Airframe speed estimation method and device, unmanned aerial vehicle and storage medium

Abstract

The invention discloses an airframe speed estimation method and device, an unmanned aerial vehicle and a storage medium, and particularly relates to the technical field of unmanned aerial vehicles. The specific implementation scheme comprises the steps of determining target object information in the flight process of the unmanned aerial vehicle; determining the Doppler velocity direction of the unmanned aerial vehicle according to the position information; determining a first relationship between the body speed of the unmanned aerial vehicle and the radar speed of the radar according to the rigidity change information of the radar and the unmanned aerial vehicle and the flight information of the unmanned aerial vehicle output by the fusion system; determining a second relationship among the radar speed, the radial speed and the Doppler speed direction; and according to the first relation and the second relation, determining the machine body speed. The problem of estimating the speed of the unmanned aerial vehicle is solved by fusing the information between the unmanned aerial vehicle and the target point acquired by the system, the accuracy of estimating the body speed of the unmanned aerial vehicle is improved, and the flight safety of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a method and device for estimating the speed of an aircraft body, an unmanned aerial vehicle and a storage medium. Background Art

[0002] In the fusion positioning and control system of UAV, the velocity information provided by the Global Positioning System (GPS) sensor is crucial to enhance the stability of aircraft state estimation.

[0003] However, in actual applications, sensor failures often occur, resulting in inaccurate speed observations. This may occur in remote areas where GPS signals are unstable, or in mountainous and densely forested areas where it is difficult for aircraft to receive satellite signals. In addition, ionospheric interference is also one of the factors that affect the stability of GPS signals. Summary of the invention

[0004] The present invention provides a body speed estimation method, device, unmanned aerial vehicle and storage medium to solve the problem that it is impossible to obtain accurate speed observation of the unmanned aerial vehicle.

[0005] According to one aspect of the present invention, a method for estimating body velocity is provided, which is applied to a drone, wherein the drone includes a fusion system, and the fusion system includes a radar. The method includes:

[0006] Determine target information during the flight of the drone, the target information including position information and radial velocity, the position information represents the position of the target, and the radial velocity includes the radial Doppler velocity of the drone relative to the target;

[0007] Determine the Doppler velocity direction of the UAV according to the position information;

[0008] Determine a first relationship between a body speed of the UAV and a radar speed of the radar according to the rigidity change information of the radar and the UAV and the flight information of the UAV output by the fusion system;

[0009] determining a second relationship between the radar velocity, the radial velocity, and the Doppler velocity direction;

[0010] The body speed is determined according to the first relationship and the second relationship.

[0011] According to another aspect of the present invention, there is provided a device for estimating body speed, characterized in that it comprises:

[0012] A first determination module is used to determine target information during the flight of the UAV, wherein the target information includes position information and radial velocity, wherein the position information represents the position of the target, and the radial velocity includes a radial Doppler velocity of the UAV relative to the target;

[0013] A second determination module is used to determine the Doppler velocity direction of the UAV according to the position information;

[0014] a third determination module, configured to determine a first relationship between a body speed of the UAV and a radar speed of the radar according to rigidity change information of the radar and the UAV and flight information of the UAV output by the fusion system;

[0015] a fourth determination module, configured to determine a second relationship between the radar velocity, the radial velocity, and the Doppler velocity direction;

[0016] A fifth determination module is used to determine the body speed according to the first relationship and the second relationship.

[0017] According to another aspect of the present invention, there is provided an unmanned aerial vehicle, the unmanned aerial vehicle comprising: a fusion system, the fusion system comprising a radar,

[0018] at least one processor in communication with the fusion system; and

[0019] a memory communicatively coupled to the at least one processor and the communication system, wherein:

[0020] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the body speed estimation method described in any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the body speed estimation method described in any embodiment of the present invention when executed.

[0022] The technical solution of the embodiment of the present invention determines the target information during the flight of the drone; determines the Doppler velocity direction of the drone according to the position information; determines the first relationship between the body velocity of the drone and the radar velocity of the radar according to the rigidity change information of the radar and the drone and the flight information of the drone output by the fusion system; determines the second relationship between the radar velocity, the radial velocity and the Doppler velocity direction; determines the body velocity according to the first relationship and the second relationship. By fusing the information between the drone and the target point collected by the system, the problem of estimating the drone velocity is solved, the accuracy of the drone body velocity estimation is improved, and the flight safety of the drone is improved.

[0023] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 is a flow chart of a method for estimating body speed according to Embodiment 1 of the present invention;

[0026] Figure 2 is a flowchart of a first relationship determination method provided according to Embodiment 2 of the present invention;

[0027] Figure 3 is a schematic diagram of the structure of a device for estimating the speed of an aircraft body provided according to a third embodiment of the present invention;

[0028] Figure 4 4 is a block diagram of a drone provided according to Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment 1

[0032] Figure 1 A flow chart of a method for estimating the body speed is provided for the first embodiment of the present invention. This embodiment is applicable to the case of estimating the body speed of a drone. The method can be executed by a body speed estimation device. The body speed estimation device can be implemented in the form of hardware and / or software. The body speed estimation device can be configured in a drone. The drone includes a fusion system, and the fusion system includes a radar. Figure 1 As shown, the method includes:

[0033] S110, determining target information during the flight of the UAV, wherein the target information includes position information and radial velocity, wherein the position information represents the position of the target, and the radial velocity includes a radial Doppler velocity of the UAV relative to the target.

[0034] In this embodiment, the UAV is an aircraft that can fly without the need for a pilot to operate on board. The UAV can be remotely controlled by the operator of the ground control station, or it can fly autonomously through a preset flight program. The fusion system can be a system integrating multiple functions, which can be used to estimate the motion state parameters of the UAV. The fusion system can include a radar and an inertial measurement unit system, which can be used to estimate the attitude of the UAV. Radar can be understood as an electronic device that uses electromagnetic waves to detect and measure targets, and the radar can be carried on the UAV. When the radar emits electromagnetic waves of a certain frequency, these waves will be reflected when encountering a target (such as a ground object, an aircraft or other obstacle), and the reflected waves are received by the radar. By processing and analyzing the received signals, information such as the distance, direction, and speed of the target can be obtained. The target object can be understood as a target obstacle detected by the radar during the flight of the UAV. The target object information can represent the information represented by the relationship between the radar and the target object output by the radar during the flight of the UAV. The target object information can include position information and radial velocity. Position information can be understood as the position of the target object monitored by the radar during the flight of the UAV. The radial velocity can be understood as the radial component of the velocity of the drone relative to the target object detected by the radar during the flight of the drone. The radial Doppler velocity can be understood as the radial velocity component of the drone relative to the target object, and this velocity component can be toward the target object.

[0035] Specifically, a radar is mounted on the drone. When the drone is flying, obstacles detected by the radar on the drone can be used as targets. The obstacles can be static objects. The target information of the target relative to the drone is obtained through the radar. The target information includes position information representing the position of the target and radial velocity representing the drone relative to the target.

[0036] For example, a 4D millimeter wave radar can be installed on a drone, and the drone can be placed in the work area. The drone can randomly fly to collect target information output by the radar. The target information can be expressed as x, y, z, v d , where x, y, z represent the position information, v d Represents radial velocity.

[0037] Optionally, the target object includes a static object within the working area of ​​the drone.

[0038] Specifically, when the drone is working in a working area, static objects without displacement in the working area monitored by the radar on the drone are taken as targets, and their target information is collected.

[0039] For example, in the actual working condition of the radar on the drone, it is inevitable to collect target information of non-static objects. In order to eliminate the influence of non-static objects, the random sampling consensus (RANSAC) sampling mechanism can be used to filter the collected target information.

[0040] S120. Determine the Doppler velocity direction of the UAV according to the position information.

[0041] In this embodiment, the Doppler velocity direction can be understood as the relative motion direction of the UAV with respect to the target object. When the UAV is relatively close to the target object, the Doppler velocity direction can be expressed as a negative value, otherwise it is expressed as a positive value.

[0042] Specifically, the Doppler velocity direction of the drone is obtained by calculation based on the position information of the target object in the world coordinate system collected by the radar. The position information can be a vector in the coordinate system, which is normalized into a unit vector. The direction of the unit vector is consistent with the direction of the vector corresponding to the position information, and the unit vector is used as the Doppler velocity direction.

[0043] Exemplarily, according to the position information P = [x, y, z], the position information is normalized into a unit vector The direction of vector P is taken as the direction of the unit vector. When the drone is relatively close to the target, the Doppler velocity direction is expressed as

[0044] S130. Determine a first relationship between a body speed of the UAV and a radar speed of the radar according to the rigidity change information of the radar and the UAV and the flight information of the UAV output by the fusion system.

[0045] In this embodiment, the rigid change information can be understood as the information after the rigid body transformation of the radar relative to the drone. Rigid body transformation refers to a series of transformations performed on an object in three-dimensional space, which keeps the shape and size of the object unchanged during the transformation and only changes the position and / or direction of the object. Flight information can be understood as information about the speed of the drone and the posture of the drone during the flight. The body speed can be understood as the flight speed of the drone during the flight. The radar speed can be understood as the speed of the radar carried by the drone during the flight of the drone. The first relationship can be understood as an equation relationship that characterizes the drone body speed and radar speed in the radar coordinate system.

[0046] Specifically, the rigidity change information generated by the rigid body transformation of the radar relative to the body is obtained, and an inertial measurement unit is mounted on the body. The inertial measurement unit and the radar can form a fusion system. The flight information of the UAV is output through the fusion system. The flight information may include the rigidity change information output by the radar and the attitude information of the UAV output by the inertial measurement unit. According to the various information obtained by the fusion system, an equation relationship is established between the body speed of the UAV and the radar speed of the radar, and the equation relationship is used as the first relationship.

[0047] Exemplarily, the rigidity change information T of the radar relative to the body is obtained. br =[R br ,t br ], where R br represents the rotation matrix between the drone and the radar, t br Represents the translation vector between the drone and the radar. The inertial measurement unit can output the angular velocity ω of the drone and estimate the current drone attitude R through the fusion system. wb According to the above information, at the body speed V wb and radar speed V r First relationship in Indicates the conversion relationship between the world coordinate system and the radar coordinate system.

[0048] S140: Determine a second relationship between the radar velocity, the radial velocity, and the Doppler velocity direction.

[0049] In this embodiment, the second relationship can be understood as an equation relationship that represents the radial velocity of the drone and the radar velocity.

[0050] Specifically, for the radar speed, radial speed and Doppler speed direction, the transposed vector of the Doppler speed direction may be operated on the radar speed and a relationship may be established with the radial speed to obtain a second relationship.

[0051] For example, for the radar speed V in the radar coordinate system r , the radial velocity v of the drone relative to the target d , and the Doppler velocity direction The following relationship can be obtained As a second relationship characterizing radial velocity and radar velocity.

[0052] S150: Determine the body speed according to the first relationship and the second relationship.

[0053] Specifically, the first relationship can represent the relationship between the body speed and the radar speed, and the second speed can represent the relationship between the radial speed and the radar speed. During the flight of the drone, the radar can obtain information about multiple targets, that is, multiple first relationships and second relationships are obtained. By solving the simultaneous equations for the second relationship and substituting the corresponding first relationship into it, the body speed can be obtained.

[0054] For example, during the flight of the drone, the fusion system will output multiple target information, that is, multiple radial velocities v d and Doppler velocity direction Second relation. For multiple second relation simultaneous equations Where n is the number of target objects, the corresponding first relationship Substitute into the equation system to find the body velocity V wb The value of .

[0055] The technical solution of the embodiment of the present invention determines the target information during the flight of the drone; determines the Doppler velocity direction of the drone according to the position information; determines the first relationship between the body velocity of the drone and the radar velocity of the radar according to the rigidity change information of the radar and the drone and the flight information of the drone output by the fusion system; determines the second relationship between the radar velocity, the radial velocity and the Doppler velocity direction; determines the body velocity according to the first relationship and the second relationship. By fusing the information between the drone and the target point collected by the system, the problem of estimating the drone velocity is solved, the accuracy of the drone body velocity estimation is improved, and the flight safety of the drone is improved.

[0056] Based on the above embodiment, a variant embodiment of the above embodiment is proposed. It should be noted that in order to make the description concise, only the differences from the above embodiment are described in the variant embodiment.

[0057] In one embodiment, determining the second relationship between the radar velocity, the radial velocity, and the Doppler velocity direction comprises:

[0058] An equation of the radial velocity and the product of the transposed Doppler velocity direction and the radar velocity in the radar coordinate system is determined as a second relationship.

[0059] Specifically, the Doppler velocity direction is a unit vector representing the direction, and the transposed vector is obtained by transposing it. The transposed Doppler velocity direction is multiplied by the radar velocity in the radar coordinate system. The radar velocity is related to the body velocity, the attitude and angular velocity of the drone, and the translation vector between the drone and the radar. According to the calculation reasoning, the obtained product can establish an equation relationship with the radial velocity, which is recorded as the second relationship.

[0060] In one embodiment, there are multiple targets, and determining the body speed according to the first relationship and the second relationship includes:

[0061] The body speed is determined based on the first relationship and the second relationship corresponding to each of the targets.

[0062] Specifically, during the flight of the drone, the radar can scan multiple targets in the working area of ​​the drone, and each target has its corresponding target information. According to each target information, the first relationship and the second relationship corresponding to each target can be determined, and the multiple second relationship simultaneous equations are substituted into the corresponding first relationship to obtain the body speed.

[0063] For example, the body speed V wb and radar speed V r The first relationship between Radial velocity v d and radar speed V r The second relationship between Substituting the equation of the first relation into the second relation, we obtain The radial velocity v d is the body speed V wb The radial component of .

[0064] In one embodiment, determining the Doppler velocity direction of the drone according to the position information includes:

[0065] Determine a three-dimensional vector formed by the position information;

[0066] Normalize the three-dimensional vector to obtain a target vector, wherein the direction of the target vector is the same as the direction of the three-dimensional vector, and the modulus of the target vector is 1;

[0067] The target vector is determined as the Doppler velocity direction of the UAV.

[0068] In this embodiment, the target vector can be understood as a vector obtained by normalizing the vector representing the position information, and the target vector is a unit vector.

[0069] Specifically, during the flight of the drone, the radar obtains the target information of the target object, which includes the position information. In the world coordinate system, the position information can be expressed as a three-dimensional vector, and the three-dimensional vector is normalized to obtain the target vector. The normalization can be the ratio of the three-dimensional vector to the norm result of the three-dimensional vector, and the modulus of this target vector is unit 1. The direction of the normalized target vector is consistent with that of the three-dimensional vector, so the target vector can be used as the Doppler velocity direction of the drone.

[0070] For example, the position information of the target object obtained by the radar on the drone is x, y, z, which can be expressed as a three-dimensional vector form P = [x, y, z]. The norm of P is ||P||, and the ratio of P to ||P|| is used as the unit vector The modulus of this target vector is unit 1. The direction of the target vector is consistent with the three-dimensional vector, so the Doppler velocity direction can be expressed as

[0071] Embodiment 2

[0072] Figure 2 This is a flow chart of a method for determining a first relationship provided in Embodiment 2 of the present invention. This embodiment is based on the method for determining the first relationship between the aircraft body speed and the radar speed in the above embodiment. Figure 2 As shown, the method includes:

[0073] S210. Determine an initial relationship between the body speed of the UAV and the radar speed of the radar in a world coordinate system, where the initial relationship includes the attitude information, the angular velocity information, the rigidity change information, and an equation relationship between the radar speed and the body speed.

[0074] In this embodiment, the initial relationship can be understood as a relationship between the drone body speed and the radar speed in the world coordinate system.

[0075] Specifically, in the world coordinate system, the rigidity change information generated by the rigid body transformation of the radar relative to the body is obtained, and the angular velocity information of the drone is obtained through the inertial measurement unit. The inertial measurement unit and the radar can form a fusion system, and the attitude information of the drone is output through the fusion system. Based on the above-obtained information, an equation relationship between the radar velocity and the body velocity in the world coordinate system is established as the initial relationship.

[0076] Exemplarily, the rigidity change information T generated by the rigid body transformation of the radar relative to the body is obtained. br =[R br ,t br ], and obtain the angular velocity information ω of the drone through the inertial measurement unit. The inertial measurement unit and the radar can form a fusion system, and the attitude information R of the drone can be output through the fusion system. wb Based on the above information, the radar speed V in the world coordinate system is established. wr and the body speed V wb The equation relationship between as the initial relationship.

[0077] S220: Convert the initial relationship into a radar coordinate system of the radar to obtain a first relationship.

[0078] Specifically, through the conversion relationship between the world coordinate system and the radar coordinate system, the initial relationship between the radar speed and the body speed in the world coordinate system is converted to the radar coordinate system to obtain the first relationship between the radar speed and the body speed.

[0079] For example, Indicates the conversion relationship between the world coordinate system and the radar coordinate system, that is, in the radar coordinate system, the body speed V wb and radar speed V r The first relationship between can be expressed as

[0080] Optionally, determining the initial relationship between the body speed of the UAV and the radar speed of the radar in the world coordinate system includes:

[0081] Determine the product of the translation vector in the rigid change information, the antisymmetric matrix of the angular velocity and the posture information;

[0082] The equation relationship between the sum of the product and the body speed and the radar speed is determined as an initial relationship.

[0083] Specifically, the translation vector of the radar relative to the body in the rigid change information, the antisymmetric matrix of the angular velocity output by the inertial measurement unit, and the attitude information of the UAV predicted by the fusion system are obtained, and the above three information are multiplied to obtain the product result. The product result can be used to establish an equation relationship between the body speed and the radar speed, and the sum of the body speed and the product result can be equal to the radar speed as an initial relationship.

[0084] In the technical solution of the embodiment of the present invention, the flight information includes the angular velocity output by the inertial measurement unit in the fusion system and the attitude information of the drone estimated by the fusion system, and the initial relationship between the body velocity of the drone and the radar velocity of the radar is determined in the world coordinate system, and the initial relationship includes the equation relationship between the attitude information, the angular velocity information, the rigidity change information, the radar velocity and the body velocity; the initial relationship is converted to the radar coordinate system of the radar to obtain the first relationship. Through the rigidity change information of the radar and the drone and the flight information of the drone output by the fusion system, the method for determining the first relationship between the body velocity of the drone and the radar velocity of the radar is refined, which provides a basis for the method of estimating the body velocity.

[0085] Embodiment 3

[0086] Figure 3 This is a schematic diagram of the structure of a device for estimating body speed provided in Embodiment 3 of the present invention.

[0087] like Figure 3 As shown, the device comprises:

[0088] A first determination module 310 is used to determine target information during the flight of the UAV, wherein the target information includes position information and radial velocity, wherein the position information represents the position of the target, and the radial velocity includes the radial Doppler velocity of the UAV relative to the target;

[0089] A second determination module 320 is used to determine the Doppler velocity direction of the UAV according to the position information;

[0090] a third determination module 330, configured to determine a first relationship between a body speed of the UAV and a radar speed of the radar according to the rigidity change information of the radar and the UAV and the flight information of the UAV output by the fusion system;

[0091] A fourth determination module 340, configured to determine a second relationship between the radar velocity, the radial velocity, and the Doppler velocity direction;

[0092] The fifth determination module 350 is configured to determine the body speed according to the first relationship and the second relationship.

[0093] The body speed estimation device provided by the embodiment of the present invention determines the target object information during the flight of the UAV through the first determination module; determines the Doppler speed direction of the UAV according to the position information through the second determination module; determines the first relationship between the body speed of the UAV and the radar speed of the radar according to the rigidity change information of the radar and the UAV and the flight information of the UAV output by the fusion system through the third determination module; determines the second relationship between the radar speed, the radial speed and the Doppler speed direction through the fourth determination module; determines the body speed according to the first relationship and the second relationship through the fifth determination module. Through the cooperation between the modules and the information between the UAV and the target point collected by the fusion system, the problem of estimating the UAV speed is solved, the accuracy of the UAV body speed estimation is improved, and the flight safety of the UAV is improved.

[0094] In one embodiment, the flight information includes an angular velocity output by an inertial measurement unit in the fusion system and attitude information of the UAV estimated by the fusion system;

[0095] Accordingly, the third determination module 330 includes:

[0096] A determination unit, configured to determine an initial relationship between a body speed of the UAV and a radar speed of the radar in a world coordinate system, wherein the initial relationship includes an equation relationship between the attitude information, the angular velocity information, the rigidity change information, and the radar speed and the body speed;

[0097] A conversion unit is used to convert the initial relationship into a radar coordinate system of the radar to obtain a first relationship.

[0098] In one embodiment, the determining unit is specifically configured to:

[0099] Determine the product of the translation vector in the rigid change information, the antisymmetric matrix of the angular velocity and the posture information;

[0100] The equation relationship between the sum of the product and the body speed and the radar speed is determined as an initial relationship.

[0101] In one embodiment, the fourth determining module 340 is specifically configured to:

[0102] An equation of the radial velocity and the product of the transposed Doppler velocity direction and the radar velocity in the radar coordinate system is determined as a second relationship.

[0103] In one embodiment, the number of the target objects is multiple, and the fifth determination module 350 is specifically configured to:

[0104] The body speed is determined based on the first relationship and the second relationship corresponding to each of the targets.

[0105] In one embodiment, the second determining module 320 is specifically configured to:

[0106] Determine a three-dimensional vector formed by the position information;

[0107] Normalize the three-dimensional vector to obtain a target vector, wherein the direction of the target vector is the same as the direction of the three-dimensional vector, and the modulus of the target vector is 1;

[0108] The target vector is determined as the Doppler velocity direction of the UAV.

[0109] In one embodiment, the target object comprises a static object within the working area of ​​the drone.

[0110] The body speed estimation device provided in the embodiment of the present invention can execute the body speed estimation method provided in any embodiment of the present invention, and completes the estimation of the body speed through the mutual cooperation and collaboration between the modules, and has the functional modules and beneficial effects corresponding to the execution method.

[0111] Embodiment 4

[0112] According to an embodiment of the present invention, the present invention also provides a drone and a computer-readable storage medium.

[0113] Figure 4 is a block diagram of a drone provided according to Embodiment 4 of the present invention, the drone includes a fusion system, the fusion system includes a radar, at least one processor connected to the fusion system in communication, and a memory connected to the at least one processor and the communication system in communication. The drone can implement the body velocity estimation method described in the embodiment of the present invention. The drone is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The drone can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0114] like Figure 4 As shown, the drone 410 includes at least one processor 411, and a memory connected to the at least one processor 411, such as a read-only memory (ROM) 412, a random access memory (RAM) 413, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 411 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 412 or the computer program loaded from the storage unit 418 to the random access memory (RAM) 413. In RAM 413, various programs and data required for the operation of the drone 410 can also be stored. The processor 411, ROM 412 and RAM 413 are connected to each other through a bus 414. An input / output (I / O) interface 415 is also connected to the bus 414.

[0115] Multiple components in the electronic device are connected to the I / O interface 415, including: an input unit 416, such as a keyboard, a mouse, etc.; an output unit 417, such as various types of displays, speakers, etc.; a storage unit 418, such as a disk, an optical disk, etc.; and a communication unit 419, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 419 allows the drone to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0116] The processor 411 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 411 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 411 executes the various methods and processes described above, such as the body speed estimation method.

[0117] In some embodiments, the body speed estimation method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 418. In some embodiments, part or all of the computer program may be loaded and / or installed on the drone 410 via the ROM 412 and / or the communication unit 419. When the computer program is loaded into the RAM 413 and executed by the processor 411, one or more steps of the body speed estimation method described above may be performed. Alternatively, in other embodiments, the processor 411 may be configured to perform the body speed estimation method in any other appropriate manner (e.g., by means of firmware).

[0118] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0119] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0120] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0121] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0122] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0123] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0124] The technical solution of the embodiment of the present invention is to use a body speed estimation method, device, drone and storage medium to determine the target information during the flight of the drone; determine the Doppler speed direction of the drone according to the position information; determine the first relationship between the body speed of the drone and the radar speed of the radar according to the rigidity change information of the radar and the drone and the flight information of the drone output by the fusion system; determine the second relationship between the radar speed, the radial speed and the Doppler speed direction; and determine the body speed according to the first relationship and the second relationship. By fusing the information between the drone and the target point collected by the system, the problem of estimating the drone speed is solved, the accuracy of the drone body speed estimation is improved, and the flight safety of the drone is improved.

[0125] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0126] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for estimating body speed, characterized in that: Applied to a drone, the drone includes a fusion system, the fusion system includes a radar, and the method includes: Determine target information during the flight of the drone, the target information including position information and radial velocity, the position information represents the position of the target, and the radial velocity includes the radial Doppler velocity of the drone relative to the target; Determine the Doppler velocity direction of the UAV according to the position information; Determine a first relationship between a body speed of the UAV and a radar speed of the radar according to the rigidity change information of the radar and the UAV and the flight information of the UAV output by the fusion system; determining a second relationship between the radar velocity, the radial velocity, and the Doppler velocity direction; The body speed is determined according to the first relationship and the second relationship.

2. The method according to claim 1, characterized in that The flight information includes an angular velocity output by an inertial measurement unit in the fusion system and attitude information of the UAV estimated by the fusion system; Accordingly, determining a first relationship between a body speed of the UAV and a radar speed of the radar according to the rigidity change information of the radar and the UAV and the flight information of the UAV output by the fusion system includes: Determine an initial relationship between the body speed of the UAV and the radar speed of the radar in a world coordinate system, wherein the initial relationship includes an equation relationship between the attitude information, the angular velocity information, the rigidity change information, the radar speed, and the body speed; The initial relationship is converted into a radar coordinate system of the radar to obtain a first relationship.

3. The method according to claim 2, characterized in that The determining of the initial relationship between the body speed of the UAV and the radar speed of the radar in the world coordinate system includes: Determine the product of the translation vector in the rigid change information, the antisymmetric matrix of the angular velocity and the posture information; The equation relationship between the sum of the product and the body speed and the radar speed is determined as an initial relationship.

4. The method according to claim 1, characterized in that: Determining a second relationship between the radar velocity, the radial velocity, and the Doppler velocity direction comprises: An equation of the radial velocity and the product of the transposed Doppler velocity direction and the radar velocity in the radar coordinate system is determined as a second relationship.

5. The method according to claim 1, characterized in that There are multiple targets, and determining the speed of the machine body according to the first relationship and the second relationship includes: The body speed is determined based on the first relationship and the second relationship corresponding to each of the targets.

6. The method according to claim 1, characterized in that Determining the Doppler velocity direction of the UAV according to the position information includes: Determine a three-dimensional vector formed by the position information; Normalize the three-dimensional vector to obtain a target vector, wherein the direction of the target vector is the same as the direction of the three-dimensional vector, and the modulus of the target vector is 1; The target vector is determined as the Doppler velocity direction of the UAV.

7. The method according to claim 1, characterized in that The target object includes a static object within the working area of ​​the drone.

8. A device for estimating body speed, characterized in that: include: A first determination module is used to determine target information during the flight of the UAV, wherein the target information includes position information and radial velocity, wherein the position information represents the position of the target, and the radial velocity includes a radial Doppler velocity of the UAV relative to the target; A second determination module is used to determine the Doppler velocity direction of the UAV according to the position information; a third determination module, configured to determine a first relationship between a body speed of the UAV and a radar speed of the radar according to rigidity change information of the radar and the UAV and flight information of the UAV output by the fusion system; a fourth determination module, configured to determine a second relationship between the radar velocity, the radial velocity, and the Doppler velocity direction; A fifth determination module is used to determine the body speed according to the first relationship and the second relationship.

9. A drone, characterized in that: The drone comprises: a fusion system, wherein the fusion system comprises a radar, at least one processor in communication with the fusion system; and a memory communicatively coupled to the at least one processor and the communication system, wherein: The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the body speed estimation method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the body speed estimation method according to any one of claims 1 to 7 when executed.

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