Attitude monitoring system for flight process of unmanned aircraft in complex environment

Abstract

The invention discloses a complex environment unmanned aircraft flight process attitude monitoring system, which relates to the technical field of unmanned aircraft attitude monitoring and comprises an environment simulation module, a data acquisition module, a calibrated pitch angle and calibrated roll angle acquisition module, a data analysis module and an abnormal level wind power and abnormal rainfall marking module. The technical problem that the flight attitude of the unmanned aerial vehicle is greatly influenced in complex environments such as windy and rainy weather and the like is solved, the abnormal-level wind power and the abnormal rainfall which greatly influence the flight attitude of the unmanned aerial vehicle are quickly identified, and the flight attitude of the unmanned aerial vehicle can be quickly identified by the abnormal-level wind power and the abnormal rainfall which greatly influence the flight attitude of the unmanned aerial vehicle. According to the method, timely risk early warning is provided for an operator, the operator can make preparation in advance according to a marking result, and measures such as flight height adjustment, course change or task pause are taken, so that the flight risk is reduced, reasonable resource allocation is facilitated, and the use efficiency of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicle attitude monitoring, in particular to an unmanned aerial vehicle flight process attitude monitoring system in a complex environment. Background Art

[0002] With the continuous development of unmanned aerial vehicle technology, its application in various fields is becoming more and more extensive, such as logistics distribution, environmental monitoring, film and television shooting, etc. As unmanned aerial vehicles have a wide range of applications in many fields, including military, logistics, agriculture, film and television, etc. The flight stability and attitude control of unmanned aerial vehicles are key factors affecting their flight performance. At present, traditional attitude monitoring methods mainly rely on inertial sensors built into unmanned aerial vehicles, such as accelerometers and gyroscopes. Inertial sensors determine the attitude and position of the aircraft by measuring the acceleration and angular velocity of the aircraft. Accelerometers are used to measure the acceleration of the aircraft, while gyroscopes are used to measure the angular velocity of the aircraft. Then, by integrating and processing these data, the attitude and position information of the aircraft is obtained.

[0003] However, in practical applications, unmanned aerial vehicles often need to fly in complex environments, such as windy and rainy weather. In such complex environments, the flight attitude of unmanned aerial vehicles will be greatly affected, and problems such as instability and deviation from the route may occur, which seriously affect its flight safety and mission execution effect. Based on this, an attitude monitoring system for unmanned aerial vehicles in complex environments is proposed. Summary of the invention

[0004] The purpose of the present invention is to provide an information interaction method for power field operations, which solves the technical problem that unmanned aerial vehicles often need to fly in complex environments, such as windy and rainy weather, and the flight posture of the unmanned aerial vehicles will be greatly affected in such complex environments.

[0005] The flight attitude monitoring system of unmanned aerial vehicle in complex environment includes:

[0006] Environmental simulation module, simulating different levels of wind and rainfall;

[0007] The data acquisition module obtains the acceleration of the unmanned aerial vehicle in three dimensions in three-dimensional space under different levels of wind force and different rainfall;

[0008] The calibration pitch angle and calibration roll angle acquisition module places the unmanned aerial vehicle in a low-interference environment for flight testing to obtain the calibration pitch angle and calibration roll angle of the unmanned aerial vehicle;

[0009] The data analysis module obtains the pitch angle deviation value and the roll angle deviation value of the unmanned aerial vehicle under different wind force levels and different rainfall amounts;

[0010] The abnormal wind level and abnormal rainfall marking module marks the abnormal wind level and abnormal rainfall.

[0011] As a further solution of the present invention: the specific method of obtaining the calibrated pitch angle of the unmanned aerial vehicle is:

[0012] When the unmanned aerial vehicle is conducting a flight test in a low-interference environment, the corresponding accelerations Ox, Oy and Oz in the three dimensions of the three-dimensional space are obtained. Through the formula, Calculate and obtain the calibrated pitch angle βA of the unmanned aerial vehicle;

[0013] Among them, Ox, Oy and Oz are the acceleration components of the unmanned aerial vehicle on the X, Y and Z axes in three-dimensional space respectively.

[0014] As a further solution of the present invention: the specific method of obtaining the calibrated roll angle of the unmanned aerial vehicle is:

[0015] By formula, The calibrated roll angle βB of the unmanned aerial vehicle is calculated.

[0016] As a further solution of the present invention, the specific method of obtaining the pitch angle difference corresponding to each level of wind force of the unmanned aerial vehicle is as follows:

[0017] A1: Select any one of the wind forces under each wind force level as the analysis wind force:

[0018] A2: Obtain the accelerations Fxa, Fya and Fza corresponding to the three dimensions in the three-dimensional space during the preset number of flight tests a of the unmanned aerial vehicle under the analyzed wind force, through Calculate and obtain the pitch angles θa corresponding to the unmanned aerial vehicle in the preset number a of flight tests, obtain the absolute values ​​Ca of the differences between each pitch angle θa and the calibrated pitch angle βA, calculate and analyze the standard deviation values ​​U1 corresponding to the absolute values ​​Ca, and obtain the pitch angle difference PA1 corresponding to the unmanned aerial vehicle under the analyzed wind force according to the analysis results, where a refers to the preset number, a is a positive integer, and satisfies a≥1;

[0019] A3: Repeat steps A1-A2 to obtain the pitch angle difference PAn corresponding to the unmanned aerial vehicle under different levels of wind force, where n refers to different preset levels of wind force, n=1, 2, ..., d, d is the number corresponding to the preset level of wind force, d≥1.

[0020] As a further solution of the present invention, the specific method of obtaining the pitch angle difference corresponding to each level of wind force of the unmanned aerial vehicle is as follows:

[0021] A1: Select any one of the wind forces under each wind force level as the analysis wind force:

[0022] A2: Pass Calculate and obtain the pitch angles γa corresponding to the unmanned aerial vehicle in the preset number a of flight tests, obtain the absolute values ​​Ea of the differences between the pitch angles θa and the calibrated roll angles βB, obtain the standard deviation values ​​U2 corresponding to the absolute values ​​of the differences Ea, and analyze them to obtain the roll angle deviation values ​​PB1 corresponding to the unmanned aerial vehicle under the analyzed wind force;

[0023] A03: Repeat steps A01-A02 to obtain the roll angle deviation values ​​PBn corresponding to the unmanned aerial vehicle under different levels of wind force.

[0024] As a further solution of the present invention: the specific method of calculating the standard deviation value U1 corresponding to the absolute value Ca and analyzing it is:

[0025] When the standard deviation value U1 is less than the preset value Y1, the mean Cp of Ca is used as the pitch angle difference PA1 corresponding to the unmanned aerial vehicle under the analyzed wind force; when the standard deviation value U1 is greater than or equal to the preset value Y1, the values ​​with larger deviations from the mean Cp are deleted in order from small to large according to the values ​​of Ca and the number of deleted values ​​v is recorded; when the number v of deletions is greater than the preset value Y2, the mean of the maximum and minimum values ​​in Ca is used as the pitch angle difference PA1 corresponding to the unmanned aerial vehicle under the analyzed wind force; when the number v of deletions is less than or equal to the preset value Y2, the mean Cp of Ca is used as the pitch angle difference PA1 corresponding to the unmanned aerial vehicle under the analyzed wind force.

[0026] As a further solution of the present invention: the specific method of obtaining the standard deviation value U2 corresponding to the absolute value of the difference Ea and analyzing it is as follows:

[0027] When the standard deviation value U2 is less than the preset value Y3, the mean Ep of Ea is used as the roll angle deviation value PB1 corresponding to the unmanned aerial vehicle under the analyzed wind force. When the standard deviation value U2 is greater than or equal to the preset value Y3, the values ​​with larger deviations from the mean Ep are deleted in order from small to large according to the value of Ea, and the number of deleted values ​​j is recorded. When the number of deleted values ​​j is greater than the preset value Y4, the mean of the maximum and minimum values ​​in Ea is used as the roll angle deviation value PB1 corresponding to the unmanned aerial vehicle under the analyzed wind force. When the number of deleted values ​​j is less than or equal to the preset value Y4, the mean Ep of Ea is used as the roll angle deviation value PB1 corresponding to the unmanned aerial vehicle under the analyzed wind force.

[0028] As a further solution of the present invention: the specific method of obtaining the pitch angle difference and roll angle deviation values ​​corresponding to the unmanned aerial vehicle under different rainfall amounts is:

[0029] The accelerations of the unmanned aerial vehicle in three dimensions in three-dimensional space under different rainfall amounts are obtained and analyzed in the same manner as the pitch angle differences PAn corresponding to the unmanned aerial vehicle under different levels of wind force, thereby obtaining the pitch angle differences GAn corresponding to the unmanned aerial vehicle under different rainfall amounts;

[0030] The accelerations corresponding to the three dimensions of the unmanned aerial vehicle in three-dimensional space under different rainfall amounts are obtained and analyzed in the same manner as the roll angle deviation values ​​PBn corresponding to the unmanned aerial vehicle under different levels of wind force, thereby obtaining the roll angle deviation values ​​GBn corresponding to the unmanned aerial vehicle under different rainfall amounts.

[0031] As a further solution of the present invention: the specific method of marking the abnormal level of wind force is:

[0032] The sum of the products of the pitch angle difference PAn and the roll angle deviation value PBn corresponding to the unmanned aerial vehicle under different levels of wind force and the fixed coefficients M1 and M2 are marked as the wind attitude influence coefficient Kn corresponding to the unmanned aerial vehicle under different levels of wind force, wherein 1=M1+M2 and M1>M2. The corresponding wind level when the attitude influence coefficient Kn is greater than the preset threshold value Z1 is marked as an abnormal level of wind force, otherwise no mark is made.

[0033] As a further solution of the present invention: the specific method of marking abnormal rainfall is:

[0034] The sum of the products of the pitch angle difference GAn and the roll angle deviation value GBn corresponding to the unmanned aerial vehicle under different levels of wind force and the fixed coefficients M3 and M4 are marked as the rainfall attitude influence coefficient Jn corresponding to the unmanned aerial vehicle under different levels of wind force, where 1=M3+M4 and M3>M4; the corresponding wind force level when the rainfall attitude influence coefficient Jn is greater than the preset threshold value Z2 is marked as abnormal rainfall, otherwise no mark is made.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] The present invention provides timely risk warnings to operators by quickly identifying abnormal wind levels and abnormal rainfall that have a greater impact on the flight posture of unmanned aerial vehicles. Operators can make response preparations in advance based on the marking results and take measures such as adjusting the flight altitude, changing the route or suspending the mission to reduce flight risks, which helps to reasonably allocate resources and improve the use efficiency of unmanned aerial vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the system framework structure of the present invention;

[0038] Figure 2 It is a schematic diagram of the framework structure of the method of the present invention;

[0039] Figure 3 Schematic diagram of the data analysis module of the present invention. DETAILED DESCRIPTION

[0040] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] Embodiment 1

[0042] See also Figure 1 - Figure 3 ,This application provides a flight process attitude monitoring system for unmanned aerial vehicles in complex environments, including;

[0043] Environmental simulation module, which includes wind field simulation system and rainfall simulation system, and can simulate different levels of wind force and rainfall, thus creating complex wind and rain weather conditions;

[0044] The environmental simulation module simulates different levels of wind and rainfall, providing a highly realistic and complex environment for testing unmanned aerial vehicles, making the monitoring results more valuable for practical applications. The flight posture of unmanned aerial vehicles under different wind and rain conditions can be fully evaluated in a controlled environment such as a laboratory, potential problems can be discovered in advance and optimized, and the flight safety and stability of unmanned aerial vehicles in actual complex environments can be improved;

[0045] The motion capture module consists of 10 motion capture cameras, which are arranged at different locations to capture the flight trajectory of the UAV at different wind speeds and rainfall levels;

[0046] The data acquisition module collects the three-dimensional motion data of the unmanned aerial vehicle through sensors such as accelerometers and gyroscopes, and obtains the accelerations of the unmanned aerial vehicle in three dimensions in three-dimensional space under different levels of wind force and different rainfall;

[0047] Also included are reflective marker balls and reflective marker poles, which are used to calibrate camera parameters and ensure accurate capture of the UAV;

[0048] The calibrated pitch angle and calibrated roll angle acquisition module places the unmanned aerial vehicle in a low-interference environment for flight testing, and obtains the accelerations corresponding to the three dimensions in the three-dimensional space when the unmanned aerial vehicle is conducting a flight test in the low-interference environment. The calibrated pitch angle and calibrated roll angle of the unmanned aerial vehicle are calculated based on the accelerations corresponding to the three dimensions. The specific method is as follows:

[0049] Obtain the accelerations Ox, Oy and Oz corresponding to the three dimensions in the three-dimensional space when the unmanned aerial vehicle is conducting a flight test in a low-interference environment;

[0050] Among them, Ox, Oy and Oz are the acceleration components of the unmanned aerial vehicle on the X, Y and Z axes in three-dimensional space respectively;

[0051] By formula, Calculate and obtain the calibrated pitch angle βA of the unmanned aerial vehicle;

[0052] By formula, Calculate and obtain the calibrated roll angle βB of the unmanned aerial vehicle;

[0053] The data analysis module analyzes the accelerations of the unmanned aerial vehicle in three dimensions in three-dimensional space under different wind levels and different rainfall amounts, and obtains the pitch angle deviation values ​​and roll angle deviation values ​​of the unmanned aerial vehicle under different wind levels and different rainfall amounts according to the analysis results. The specific method is as follows:

[0054] It should be noted that the pitch angle refers to the rotation angle of an object around its horizontal axis, that is, the angle of its forward and backward tilt; the roll angle refers to the rotation angle of an object around its vertical axis, that is, the angle of its left and right tilt;

[0055] The purpose of testing unmanned aerial vehicles in a low-interference environment is to obtain the basic attitude parameters of the aircraft, namely the calibrated pitch angle and calibrated roll angle, in an ideal environment that eliminates external interference (such as wind, air resistance, etc.) as much as possible. The low-interference environment referred to here is created by special environmental control technologies and facilities. The air flow in this environment is strictly controlled at an extremely low level to approximate a state of no air flow. At the same time, the electromagnetic interference of the environment is also shielded to a great extent to ensure the stability of the internal electromagnetic environment and avoid interference with the aircraft's own sensors and other equipment. Such an environment can eliminate the interference of external factors on the aircraft's attitude to the greatest extent, making the obtained calibration parameters more accurate and providing a benchmark for subsequent flight attitude monitoring under different environmental conditions.

[0056] The pitch angle deviation value acquisition unit acquires and analyzes the accelerations corresponding to the three dimensions of the unmanned aerial vehicle in the three-dimensional space under each level of wind force, and then obtains the pitch angle difference values ​​corresponding to the unmanned aerial vehicle under each level of wind force. The specific method is as follows:

[0057] A1: Select any one of the wind forces under each wind force level as the analysis wind force;

[0058] A2: Obtain the accelerations Fxa, Fya and Fza corresponding to the three dimensions in the three-dimensional space during the flight tests of the unmanned aerial vehicle performed a times under the analytical wind force, where a refers to the preset number of times, a is a positive integer, and satisfies a≥1, where a=68 times;

[0059] pass Calculate and obtain the pitch angles θa of the unmanned aerial vehicle corresponding to the preset number a of flight tests;

[0060] Obtain the absolute value Ca of the difference between each pitch angle θa and the calibrated pitch angle βA;

[0061] Using the standard deviation formula: Obtain the standard deviation value U1 corresponding to the absolute value Ca of the difference, where Cc is any value in Ca, Cp is the mean value of Ca, and a≥c≥1;

[0062] Analyze the alignment difference value U1. When the alignment difference value U1 is less than the preset value Y1, the mean value Cp of Ca is used as the pitch angle difference PA1 corresponding to the unmanned aerial vehicle under the analyzed wind force. When the alignment difference value U1 is greater than or equal to the preset value Y1, the values ​​with larger deviations from the mean value Cp are deleted in order from small to large according to the values ​​of Ca, and the number of deleted values ​​v is recorded. At the same time, the alignment difference value U1 is recalculated at each deletion until the alignment difference value U1 satisfies the requirement of being less than the preset value Y1. When the number of deleted values ​​v is greater than the preset value Y2, the mean value of the maximum and minimum values ​​in Ca is used as the pitch angle difference PA1 corresponding to the unmanned aerial vehicle under the analyzed wind force. When the number of deleted values ​​v is less than or equal to the preset value Y2, the mean value Cp of Ca is used as the pitch angle difference PA1 corresponding to the unmanned aerial vehicle under the analyzed wind force. The specific values ​​of Y1 and Y2 are set by relevant personnel according to specific application scenarios and requirements.

[0063] A3: Repeat steps A1-A2 to obtain the pitch angle difference PAn corresponding to the unmanned aerial vehicle under different wind levels, where n refers to different preset wind levels, n=1, 2, ..., d, d is the number corresponding to the preset wind level, d≥1;

[0064] The accelerations of the unmanned aerial vehicle in three dimensions in three-dimensional space under different rainfall amounts are obtained and analyzed in the same manner as the pitch angle differences PAn corresponding to the unmanned aerial vehicle under different levels of wind force, thereby obtaining the pitch angle differences GAn corresponding to the unmanned aerial vehicle under different rainfall amounts;

[0065] The roll angle deviation value acquisition unit acquires and analyzes the accelerations corresponding to the three dimensions of the unmanned aerial vehicle in the three-dimensional space under each level of wind force, and then obtains the roll angle deviation values ​​corresponding to the unmanned aerial vehicle under each level of wind force. The specific method is as follows:

[0066] A01: Select any one of the wind forces under each wind force level as the analysis wind force;

[0067] A02: Obtain the accelerations Fxa, Fya and Fza corresponding to the three dimensions in the three-dimensional space during the flight tests of the unmanned aerial vehicle performed a times under the analytical wind force, where a refers to the preset number of times, a is a positive integer, and satisfies a≥1, where a=68 times;

[0068] pass Calculate and obtain the pitch angles γa of the unmanned aerial vehicle corresponding to the preset number a of flight tests;

[0069] Obtain the absolute value Ea of the difference between each pitch angle θa and the calibrated roll angle βB;

[0070] Using the standard deviation formula: Obtain the standard deviation value U2 corresponding to the absolute value of the difference Ea, where Er is any value in Ea, Ep is the mean value of Ea, and a≥e≥1;

[0071] Analyze the error value U2. When the error value U2 is less than the preset value Y3, use the mean value Ep of Ea as the roll angle deviation value PB1 corresponding to the unmanned aerial vehicle under the analyzed wind force. When the error value U2 is greater than or equal to the preset value Y3, delete the values ​​with larger deviations from the mean value Ep in order from small to large according to the value of Ea, and record the number of deleted values ​​j. At the same time, recalculate the error value U2 each time it is deleted until the error value U2 satisfies the requirement of being less than the preset value Y3. When the number of deleted values ​​j is greater than the preset value Y4, use the mean of the maximum and minimum values ​​in Ea as the roll angle deviation value PB1 corresponding to the unmanned aerial vehicle under the analyzed wind force. When the number of deleted values ​​j is less than or equal to the preset value Y4, use the mean value Ep of Ea as the roll angle deviation value PB1 corresponding to the unmanned aerial vehicle under the analyzed wind force. The specific values ​​of Y3 and Y4 are set by relevant personnel according to specific application scenarios and requirements.

[0072] A03: Repeat steps A01-A02 to obtain the roll angle deviation values ​​PBn corresponding to the unmanned aerial vehicle under different wind levels, where n refers to different preset wind levels, n=1, 2, ..., d, d is the number corresponding to the preset wind level, d≥1;

[0073] The accelerations corresponding to the three dimensions of the unmanned aerial vehicle in three-dimensional space under different rainfall amounts are obtained and analyzed in the same manner as the roll angle deviation values ​​PBn corresponding to the unmanned aerial vehicle under different levels of wind force, thereby obtaining the roll angle deviation values ​​GBn corresponding to the unmanned aerial vehicle under different rainfall amounts;

[0074] By analyzing the attitude data under different complex windy and rainy weather conditions, we can find out possible problems during the flight process, such as unstable attitude, excessive angle deviation, etc., and propose improvement plans to provide accurate data support for the flight control and optimization of unmanned aerial vehicles.

[0075] Embodiment 2

[0076] As the second embodiment of the present invention, when the present application is implemented, compared with the first embodiment, the technical solution of the present embodiment is different from the first embodiment only in that the present embodiment further includes an abnormal level wind force and abnormal rainfall marking module;

[0077] The abnormal wind force and abnormal rainfall marking module is used to comprehensively analyze the pitch angle difference PAn and roll angle deviation PBn corresponding to the unmanned aerial vehicle under different wind force levels and the pitch angle difference GAn and roll angle deviation GBn corresponding to the unmanned aerial vehicle under different rainfall levels, and then mark the abnormal wind force and abnormal rainfall. The specific method is as follows:

[0078] The sum of the products of the pitch angle difference PAn and the roll angle deviation PBn corresponding to the unmanned aerial vehicle under different levels of wind force and the fixed coefficients M1 and M2 is marked as the wind attitude influence coefficient Kn corresponding to the unmanned aerial vehicle under different levels of wind force, wherein the specific values ​​of the fixed coefficients M1 and M2 are formulated by relevant personnel according to actual needs, satisfying 1=M1+M2 and M1>M2;

[0079] The corresponding wind force level when the attitude influence coefficient Kn is greater than the preset threshold value Z1 is marked as abnormal wind force level, otherwise no mark is made;

[0080] The sum of the products of the pitch angle difference GAn and the roll angle deviation GBn corresponding to the unmanned aerial vehicle under different levels of wind force and the fixed coefficients M3 and M4 is marked as the rainfall attitude influence coefficient Jn corresponding to the unmanned aerial vehicle under different levels of wind force, wherein the specific values ​​of the fixed coefficients M3 and M4 are formulated by relevant personnel according to actual needs, satisfying 1=M3+M4 and M3>M4;

[0081] The corresponding wind force level when the rainfall attitude influence coefficient Jn is greater than the preset threshold value Z2 is marked as abnormal rainfall, otherwise no mark is made, wherein the specific values ​​of the preset threshold values ​​Z1 and Z2 are formulated by relevant personnel according to actual needs;

[0082] It can quickly identify abnormal wind and rainfall levels that have a significant impact on the flight attitude of unmanned aerial vehicles, and provide timely risk warnings for operators. Operators can make preparations in advance based on the marking results, and take measures such as adjusting the flight altitude, changing the route, or suspending the mission to reduce flight risks, which helps to reasonably allocate resources and improve the efficiency of the use of unmanned aerial vehicles. For example, in logistics and distribution tasks, more suitable flight routes and times can be selected based on abnormal environmental markings to avoid flying in harsh environments and reduce energy consumption and equipment loss.

[0083] Embodiment 3

[0084] As the third embodiment of the present invention, when the present application is specifically implemented, compared with the first and second embodiments, the technical solution of this embodiment is to combine the solutions of the first and second embodiments mentioned above for implementation.

[0085] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters and thresholds in the formula are set by technicians in this field according to actual conditions.

[0086] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. The flight attitude monitoring system for unmanned aerial vehicles in complex environments is characterized by: include: Environmental simulation module, simulating different levels of wind and rainfall; The data acquisition module obtains the acceleration of the unmanned aerial vehicle in three dimensions in three-dimensional space under different levels of wind force and different rainfall; The calibration pitch angle and calibration roll angle acquisition module places the unmanned aerial vehicle in a low-interference environment for flight testing to obtain the calibration pitch angle and calibration roll angle of the unmanned aerial vehicle; The data analysis module obtains the pitch angle deviation value and the roll angle deviation value of the unmanned aerial vehicle under different wind force levels and different rainfall amounts; The abnormal wind level and abnormal rainfall marking module marks the abnormal wind level and abnormal rainfall.

2. The complex environment unmanned aerial vehicle flight process attitude monitoring system according to claim 1 is characterized in that: The specific method of obtaining the calibrated pitch angle of the unmanned aerial vehicle is: When the unmanned aerial vehicle is conducting a flight test in a low-interference environment, the corresponding accelerations Ox, Oy and Oz in the three dimensions of the three-dimensional space are obtained. Through the formula, Calculate and obtain the calibrated pitch angle βA of the unmanned aerial vehicle; Among them, Ox, Oy and Oz are the acceleration components of the unmanned aerial vehicle on the X, Y and Z axes in three-dimensional space respectively.

3. The complex environment unmanned aerial vehicle flight process attitude monitoring system according to claim 2 is characterized in that: The specific method for obtaining the calibrated roll angle of the unmanned aerial vehicle is: By formula, The calibrated roll angle βB of the unmanned aerial vehicle is calculated.

4. The complex environment unmanned aerial vehicle flight process attitude monitoring system according to claim 3 is characterized in that: The specific method for obtaining the pitch angle difference of the unmanned aerial vehicle under each level of wind force is as follows: A1: Select any one of the wind forces under each wind force level as the analysis wind force: A2: Obtain the accelerations Fxa, Fya and Fza corresponding to the three dimensions in the three-dimensional space during the preset number of flight tests a of the unmanned aerial vehicle under the analyzed wind force, through Calculate and obtain the pitch angles θa corresponding to the unmanned aerial vehicle in the preset number a of flight tests, obtain the absolute values ​​Ca of the differences between each pitch angle θa and the calibrated pitch angle βA, calculate and analyze the standard deviation values ​​U1 corresponding to the absolute values ​​Ca, and obtain the pitch angle difference PA1 corresponding to the unmanned aerial vehicle under the analyzed wind force according to the analysis results, where a refers to the preset number, a is a positive integer, and satisfies a≥1; A3: Repeat steps A1-A2 to obtain the pitch angle difference PAn corresponding to the unmanned aerial vehicle under different levels of wind force, where n refers to different preset levels of wind force, n=1, 2, ..., d, d is the number corresponding to the preset level of wind force, d≥1.

5. The complex environment unmanned aerial vehicle flight process attitude monitoring system according to claim 4 is characterized in that: The specific method for obtaining the pitch angle difference of the unmanned aerial vehicle under each level of wind force is as follows: A1: Select any one of the wind forces under each wind force level as the analysis wind force: A2: Pass Calculate and obtain the pitch angles γa corresponding to the unmanned aerial vehicle in the preset number a of flight tests, obtain the absolute values ​​Ea of the differences between the pitch angles θa and the calibrated roll angles βB, obtain the standard deviation values ​​U2 corresponding to the absolute values ​​of the differences Ea, and analyze them to obtain the roll angle deviation values ​​PB1 corresponding to the unmanned aerial vehicle under the analyzed wind force; A03: Repeat steps A01-A02 to obtain the roll angle deviation values ​​PBn corresponding to the unmanned aerial vehicle under different levels of wind force.

6. The complex environment unmanned aerial vehicle flight process attitude monitoring system according to claim 4 is characterized in that: The specific method of calculating the standard deviation value U1 corresponding to the absolute value Ca and analyzing it is: When the standard deviation value U1 is less than the preset value Y1, the mean Cp of Ca is used as the pitch angle difference PA1 corresponding to the unmanned aerial vehicle under the analyzed wind force; when the standard deviation value U1 is greater than or equal to the preset value Y1, the values ​​with larger deviations from the mean Cp are deleted in order from small to large according to the values ​​of Ca and the number of deleted values ​​v is recorded; when the number v of deletions is greater than the preset value Y2, the mean of the maximum and minimum values ​​in Ca is used as the pitch angle difference PA1 corresponding to the unmanned aerial vehicle under the analyzed wind force; when the number v of deletions is less than or equal to the preset value Y2, the mean Cp of Ca is used as the pitch angle difference PA1 corresponding to the unmanned aerial vehicle under the analyzed wind force.

7. The complex environment unmanned aerial vehicle flight process attitude monitoring system according to claim 5 is characterized in that: The specific method of obtaining the standard deviation value U2 corresponding to the absolute value of the difference Ea and analyzing it is as follows: When the standard deviation value U2 is less than the preset value Y3, the mean Ep of Ea is used as the roll angle deviation value PB1 corresponding to the unmanned aerial vehicle under the analyzed wind force. When the standard deviation value U2 is greater than or equal to the preset value Y3, the values ​​with larger deviations from the mean Ep are deleted in order from small to large according to the value of Ea, and the number of deleted values ​​j is recorded. When the number of deleted values ​​j is greater than the preset value Y4, the mean of the maximum and minimum values ​​in Ea is used as the roll angle deviation value PB1 corresponding to the unmanned aerial vehicle under the analyzed wind force. When the number of deleted values ​​j is less than or equal to the preset value Y4, the mean Ep of Ea is used as the roll angle deviation value PB1 corresponding to the unmanned aerial vehicle under the analyzed wind force.

8. The complex environment unmanned aerial vehicle flight process attitude monitoring system according to claim 7 is characterized in that: The specific method for obtaining the pitch angle difference and roll angle deviation values ​​corresponding to the unmanned aerial vehicle under different rainfall amounts is as follows: The accelerations of the unmanned aerial vehicle in three dimensions in three-dimensional space under different rainfall amounts are obtained and analyzed in the same manner as the pitch angle differences PAn corresponding to the unmanned aerial vehicle under different levels of wind force, thereby obtaining the pitch angle differences GAn corresponding to the unmanned aerial vehicle under different rainfall amounts; The accelerations corresponding to the three dimensions of the unmanned aerial vehicle in three-dimensional space under different rainfall amounts are obtained and analyzed in the same manner as the roll angle deviation values ​​PBn corresponding to the unmanned aerial vehicle under different levels of wind force, thereby obtaining the roll angle deviation values ​​GBn corresponding to the unmanned aerial vehicle under different rainfall amounts.

9. The complex environment unmanned aerial vehicle flight process attitude monitoring system according to claim 8 is characterized in that: The specific method of marking abnormal wind force levels is as follows: The sum of the products of the pitch angle difference PAn and the roll angle deviation value PBn corresponding to the unmanned aerial vehicle under different levels of wind force and the fixed coefficients M1 and M2 are marked as the wind attitude influence coefficient Kn corresponding to the unmanned aerial vehicle under different levels of wind force, wherein 1=M1+M2 and M1>M2. The corresponding wind level when the attitude influence coefficient Kn is greater than the preset threshold value Z1 is marked as an abnormal level of wind force, otherwise no mark is made.

10. The complex environment unmanned aerial vehicle flight process attitude monitoring system according to claim 9, characterized in that: The specific way to mark abnormal rainfall is as follows; The sum of the products of the pitch angle difference GAn and the roll angle deviation value GBn corresponding to the unmanned aerial vehicle under different levels of wind force and the fixed coefficients M3 and M4 are marked as the rainfall attitude influence coefficient Jn corresponding to the unmanned aerial vehicle under different levels of wind force, where 1=M3+M4 and M3>M4; the corresponding wind force level when the rainfall attitude influence coefficient Jn is greater than the preset threshold value Z2 is marked as abnormal rainfall, otherwise no mark is made.

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