integrated control machine 300 that the reference map data has not passed the accuracy verification in the SRIO module 204, so that the integrated control machine 300 can resend the reference map data to the drone 200.

[0080] In this method, the SRIO module 204 generates a verification completion flag and a second verification result, which reduces the data processing burden of the DSP module 203. The EMIF 206 improves the efficiency of data transmission between the SRIO module 204 and the DSP module 203. The DSP module 203 promptly feeds back the second verification failure information to the integrated control machine 300 based on the verification completion flag and the second verification result, which greatly improves the real-time response and reliability of data transmission.

[0081] The following is an introduction to the method of tracking the moving trajectory and / or position of the target object by the drone. The drone 200 is equipped with a camera (not shown in the figure), and the drone 200 obtains multiple sample images through the camera. The method includes: comparing the features of the sample image with the reference image data to obtain the target object image; wherein the target object image is the sample image with the highest matching degree with the reference image data; and tracking the moving trajectory and / or position of the target object according to the target object image.

[0082] Specifically, when the drone 200 performs a task, it obtains multiple sample images through a camera. The drone 200 compares the features of these sample images with the reference image data, and finds the sample image with the highest matching degree with the reference image data as the target object image. The drone 200 can track the movement trajectory and / or position of the target object based on the target object image.

[0083] The reference image data in this method is retained after a rigorous verification process and has a high accuracy. Therefore, the accuracy of the target object image obtained by comparing the features of the sample image with the reference image data is also relatively high. This method greatly improves the accuracy and efficiency of tracking the movement trajectory and / or position of the target object.

[0084] The following is an introduction to the way in which the drone performs tasks, which includes: obtaining command data sent by the integrated control machine 300, and performing tasks according to the command data; wherein the command data includes at least one of the following: drone 200 shutting down, drone 200 starting, drone 200 tracking, drone 200 hovering, and drone 200 avoiding obstacles.

[0085] Specifically, the drone 200 will also obtain the command data sent by the integrated control machine 300 when performing a task, and the drone 200 will perform the task according to the command data. For example: when the target object is found, the drone 200 takes off and tracks the target object according to the command data of the drone 200 starting and the drone 200 tracking. When waiting for a task, the drone 200 maintains a hovering state according to the command data of the drone 200 hovering. When encountering an obstacle, the drone 200 avoids the obstacle according to the command data of the drone 200 avoiding obstacles. At the end of the mission, the drone 200 stops and lands according to the command data of the drone 200 shutting down.

[0086] In this manner, the drone 200 can perform different tasks according to different instruction data. In addition, since the instruction data is shorter in byte length than other data, the drone 200 processes the instruction data faster than other data, and the efficiency of performing tasks according to the instruction data is higher.

[0087] In one implementation, the method includes: performing DSP processing on instruction data to obtain an instruction data analog signal, and executing a task according to the instruction data analog signal.

[0088] Specifically, since the byte length of the command data is shorter than that of other data, the drone 200 can process the command data through the DSP. The command data obtained by the drone 200 is a digital signal, which needs to be processed by the DSP to obtain the command data analog signal so that the drone 200 can perform the task according to the command data analog signal.

[0089] In this manner, the command data analog signal has a high response speed, which is more conducive to the drone 200 performing tasks.

[0090] Based on the above method embodiment, the present application embodiment provides a reference image data verification device, such as Figure 3 As shown, Figure 3 A schematic diagram of the structure of a reference image data verification device provided in an embodiment of the present application. The device includes an acquisition module 31 and a data processing module 32; wherein the functions of each module are as follows:

[0091] The acquisition module 31 is used to receive the reference image data sent by the integrated control machine 300; wherein the reference image data is used to characterize the characteristics of the target object;

[0092] The data processing module 32 is used to verify the byte length of the reference image data to obtain a first verification result;

[0093] The data processing module 32 is further configured to send first verification failure information to the integrated control machine 300 if the first verification result is that the byte length of the reference image data is not equal to the standard byte length, so that the integrated control machine 300 resends the reference image data according to the first verification failure information;

[0094] The data processing module 32 is further configured to verify the reference image data according to a checksum algorithm to obtain a second verification result if the first verification result is that the byte length of the reference image data is equal to the standard byte length;

[0095] The data processing module 32 is further configured to send second verification failure information to the integrated control machine 300 if the second verification result is that the reference image data has an error, so that the integrated control machine 300 resends the reference image data according to the second verification failure information;

[0096] The data processing module 32 is further configured to track the target object according to the reference image data if the second verification result is that there is no error in the reference image data.

[0097] Preferably, the data processing module 32 is specifically used to perform a circular right shift on each byte of the reference image data to obtain a first operation result; perform an XOR operation on the first operation result to obtain a second operation result; wherein, if the second operation result is 1, a second verification result is obtained indicating that an error exists in the reference image data; if the second operation result is 0, a second verification result is obtained indicating that there is no error in the reference image data.

[0098] Preferably, the device further comprises: a DSP module 203 and an SRIO module 204;

[0099] The SRIO module 204 is used to generate a verification completion flag and a first verification result;

[0100] The SRIO module 204 is further used to send the verification completion flag and the first verification result to the DSP module 203;

[0101] The DSP module 203 is used to send the first verification failure information to the integrated control machine 300 based on the verification completion flag and the first verification result.

[0102] Preferably, the SRIO module 204 is further used to generate a verification completion flag and a second verification result;

[0103] The SRIO module 204 is further used to send the verification completion flag and the second verification result to the DSP module 203;

[0104] The DSP module 203 is further configured to send second verification failure information to the integrated control machine 300 based on the verification completion flag and the second verification result.

[0105] Preferably, the drone 200 is equipped with a camera;

[0106] The acquisition module 31 is also used to acquire multiple sample images through a camera;

[0107] The data processing module 32 is further used to compare the features of the sample image with the reference image data to obtain a target object image; wherein the target object image is the sample image with the highest matching degree with the reference image data;

[0108] The data processing module 32 is further configured to track the movement trajectory and / or position of the target object according to the target object image.

[0109] Preferably, the acquisition module 31 is also used to acquire the command data sent by the integrated control machine 300; wherein the command data includes at least one of the following: shutting down the drone 200, starting the drone 200, tracking the drone 200, hovering the drone 200, and avoiding obstacles for the drone 200;

[0110] The data processing module 32 is also used to execute tasks according to the instruction data.

[0111] Preferably, the device further comprises:

[0112] The data processing module 32 is specifically used to perform DSP processing on the instruction data to obtain an instruction data analog signal;

[0113] The data processing module 32 is specifically used to simulate the signal and execute the task according to the instruction data.

[0114] The reference image data verification device provided in the embodiment of the present application has the same technical features as the reference image data verification method provided in the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0115] An embodiment of the present application also provides an electronic device, including a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor executes the machine executable instructions to implement the above-mentioned reference image data verification method.

[0116] See also Figure 4 As shown, the electronic device includes a processor 100 and a memory 101. The memory 101 stores machine executable instructions that can be executed by the processor 100. The processor 100 executes the machine executable instructions to implement the above-mentioned circuit schematic drawing method.

[0117] Further, Figure 4 The electronic device shown further includes a bus 102 and a communication interface 103 , and the processor 100 , the communication interface 103 and the memory 101 are connected via the bus 102 .

[0118] Among them, the memory 101 may include a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 103 (which can be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. can be used. The bus 102 can be an ISA (Industrial Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Enhanced Industry Standard Architecture) bus, etc. The above-mentioned bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0119] The processor 100 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 100. The above processor 100 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 gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 101, and the processor 100 reads the information in the memory 101 and completes the steps of the method of the above embodiment in combination with its hardware.

[0120] This embodiment also provides a machine-readable storage medium, which stores machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions prompt the processor to implement the above-mentioned reference image data verification method.

[0121] The computer program product of the reference image data verification method, device, and electronic device provided in the embodiments of the present application includes a computer-readable storage medium storing program code, and the instructions included in the program code can be used to execute the method described in the previous method embodiment. The specific implementation can refer to the method embodiment, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the previous method embodiment, which will not be repeated here.

[0122] In addition, in the description of the embodiments of the present application, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium that can be executed by a processor. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0123] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0124] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A reference image data verification method, characterized in that: Applied to a drone, the method comprises: Receiving reference image data sent by the integrated control machine; wherein the reference image data is used to characterize the characteristics of the target object; Verifying the byte length of the reference image data to obtain a first verification result; If the first verification result is that the byte length of the reference image data is not equal to the standard byte length, sending first verification failure information to the integrated control machine, so that the integrated control machine resends the reference image data according to the first verification failure information; If the first verification result is that the byte length of the reference image data is equal to the standard byte length, verifying the reference image data according to a verification algorithm to obtain a second verification result; If the second verification result is that the reference image data has an error, sending second verification failure information to the integrated control machine, so that the integrated control machine resends the reference image data according to the second verification failure information; If the second verification result is that there is no error in the reference image data, the target object is tracked according to the reference image data.

2. The reference image data verification method according to claim 1, characterized in that: The step of verifying the reference image data according to the checksum algorithm to obtain a second verification result comprises: Circularly right-shift each byte of the reference image data to obtain a first operation result; An XOR operation is performed on the first operation result to obtain a second operation result; wherein, if the second operation result is not 0, a second verification result is obtained indicating that there is an error in the reference image data; if the second operation result is 0, a second verification result is obtained indicating that there is no error in the reference image data.

3. The reference image data verification method according to claim 1, characterized in that: The UAV comprises: a DSP module and an SRIO module; The step of sending first verification failure information to the integrated control machine includes: The SRIO module generates a verification completion flag and the first verification result; The SRIO module sends the verification completion flag and the first verification result to the DSP module, so that the DSP module sends the first verification failure information to the integrated control machine based on the verification completion flag and the first verification result.

4. The reference image data verification method according to claim 3, characterized in that: The step of sending second verification failure information to the integrated control machine includes: The SRIO module generates the verification completion flag and the second verification result; The SRIO module sends the verification completion flag and the second verification result to the DSP module, so that the DSP module sends the second verification failure information to the integrated control machine based on the verification completion flag and the second verification result.

5. The reference image data verification method according to claim 1, characterized in that: The drone is equipped with a camera; the method further comprises: Acquire multiple sample images through the camera; Comparing the features of the sample image with the reference image data to obtain a target object image; wherein the target object image is the sample image with the highest matching degree with the reference image data; The moving trajectory and / or position of the target object is tracked according to the target object image.

6. The reference image data verification method according to claim 1, characterized in that: The method further comprises: Obtain the command data sent by the integrated control machine, and execute the task according to the command data; wherein the command data includes at least one of the following: drone shutdown, drone startup, drone tracking, drone hovering and drone obstacle avoidance.

7. The reference image data verification method according to claim 6, characterized in that: The step of executing the task according to the instruction data comprises: Performing DSP processing on the instruction data to obtain an instruction data analog signal; The task is executed according to the instruction data simulation signal.

8. A reference image data verification device, characterized in that: The device comprises: An acquisition module is used to receive reference image data sent by the integrated control machine; wherein the reference image data is used to characterize the characteristics of the target object; A data processing module, used for verifying the byte length of the reference image data to obtain a first verification result; The data processing module is further configured to send first verification failure information to the integrated control machine if the first verification result is that the byte length of the reference image data is not equal to the standard byte length, so that the integrated control machine resends the reference image data according to the first verification failure information; The data processing module is further configured to verify the reference image data according to a checksum algorithm to obtain a second verification result if the first verification result is that the byte length of the reference image data is equal to the standard byte length; The data processing module is further configured to send second verification failure information to the integrated control machine if the second verification result is that the reference image data has an error, so that the integrated control machine resends the reference image data according to the second verification failure information; The data processing module is further configured to track the target object according to the reference image data if the second verification result is that there is no error in the reference image data.

9. An electronic device 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 steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 7 are executed.

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