Attitude Monitoring System for Unmanned Aerial Vehicles during Flight in Complex Environments

Abstract

The present invention discloses an attitude monitoring system for an unmanned aerial vehicle during flight in a complex environment, which relates to the technical field of unmanned aerial vehicle attitude monitoring. It includes 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 force and abnormal rainfall marking module. It solves the technical problem that 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. By quickly identifying abnormal level wind forces and abnormal rainfall amounts that have a greater impact on the flight attitude of unmanned aerial vehicles, timely risk warnings are provided to operators. Operators can make preparations in advance according to the marking results, take measures such as adjusting the flight altitude, changing the flight route or suspending the task, reduce flight risks, help to reasonably allocate resources, and improve the use efficiency of unmanned aerial vehicles.

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 values and roll angle deviation values corresponding to different wind force levels and different rainfall amounts of the unmanned aerial vehicle respectively.

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

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

[0012] When the unmanned aerial vehicle conducts a flight test in a low-interference environment, obtain the accelerations Ox, Oy, and Oz corresponding to the three dimensions in the three-dimensional space respectively. Through the formula, Calculate to 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 of the three-dimensional space respectively.

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

[0015] Through the formula, Calculate to obtain the calibrated roll angle βB of the unmanned aerial vehicle.

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

[0017] A1: Arbitrarily select one from the wind force levels of each wind force level as the analysis wind force:

[0018] A2: When the unmanned aerial vehicle conducts a preset number a of flight tests under the analysis wind force, obtain the accelerations Fxa, Fya, and Fza corresponding to the three dimensions in the three-dimensional space respectively. Through Calculate to obtain the pitch angles θa corresponding to the unmanned aerial vehicle in the preset number a of flight tests respectively. Obtain the absolute value Ca of the difference between each pitch angle θa and the calibrated pitch angle βA. Calculate the standard deviation value U1 corresponding to the absolute value Ca and analyze it. According to the analysis result, obtain the pitch angle difference PA1 corresponding to the unmanned aerial vehicle under the analysis wind force. Here, a is referred to as the preset number, and a is a positive integer, satisfying a≥1;

[0019] A3: Repeat steps A1 - A2, and the pitch angle differences PAn corresponding to the unmanned aerial vehicle under different wind force levels can be obtained, where n is referred to as different preset wind force levels, n = 1, 2,..., d, and d is the number corresponding to the preset wind force levels, d≥1.

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

[0021] A1: Arbitrarily select one of the wind force levels as the analysis wind force from the different wind force levels:

[0022] A2: By Calculating the pitch angles γa corresponding to the unmanned aerial vehicle in a preset number a of flight tests, obtaining the absolute value Ea of the difference between each pitch angle θa and the calibrated roll angle βB, obtaining the standard deviation value U2 corresponding to the absolute value Ea of the difference and analyzing it to obtain the roll angle deviation value PB1 of the unmanned aerial vehicle under the analysis wind force;

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

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

[0025] When the standard deviation 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 analysis wind force. When the standard deviation value U1 is greater than or equal to the preset value Y1, the values with a larger deviation from the mean value Cp are deleted in ascending order according to the values of Ca, and the number v of deleted values is recorded. When the number v of deletions 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 analysis wind force. When the number v of deletions 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 analysis wind force.

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

[0027] When the standard deviation value U2 is less than the preset value Y3, the mean value Ep of Ea is taken 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 value Ep in Ea are deleted in ascending order of the values of Ea, and the number j of deleted values is recorded. When the number j of deletions is greater than the preset value Y4, the mean value of the maximum and minimum values in Ea is taken as the roll angle deviation value PB1 corresponding to the unmanned aerial vehicle under the analyzed wind force. When the number j of deletions is less than or equal to the preset value Y4, the mean value Ep of Ea is taken 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 for obtaining the pitch angle difference and the roll angle deviation value corresponding to the unmanned aerial vehicle under different rainfall amounts is as follows:

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

[0030] The accelerations corresponding to the unmanned aerial vehicle in three dimensions in the three-dimensional space under different rainfall amounts are obtained and analyzed in the same way as the roll angle deviation value PBn corresponding to the unmanned aerial vehicle under different wind force levels, so as to obtain the roll angle deviation value GBn corresponding to the unmanned aerial vehicle under different rainfall amounts.

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

[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 wind force levels and the fixed coefficients M1 and M2 respectively is marked as the wind force attitude influence coefficient Kn corresponding to the unmanned aerial vehicle under different wind force levels, where 1 = M1 + M2 and M1 > M2. The wind force level corresponding to the attitude influence coefficient Kn greater than the preset threshold Z1 is marked as the abnormal wind force level, and vice versa, no marking is made.

[0033] As a further solution of the present invention: The specific method for marking the abnormal rainfall amount is as follows;

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

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0036] In the present invention, by quickly identifying the abnormal wind levels and abnormal rainfall amounts that have a greater impact on the flight attitude of the unmanned aerial vehicle, timely risk warnings are provided for the operators. The operators can make preparations in advance according to the marking results, and take measures such as adjusting the flight altitude, changing the flight route or suspending the task to reduce the flight risk, which helps to reasonably allocate resources and improve the utilization efficiency of the unmanned aerial vehicle. 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 method framework structure of the present invention;

[0039] Figure 3 It is a schematic diagram of the data analysis module of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0041] Embodiment 1

[0042] Please refer to Figure 1 - Figure 3 , this application provides a flight attitude monitoring system for unmanned aerial vehicles in complex environments, including;

[0043] An environment simulation module, which includes a wind field simulation system and a rainfall simulation system, and can simulate different wind levels and different rainfall amounts, so as to create complex windy and rainy weather conditions;

[0044] The environmental simulation module simulates different levels of wind force and different rainfall amounts, providing a highly realistic complex environment for the unmanned aerial vehicle to be tested, making the monitoring results more valuable for practical applications. It can comprehensively evaluate the flight attitude of the unmanned aerial vehicle under different wind and rain conditions in a controllable environment such as a laboratory, discover potential problems in advance and optimize them, thus improving the flight safety and stability of the unmanned aerial vehicle in the actual complex environment.

[0045] The action posture capture module consists of 10 action capture cameras, which are arranged at different positions to capture the position of the unmanned aerial vehicle and the corresponding flight attitude trajectories under different levels of wind force and different rainfall amounts.

[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 corresponding to the unmanned aerial vehicle in three dimensions in the three-dimensional space under different levels of wind force and different rainfall amounts.

[0047] It also includes reflective marker balls and reflective marker rods, which are used to calibrate the camera parameters and ensure the accurate capture of the unmanned aerial vehicle.

[0048] The calibration pitch angle and calibration roll angle acquisition module places the unmanned aerial vehicle in a low-interference environment for flight tests, and obtains the accelerations corresponding to the unmanned aerial vehicle in three dimensions in the three-dimensional space during the flight tests in the low-interference environment. The calibration pitch angle and calibration 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 unmanned aerial vehicle in three dimensions in the three-dimensional space during the flight tests in the 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 the three-dimensional space respectively.

[0051] Through the formula, Calculate the calibration pitch angle βA of the unmanned aerial vehicle.

[0052] Through the formula, Calculate the calibration roll angle βB of the unmanned aerial vehicle.

[0053] The data analysis module analyzes the accelerations corresponding to the unmanned aerial vehicle in three dimensions in the three-dimensional space under different levels of wind force and different rainfall amounts, and obtains the corresponding pitch angle deviation values and roll angle deviation values of the unmanned aerial vehicle under different levels of wind force 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: Get 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 error value U1. When the alignment error value U1 is less than the preset value Y1, the mean Cp of Ca is taken as the pitch angle difference PA1 corresponding to the unmanned aerial vehicle under the analyzed wind force. When the alignment error value U1 is greater than or equal to the preset value Y1, the values with relatively large deviations from the mean Cp are deleted in ascending order according to the values of Ca, and the number v of deleted values is recorded. At the same time, the alignment error value U1 is recalculated each time a deletion is made until the alignment error value U1 satisfies being less than the preset value Y1. When the number v of deletions is greater than the preset value Y2, the mean of the maximum and minimum values in Ca is taken 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 taken 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, and the pitch angle differences PAn corresponding to the unmanned aerial vehicle under different wind force levels can be obtained, where n represents different preset wind force levels, n = 1, 2,..., d, d is the number corresponding to the preset wind force levels, and d ≥ 1;

[0064] Use the same method as obtaining the pitch angle differences PAn corresponding to the unmanned aerial vehicle under different wind force levels to obtain and analyze the accelerations corresponding to the three dimensions of the unmanned aerial vehicle in three - dimensional space under different rainfall amounts, and then obtain the pitch angle differences GAn corresponding to the unmanned aerial vehicle under different rainfall amounts;

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

[0066] A01: Arbitrarily select one of the wind force levels as the analyzed wind force;

[0067] A02: Obtain the accelerations Fxa, Fya, and Fza corresponding to the three dimensions of the unmanned aerial vehicle in three - dimensional space during a preset number a of flight tests of the unmanned aerial vehicle under the analyzed wind force. Here, a represents the preset number, a is a positive integer, satisfying a ≥ 1, and here a = 68 times;

[0068] Through Calculate the pitch angles γa corresponding to the unmanned aerial vehicle during a 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 respectively;

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

[0071] Analyze the standard deviation value U2. When the standard deviation value U2 is less than the preset value Y3, then take 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 standard deviation value U2 is greater than or equal to the preset value Y3, then delete the values in Ea that deviate greatly from the mean value Ep in ascending order, and record the number j of deleted values. At the same time, recalculate the standard deviation value U2 each time a deletion is made until the standard deviation value U2 satisfies being less than the preset value Y3. When the number j of deletions is greater than the preset value Y4, then take the mean value 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 j of deletions is less than or equal to the preset value Y4, then take the mean value Ep of Ea as the roll angle deviation value PB1 corresponding to the unmanned aerial vehicle under the analyzed wind force, where 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, and the roll angle deviation values PBn corresponding to the unmanned aerial vehicle under different wind force levels can be obtained, where n represents different preset wind force levels, n = 1, 2, ……, d, d is the number corresponding to the preset wind force levels, and d≥1;

[0073] Adopt the same method as obtaining the roll angle deviation values PBn corresponding to the unmanned aerial vehicle under different wind force levels to obtain and analyze the accelerations corresponding to the three dimensions of the unmanned aerial vehicle in three - dimensional space under different rainfall amounts, and then obtain 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 wind - rain weather conditions, problems that may exist during flight can be found, such as unstable attitude, excessive angle deviation, etc., and improvement plans can be proposed, providing accurate data support for the flight control and optimization of the unmanned aerial vehicle.

[0075] Embodiment Two

[0076] As Embodiment Two of the present invention, in the specific implementation of this application, compared with Embodiment One, the technical solution of this embodiment is only different from that of Embodiment One in that this embodiment further includes an abnormal wind force and abnormal rainfall marking module;

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

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

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

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

[0081] The corresponding level of wind force with the rainfall attitude influence coefficient Jn greater than the preset threshold Z2 is marked as the abnormal rainfall amount, otherwise no marking is made. The specific values of the preset thresholds Z1 and Z2 are both determined by relevant personnel according to actual needs;

[0082] It can quickly identify the abnormal level wind force and abnormal rainfall amount that have a greater impact on the flight attitude of the unmanned aerial vehicle, provide timely risk warnings for operators. Operators can make preparations in advance according to the marking results and take measures such as adjusting the flight altitude, changing the flight route or suspending the task to reduce the flight risk, which helps to reasonably allocate resources and improve the use efficiency of the unmanned aerial vehicle. For example, in the logistics distribution task, more appropriate flight routes and times can be selected according to the abnormal environment marking to avoid flying in bad environments and reduce energy consumption and equipment wear.

[0083] Embodiment III

[0084] As Embodiment III of the present invention, when this application is specifically implemented, compared with Embodiment I and Embodiment II, the technical solution of this embodiment is to combine and implement the solutions of the above Embodiment I and Embodiment II.

[0085] The above formulas are all dimensionless and only take their numerical values for calculation. The formulas are obtained by collecting a large amount of data for software simulation to get a formula closest to the actual situation. The preset parameters and threshold selection in the formulas are set by those skilled in the art according to the actual situation.

[0086] The above is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claimed rights.

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.

Images