Mooring unmanned aerial vehicle multi-source disturbance detection method, device, equipment, medium and product

Abstract

The invention provides a multi-source disturbance detection method, device and equipment for a mooring unmanned aerial vehicle, a medium and a product, and the method comprises the steps: obtaining the sensing data of a torque sensor disposed on the mooring unmanned aerial vehicle, and obtaining a first disturbance measurement result of the mooring unmanned aerial vehicle based on the sensing data; obtaining observation data based on gyroscope data of the mooring unmanned aerial vehicle, and obtaining a second disturbance measurement result of the mooring unmanned aerial vehicle based on the observation data; and determining the total disturbance of the mooring unmanned aerial vehicle based on the first disturbance measurement result and the second disturbance measurement result. According to the multi-source disturbance detection method for the mooring unmanned aerial vehicle provided by the invention, the total disturbance of the mooring unmanned aerial vehicle is comprehensively determined based on the first disturbance measurement result and the second disturbance measurement result obtained based on the two aspects, the accuracy and robustness of disturbance detection can be improved, and accurate detection of the disturbance suffered by the mooring unmanned aerial vehicle is realized.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a tethered unmanned aerial vehicle multi-source disturbance detection method, device, equipment, medium and product. Background Art

[0002] Tethered drones are connected to other objects through cables. For example, in firefighting scenarios, tethered drones are connected to fire trucks through cables to spray fire water. Tethered drones are subject to multi-source disturbances, such as cable disturbances, wind disturbances, and the recoil of water pipe sprays. Accurately detecting multi-source disturbances to tethered drones can provide more accurate information for tethered drone control, thereby achieving more accurate control of tethered drones.

[0003] In the prior art, the motion parameters of the drone are directly measured by installing a motion parameter sensor on the drone, and then the disturbance is analyzed. This method is simple and direct, but is limited by the accuracy and noise level of the sensor, and the detection precision and accuracy are low. Summary of the invention

[0004] The present invention provides a tethered drone multi-source disturbance detection method, device, equipment, medium and product, which are used to solve the defect of low disturbance detection accuracy of tethered drones in the prior art and improve the disturbance detection accuracy of tethered drones.

[0005] The present invention provides a method for detecting multi-source disturbance of a tethered unmanned aerial vehicle, comprising: Acquire sensing data of a torque sensor disposed on the tethered drone, and acquire a first disturbance measurement result of the tethered drone based on the sensing data; Obtaining observation data based on the gyroscope data of the tethered drone, and acquiring a second disturbance measurement result of the tethered drone based on the observation data; Based on the first disturbance measurement and the second disturbance measurement, a total disturbance of the tethered drone is determined.

[0006] According to a multi-source disturbance detection method for a tethered drone provided by the present invention, the torque sensor is arranged at the center of gravity of the tethered drone; and the first disturbance measurement result of the tethered drone is obtained based on the sensor data, comprising: determining a force acting on the torque sensor based on the sensor data; A torque measurement value of the tethered drone is obtained based on the force acting on the torque sensor and the distance from the center of mass of the umbilical cable to the center of gravity of the tethered drone, as the first disturbance measurement result.

[0007] According to a tethered UAV multi-source disturbance detection method provided by the present invention, the observation data includes the angular velocity of the tethered UAV and the attitude control target data of the tethered UAV, and the attitude control target data reflects the control desired attitude of the tethered UAV; the second disturbance measurement result of the tethered UAV is obtained based on the observation data, comprising: The observation data is used as an input of an observer, and an estimated value of the moment of the tethered UAV output by the observer is obtained as the second disturbance measurement result.

[0008] According to a tethered drone multi-source disturbance detection method provided by the present invention, determining the total disturbance of the tethered drone based on the first disturbance measurement result and the second disturbance measurement result includes: The first disturbance measurement result and the second disturbance measurement result are fused and filtered to determine the total disturbance of the tethered drone.

[0009] According to a tethered drone multi-source disturbance detection method provided by the present invention, the first disturbance measurement result and the second disturbance measurement result are fused and filtered to determine the total disturbance of the tethered drone, including: In each time step, the first disturbance measurement result is used as the observation value of the filtering algorithm, and the second disturbance measurement result is used as the prior estimate, and the total disturbance received by the tethered drone in each time step is determined by the filtering algorithm.

[0010] According to a method for detecting multi-source disturbance of a tethered UAV provided by the present invention, the total disturbance to which the tethered UAV is subjected in each time step is determined by a filtering algorithm, comprising: Based on the total disturbance and estimated error of the tethered drone obtained in the previous time step, and the first disturbance measurement result and the second disturbance measurement result obtained in the current time step, the total disturbance and estimated error of the tethered drone in the current time step are obtained by a preset formula; The preset formula is: ; ; ; in, represents the estimated error of the previous time step, R represents the accuracy of the torque sensor, They represent the total disturbance and the estimated error of the tethered UAV at the current time step, They respectively represent the first disturbance measurement result and the second disturbance measurement result obtained in the current time step.

[0011] The present invention also provides a tethered UAV multi-source disturbance detection device, comprising: A first disturbance measurement module, used to obtain sensing data of a torque sensor provided on the tethered drone, and to obtain a first disturbance measurement result of the tethered drone based on the sensing data; A second disturbance measurement module, configured to obtain observation data based on the gyroscope data of the tethered drone, and obtain a second disturbance measurement result of the tethered drone based on the observation data; A fusion module is used to determine a total disturbance of the tethered drone based on the first disturbance measurement result and the second disturbance measurement result.

[0012] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any of the above-mentioned methods for detecting multi-source disturbances of a tethered unmanned aerial vehicle is implemented.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, any of the above-mentioned tethered drone multi-source disturbance detection methods is implemented.

[0014] The present invention also provides a computer program product, comprising a computer program, which implements any of the above-mentioned tethered drone multi-source disturbance detection methods when executed by a processor.

[0015] The tethered drone multi-source disturbance detection method, device, equipment, medium and product provided by the present invention can improve the accuracy and robustness of disturbance detection and realize accurate detection of disturbances to the tethered drone by arranging a torque sensor on the tethered drone on the one hand, obtaining a first disturbance measurement result based on the sensing data of the sensor, and obtaining observation data based on the gyroscope of the tethered drone on the other hand, and obtaining a second disturbance measurement result based on the observation data. Finally, the total disturbance of the tethered drone is comprehensively determined based on the first disturbance measurement results and the second disturbance measurement results obtained from the two aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a flow chart of the multi-source disturbance detection method for a tethered UAV provided by the present invention.

[0018] Figure 2It is a schematic diagram of an application scenario of the tethered UAV multi-source disturbance detection method provided by the present invention.

[0019] Figure 3 It is a structural schematic diagram of a tethered UAV multi-source disturbance detection device provided by the present invention.

[0020] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] In view of the defect of low disturbance detection accuracy of tethered drones in the prior art, the present invention provides a tethered drone multi-source disturbance detection method, device, equipment, medium and product to achieve the effect of improving the disturbance detection accuracy of tethered drones.

[0023] Combine the following Figure 1-Figure 2 The present invention describes the method for detecting multi-source disturbances of a tethered UAV. Figure 1 As shown, the method comprises the steps of: S110, acquiring sensing data of a torque sensor disposed on the tethered drone, and acquiring a first disturbance measurement result of the tethered drone based on the sensing data; S120, obtaining observation data based on the gyroscope data of the tethered drone, and obtaining a second disturbance measurement result of the tethered drone based on the observation data; S130: Determine a total disturbance of the tethered drone based on the first disturbance measurement result and the second disturbance measurement result.

[0024] like Figure 2As shown, one application scenario of the method provided by the present invention is a firefighting scenario, in which a tethered drone is connected to a fire truck through a pipe cable, and firefighting water is sprayed through the pipe cable. During the flight or hovering of the tethered drone, the disturbances received are from multiple sources, such as pipe cable disturbances, wind disturbances, and recoil of water pipe spraying. In order to achieve better control of the tethered drone, such as controlling it to hover in a fixed position, it is necessary to accurately detect the disturbances received by the tethered drone, and then input the detected disturbances into the drone flight control program of the flight control computer. The drone flight control program adjusts the control strategy for the tethered drone in real time according to the obtained disturbance information. The multi-source disturbance detection method for a tethered drone provided by the present invention can improve the accuracy and robustness of disturbance detection, and realize accurate detection of disturbances to the tethered drone, by arranging a torque sensor on the tethered drone on the one hand, obtaining a first disturbance measurement result based on sensing data of the sensor, and obtaining observation data based on a gyroscope of the tethered drone on the other hand, and obtaining a second disturbance measurement result based on the observation data, and finally comprehensively determining the total disturbance of the tethered drone based on the first disturbance measurement results and the second disturbance measurement results obtained from the two aspects.

[0025] The multi-source disturbance detection method for a tethered drone provided by the present invention can be executed by the flight control computer of the tethered drone, or by other devices that can be communicatively connected to the flight control computer. After obtaining the total disturbance of the tethered drone, it is transmitted to the flight control computer. The multi-source disturbance detection method for a tethered drone provided by the present invention is specifically described below by taking the flight control computer executing the method provided by the present invention as an example.

[0026] Specifically, in the method provided by the present invention, a torque sensor on the tethered drone is arranged at the center of gravity of the tethered drone, and the torque sensor is connected to the flight control computer of the drone to transmit data in real time. The first disturbance measurement result of the tethered drone is obtained based on the sensor data, including: determining a force acting on the torque sensor based on the sensing data; Based on the force acting on the torque sensor and the distance from the center of mass of the tube cable to the center of gravity of the tethered drone, a torque measurement value of the tethered drone is obtained as the first disturbance measurement result.

[0027] The distance from the center of mass of the cable to the center of gravity of the tethered drone is the lever arm. The force acting on the torque sensor is multiplied by the arm force to obtain the first disturbance measurement result of the tethered drone, which can be expressed as: , where M is the first disturbance measurement result, F is the force acting on the torque sensor, and L is the lever arm, that is, the distance from the center of mass of the cable to the center of gravity of the tethered drone.

[0028] In one possible implementation, the torque sensor is a piezoelectric torque sensor, which is composed of multiple piezoelectric elements. These elements are arranged in a specific way in the sensor structure. When the tethered drone is disturbed, it will cause the sensor structure to bend or twist, thereby causing the piezoelectric element to deform. This deformation will cause the positive and negative charge centers inside the piezoelectric element to shift relative to each other, thereby generating a charge amount. The specific relationship can be expressed as: , where Q represents the amount of charge generated, d is the piezoelectric constant (indicates the amount of charge generated under a unit external force), and F is the external force acting on the piezoelectric material. By measuring the magnitude of this charge, the magnitude of the force acting on the piezoelectric torque sensor can be inferred, and thus the magnitude of the disturbance can be further inferred.

[0029] As explained above, the disturbances to which the tethered drone is subjected are multi-source, and the torque obtained from the force received at the center of gravity of the drone and the distance from the center of mass of the cable to the center of gravity of the drone alone cannot fully and accurately reflect the total torque received by the tethered drone, that is, the first disturbance measurement result cannot accurately reflect the total disturbance of the tethered drone. The multi-source disturbance detection method for a tethered drone provided by the present invention further combines the actual motion observation data of the tethered drone to obtain a second disturbance measurement result, and combines the first disturbance measurement result and the second disturbance measurement result to determine the total disturbance of the tethered drone.

[0030] Specifically, the observation data includes the angular velocity of the tethered UAV and the attitude control target data of the tethered UAV, and the attitude control target data reflects the desired control attitude of the tethered UAV. The angular velocity in the observation data can be read from the gyroscope data of the UAV, and the attitude control target data is the output of the attitude control loop of the UAV, that is, the control target of the flight control computer is to make the attitude of the tethered UAV consistent with the attitude corresponding to the attitude control target data. It can also be said that the attitude control target data is the expected torque of the tethered UAV, and due to the interference to the tethered UAV, the actual torque of the tethered UAV may not be consistent with the observation data. The method provided by the present invention infers the disturbance torque of the tethered UAV based on the observation data to obtain a second disturbance measurement result.

[0031] A second disturbance measurement result of the tethered UAV is obtained based on the observation data, including: The observed data is used as the input of the observer, and the torque estimation value of the tethered UAV output by the observer is obtained as the second disturbance measurement result.

[0032] The observer can use LESO (Linear Extended State Observer), and the process of the observer outputting the torque estimate of the tethered drone can be expressed as: ; ; ; Among them, y and u are the input of the observer, that is, the observation data, y and u are the angular velocity and attitude control target data in the observation data respectively. is the angular velocity of the tethered drone estimated by the observer, is the moment received by the tethered drone estimated by the observer, i.e., the second disturbance measurement result, for The derivative of , , These are adjustment parameters.

[0033] After obtaining the first disturbance measurement result and the second disturbance measurement result, the two are integrated to determine the total disturbance suffered by the tethered drone. Compared with the method of using a single sensor to detect disturbance of a tethered drone, the tethered drone multi-source disturbance detection method provided by the present invention comprehensively determines the total disturbance of the tethered drone based on the first disturbance measurement result and the second disturbance measurement result obtained from two aspects, which can improve the accuracy and robustness of disturbance detection and realize accurate detection of the disturbance suffered by the tethered drone.

[0034] Specifically, determining a total disturbance of the tethered drone based on the first disturbance measurement result and the second disturbance measurement result includes: The first disturbance measurement result and the second disturbance measurement result are fused and filtered to determine the total disturbance of the tethered UAV.

[0035] Due to the influence of external uncertain factors, the total disturbance experienced by the tethered drone will change in real time. The method provided by the present invention periodically detects the total disturbance experienced by the tethered drone, that is, outputs a total disturbance every other time step, and the disturbance at each time step is obtained by fusing and filtering the first disturbance measurement result and the second disturbance measurement result obtained by measuring the data acquired at the current time step.

[0036] Specifically, in each time step, when the first disturbance measurement result and the second disturbance measurement result are fused and filtered, the first disturbance measurement result obtained by the torque sensor measurement is used as the observation value of the filtering algorithm, and the second disturbance measurement technology predicted by the observer is used as the prior estimate. The total disturbance to the tethered drone in each time step is determined by the filtering algorithm, including: Based on the total disturbance and estimated error of the tethered UAV obtained in the previous time step, and the first disturbance measurement result and the second disturbance measurement result obtained in the current time step, the total disturbance and estimated error of the tethered UAV in the current time step are obtained by a preset formula; The default formula is: ; ; ; in, represents the estimated error of the previous time step, R represents the accuracy of the torque sensor, They represent the total disturbance and the estimated error of the tethered drone at the current time step, They respectively represent the first disturbance measurement result and the second disturbance measurement result obtained in the current time step.

[0037] In the initial stage of executing the tethered drone multi-source disturbance detection method provided by the present invention, the total disturbance and the estimated error can be initialized, that is, the total disturbance and the estimated error of the first time step are initialized. Then, in each time step, the total disturbance and the estimated error of the current time step are obtained for disturbance detection in subsequent time steps.

[0038] The multi-source disturbance detection method for a tethered UAV provided by the present invention not only improves the accuracy and robustness of disturbance detection by introducing an observer and torque sensor data fusion, but can also accurately capture complex disturbance signals. At the same time, since the method provided by the present invention does not need to rely on accurate model parameters, the difficulty of obtaining and updating the model parameters is reduced, and the method can adapt to different environments and different disturbance types, and has broad application prospects.

[0039] The following is a description of the tethered drone multi-source disturbance detection device provided by the present invention. The tethered drone multi-source disturbance detection device described below and the tethered drone multi-source disturbance detection method described above can be referred to each other. Figure 3 As shown, the tethered UAV multi-source disturbance detection device provided by the present invention comprises: A first disturbance measurement module 310 is used to obtain sensing data of a torque sensor provided on the tethered UAV, and obtain a first disturbance measurement result of the tethered UAV based on the sensing data; A second disturbance measurement module 320 is used to obtain observation data based on the gyroscope data of the tethered drone, and obtain a second disturbance measurement result of the tethered drone based on the observation data; The fusion module 330 is configured to determine a total disturbance of the tethered UAV based on the first disturbance measurement result and the second disturbance measurement result.

[0040] The multi-source disturbance detection device for a tethered drone provided by the present invention can improve the accuracy and robustness of disturbance detection and realize accurate detection of disturbances to the tethered drone by arranging a torque sensor on the tethered drone on the one hand, obtaining a first disturbance measurement result based on sensing data of the sensor, and obtaining observation data based on a gyroscope of the tethered drone on the other hand, obtaining a second disturbance measurement result based on the observation data, and finally comprehensively determining the total disturbance of the tethered drone based on the first disturbance measurement results and the second disturbance measurement results obtained from the two aspects.

[0041] In a possible implementation, the torque sensor is disposed at the center of gravity of the tethered drone; the first disturbance measurement module performs the acquisition of a first disturbance measurement result of the tethered drone based on the sensor data, including: determining a force acting on the torque sensor based on the sensing data; Based on the force acting on the torque sensor and the distance from the center of mass of the tube cable to the center of gravity of the tethered drone, a torque measurement value of the tethered drone is obtained as the first disturbance measurement result.

[0042] In a possible implementation, the observation data includes the angular velocity of the tethered UAV and attitude control target data of the tethered UAV, and the attitude control target data reflects the desired control attitude of the tethered UAV; the second disturbance measurement module performs the second disturbance measurement result of the tethered UAV based on the observation data, including: The observed data is used as the input of the observer, and the torque estimation value of the tethered UAV output by the observer is obtained as the second disturbance measurement result.

[0043] In a possible implementation, the fusion module determines the total disturbance of the tethered drone based on the first disturbance measurement result and the second disturbance measurement result, including: The first disturbance measurement result and the second disturbance measurement result are fused and filtered to determine the total disturbance of the tethered UAV.

[0044] In a possible implementation, the fusion module performs fusion filtering on the first disturbance measurement result and the second disturbance measurement result to determine the total disturbance of the tethered drone, including: In each time step, the first disturbance measurement result is used as the observation value of the filtering algorithm, and the second disturbance measurement result is used as the prior estimate. The total disturbance suffered by the tethered UAV in each time step is determined by the filtering algorithm.

[0045] In one possible implementation, the fusion module performs a filtering algorithm to determine the total disturbance to the tethered drone at each time step, including: Based on the total disturbance and estimated error of the tethered UAV obtained in the previous time step, and the first disturbance measurement result and the second disturbance measurement result obtained in the current time step, the total disturbance and estimated error of the tethered UAV in the current time step are obtained by a preset formula; The default formula is: ; ; ; in, represents the estimated error of the previous time step, R represents the accuracy of the torque sensor, They represent the total disturbance and the estimated error of the tethered drone at the current time step, They respectively represent the first disturbance measurement result and the second disturbance measurement result obtained in the current time step.

[0046] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the multi-source disturbance detection method for the tethered drone, the method comprising: obtaining the sensing data of the torque sensor provided on the tethered drone, obtaining the first disturbance measurement result of the tethered drone based on the sensing data; obtaining the observation data based on the gyroscope data of the tethered drone, obtaining the second disturbance measurement result of the tethered drone based on the observation data; determining the total disturbance of the tethered drone based on the first disturbance measurement result and the second disturbance measurement result.

[0047] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0048] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the tethered drone multi-source disturbance detection method provided by the above-mentioned methods, and the method includes: obtaining sensor data of a torque sensor set on the tethered drone, and obtaining a first disturbance measurement result of the tethered drone based on the sensor data; obtaining observation data based on the gyroscope data of the tethered drone, and obtaining a second disturbance measurement result of the tethered drone based on the observation data; and determining the total disturbance of the tethered drone based on the first disturbance measurement result and the second disturbance measurement result.

[0049] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the tethered drone multi-source disturbance detection method provided by the above-mentioned methods, the method comprising: obtaining sensor data of a torque sensor provided on the tethered drone, and obtaining a first disturbance measurement result of the tethered drone based on the sensor data; obtaining observation data based on the gyroscope data of the tethered drone, and obtaining a second disturbance measurement result of the tethered drone based on the observation data; and determining the total disturbance of the tethered drone based on the first disturbance measurement result and the second disturbance measurement result.

[0050] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0051] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting multi-source disturbances of a tethered drone, characterized in that: include: Acquire sensing data of a torque sensor disposed on the tethered drone, and acquire a first disturbance measurement result of the tethered drone based on the sensing data; Obtaining observation data based on the gyroscope data of the tethered drone, and acquiring a second disturbance measurement result of the tethered drone based on the observation data; Based on the first disturbance measurement and the second disturbance measurement, a total disturbance of the tethered drone is determined.

2. The method for detecting multi-source disturbances of a tethered UAV according to claim 1, characterized in that: The torque sensor is arranged at the center of gravity of the tethered drone; and the first disturbance measurement result of the tethered drone is obtained based on the sensor data, comprising: determining a force acting on the torque sensor based on the sensor data; A torque measurement value of the tethered drone is obtained based on the force acting on the torque sensor and the distance from the center of mass of the umbilical cable to the center of gravity of the tethered drone, as the first disturbance measurement result.

3. The method for detecting multi-source disturbance of a tethered UAV according to claim 1, characterized in that: The observation data includes the angular velocity of the tethered UAV and attitude control target data of the tethered UAV, wherein the attitude control target data reflects the desired control attitude of the tethered UAV; The obtaining a second disturbance measurement result of the tethered drone based on the observation data comprises: The observation data is used as an input of an observer, and an estimated value of the moment of the tethered UAV output by the observer is obtained as the second disturbance measurement result.

4. The method for detecting multi-source disturbances of a tethered UAV according to claim 1, characterized in that: The determining the total disturbance of the tethered drone based on the first disturbance measurement result and the second disturbance measurement result comprises: The first disturbance measurement result and the second disturbance measurement result are fused and filtered to determine the total disturbance of the tethered drone.

5. The method for detecting multi-source disturbances of a tethered UAV according to claim 4, characterized in that: The fusing and filtering the first disturbance measurement result and the second disturbance measurement result to determine the total disturbance of the tethered drone includes: In each time step, the first disturbance measurement result is used as the observation value of the filtering algorithm, and the second disturbance measurement result is used as the prior estimate, and the total disturbance received by the tethered drone in each time step is determined by the filtering algorithm.

6. The method for detecting multi-source disturbances of a tethered UAV according to claim 5, characterized in that: The total disturbance to which the tethered UAV is subjected in each time step is determined by a filtering algorithm, comprising: Based on the total disturbance and estimated error of the tethered drone obtained in the previous time step, and the first disturbance measurement result and the second disturbance measurement result obtained in the current time step, the total disturbance and estimated error of the tethered drone in the current time step are obtained by a preset formula; The preset formula is: ； ； ； in, represents the estimated error of the previous time step, R represents the accuracy of the torque sensor, They represent the total disturbance and the estimated error of the tethered UAV at the current time step, They respectively represent the first disturbance measurement result and the second disturbance measurement result obtained in the current time step.

7. A tethered drone multi-source disturbance detection device, characterized in that: The device comprises: A first disturbance measurement module, used to obtain sensing data of a torque sensor provided on the tethered drone, and to obtain a first disturbance measurement result of the tethered drone based on the sensing data; A second disturbance measurement module, configured to obtain observation data based on the gyroscope data of the tethered drone, and obtain a second disturbance measurement result of the tethered drone based on the observation data; A fusion module is used to determine a total disturbance of the tethered drone based on the first disturbance measurement result and the second disturbance measurement result.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the tethered drone multi-source disturbance detection method according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the tethered drone multi-source disturbance detection method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the tethered drone multi-source disturbance detection method according to any one of claims 1 to 6 is implemented.

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