Target identification system and method based on unmanned aerial vehicle

Abstract

The invention provides a target recognition system and method based on an unmanned aerial vehicle, and relates to the technical field of target recognition. Through mutual cooperation of the unmanned aerial vehicle accompanying flight management unit, the unmanned aerial vehicle data recharge unit, the flight simulation system and the target identification management unit, data recharge of the unmanned aerial vehicle is realized, so that reproduction analog simulation is performed on a task execution scene of the unmanned aerial vehicle, and a corresponding relative position relation is found through a time point of finding a target. The unmanned aerial vehicle coordinates corresponding to the time point of the unmanned aerial vehicle are obtained through the flight simulation system, and the target coordinate position is calculated according to the unmanned aerial vehicle coordinates and the relative position relation, so that offline target identification on the target based on the unmanned aerial vehicle is realized; the problem that the target coordinate position of the target cannot be restored and positioned after an unmanned aerial vehicle real-time target identification mode cannot perform target identification backtracking is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of target recognition, and in particular to a target recognition system and method based on an unmanned aerial vehicle. Background Art

[0002] When identifying targets, drones often use real-time target recognition mode. That is, during the flight of the drone, the drone body or the ground base station (receiving real-time data) uses the target recognition module to perform real-time image processing on the collected image information to discover the target, and calculates the target coordinate position through relevant data (such as relative attitude angle, current drone latitude and longitude, drone flight speed, GIS geographic information, image processing information, etc.); the real-time target recognition mode has strong timeliness, and the target coordinate position calculated based on the current relevant data has a small error.

[0003] However, the real-time target recognition mode is limited by many factors, such as: limited by the computing power of the drone itself, the signal quality between it and the ground base station, etc.; in addition, if the target is not recognized in time, target recognition backtracking will not be possible later. Even if the target is found by viewing historical image information afterwards, the target coordinate position of the target at that time cannot be restored and located.

[0004] Therefore, we need to provide a target recognition system and method based on drones to solve the problem that the real-time target recognition mode of drones cannot perform target recognition backtracking and cannot restore the target coordinate position of the located target afterwards. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a target recognition system and method based on drone to solve the problem that the real-time target recognition mode of drone cannot perform target recognition backtracking and cannot restore the target coordinate position of the target afterwards.

[0006] On the one hand, the present invention provides a target recognition system based on a drone, which performs flight missions and collects ground image information through the drone, including a drone accompanying flight management unit, a drone data recharging unit, a flight simulation system and a target recognition management unit; wherein,

[0007] The UAV accompanying flight management unit includes a flight instruction control module, a flight status monitoring module and a flight scene configuration module; wherein the flight instruction control module is used to control the flight instruction data used by the UAV to perform flight missions, and the flight status monitoring module is used to monitor the UAV flight status data corresponding to the flight instruction data; the flight scene configuration module is used to configure the flight simulation scene according to the GIS geographic data of the UAV performing flight missions;

[0008] The drone data re-injection unit includes a data import module and a re-injection configuration module; wherein the data import module is used to parse the drone data into re-injection data, and the re-injection configuration module is used to generate corresponding configuration files and airborne messages according to the re-injection data, and inject the airborne messages into the bus corresponding to the flight simulation system according to the description of the configuration file;

[0009] Flight simulation system: including a flight simulation model and a data interaction module; wherein the flight simulation model is used to perform flight simulation on the UAV in the flight simulation scene, and the data interaction module is used to perform data interaction control on the flight simulation model through the bus;

[0010] Target recognition management unit: includes a target image recognition module, a UAV data extraction module and a target position acquisition module; wherein the target image recognition module is used to collect ground image information through the UAV for target recognition, and record the time point and relative position relationship of the target appearance; the UAV data extraction module is used to extract the UAV data corresponding to the time point and send it to the UAV data feedback unit; wherein the UAV data includes flight instruction data and flight status data; the target position acquisition module obtains the UAV coordinates corresponding to the UAV at the time point according to the flight simulation system, and calculates the target coordinate position according to the UAV coordinates and the relative position relationship.

[0011] As a further solution, the flight scene configuration module is used to set flight parameters, simulated environment and flight route; wherein the flight parameters include longitude coordinates, latitude coordinates, flight altitude parameters, azimuth data and aircraft tilt angle.

[0012] As a further solution, the flight command control module is used for command input interface configuration and flight status control; wherein the command input interface configuration includes analog controller configuration and discrete command input configuration; and the flight status control includes dynamic response model control and flight mode management control.

[0013] As a further solution, the flight data monitoring module is used for flight instrument parameter display, flight mission record, flight mode configuration, data interaction record, flight record and flight mission execution record.

[0014] As a further solution, the drone data is ICD document data. The data import module parses the ICD document data, extracts the data type, data format and mapping relationship therein, and encapsulates the parsed data according to the preset ICD specification to obtain the corresponding feedback data and save it.

[0015] As a further solution, the re-injection configuration module includes a parsing module and a sending module; wherein the parsing module is used to generate corresponding configuration files and airborne messages based on the re-injection data; and the sending module injects the airborne messages into the bus corresponding to the flight simulation system according to the description of the configuration file.

[0016] As a further solution, the parsing module generates a configuration file through the following steps:

[0017] The user chooses to re-inject data;

[0018] The parsing module performs message parsing on the recharge data to obtain a bus message description file, several airborne messages and corresponding airborne message IDs;

[0019] According to the ID naming rules, the airborne messages are classified and stored according to the airborne message IDs, and the same type of airborne messages are used to form a message sending queue;

[0020] Parse the sending conditions according to the bus message description file, and drive the message sending queue to assemble the onboard message through the sending conditions; wherein the sending conditions include periodic sending conditions and event sending conditions;

[0021] Assemble the onboard messages into fixed format files, generate and send the corresponding configuration files to the sending module.

[0022] As a further solution, the sending module sends the airborne message through the following steps:

[0023] Import data files and configuration files; wherein the data files are used to describe the status data of the drone;

[0024] Read the configuration file, apply for resources and create a sending thread according to the configuration file;

[0025] Read the data file and start the clock source to drive the data;

[0026] Perform sending condition triggering judgment; if an airborne message is triggered in the sending thread, the corresponding airborne message is sent to the data distribution layer;

[0027] The data distribution layer extracts the corresponding airborne message according to the airborne message ID and injects the airborne message into the corresponding bus.

[0028] As a further solution, the sending module performs data injection through a double buffering technical solution.

[0029] On the other hand, the present invention provides a target recognition method based on a drone, which is applied to a target recognition system based on a drone as described in any one of the above items, and the target coordinate position is obtained by the following steps:

[0030] Step 1: Use the flight command control module to control the flight command data used by the drone to perform the flight mission;

[0031] Step 2: Monitor the UAV flight status data corresponding to the flight instruction data through the flight status monitoring module;

[0032] Step 3: Use drones to perform flight missions and collect ground image information;

[0033] Step 4: When offline target identification is required, start the flight simulation system;

[0034] Step 5: Use the flight scenario configuration module to configure the flight simulation scenario based on the GIS geographic data of the UAV's flight mission;

[0035] Step 6: The target image recognition module collects ground image information through the drone to identify the target, and records the time point and relative position relationship of the target;

[0036] Step 7: The drone data corresponding to the time point is extracted by the drone data extraction module and sent to the drone data recharging unit, and the drone data is parsed into recharging data by the data import module;

[0037] Step 8: The refill configuration module is used to generate corresponding configuration files and airborne messages according to the refill data, and inject the airborne messages into the corresponding bus of the flight simulation system according to the description of the configuration files;

[0038] Step 9: The flight simulation model is used to simulate the flight of the UAV in the flight simulation scene. The data interaction module controls the flight simulation model through the bus and obtains the coordinates of the UAV corresponding to the time point.

[0039] Step 10: The target position acquisition module obtains the drone coordinates corresponding to the drone at the time point according to the flight simulation system, and calculates the target coordinate position according to the drone coordinates and the relative position relationship.

[0040] Compared with the prior art, the target recognition system and method based on drone provided by the present invention has the following advantages:

[0041] The present invention realizes the data re-injection of the UAV through the cooperation of the UAV accompanying flight management unit, the UAV data re-injection unit, the flight simulation system and the target recognition management unit, so as to reproduce and simulate the UAV execution mission scene, find the corresponding relative position relationship by discovering the time point of the target, obtain the UAV coordinates corresponding to the UAV at the time point through the flight simulation system, and calculate the target coordinate position according to the UAV coordinates and the relative position relationship, so as to realize offline target recognition of the target based on the UAV; solves the problem that the real-time target recognition mode of the UAV cannot perform target recognition backtracking and the target coordinate position of the target cannot be restored and located afterwards. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of the architecture of a target recognition system and method based on a drone provided by the present invention;

[0043] Figure 2 A schematic diagram of the software architecture provided by the present invention;

[0044] Figure 3 A schematic diagram of a flight scene configuration module provided by the present invention;

[0045] Figure 4 The flight status control flow chart provided by the present invention;

[0046] Figure 5 A flow chart of user interaction functions provided by the present invention;

[0047] Figure 6 The flight data monitoring module architecture diagram provided by the present invention;

[0048] Figure 7 A schematic diagram of a flight data monitoring module provided by the present invention;

[0049] Figure 8 A schematic diagram of the steps for generating a configuration file provided by the present invention;

[0050] Fig. 9 A schematic diagram of collecting airborne data using the double buffering technology provided by the present invention;

[0051] Fig.10 A schematic diagram of the sending module flow provided by the present invention;

[0052] Fig.11 A schematic diagram of bus message sending provided by the present invention;

[0053] Fig.12 A schematic diagram of the steps of a target recognition method based on a drone provided by the present invention. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions 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 part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0055] like Figure 1 As shown, a target recognition system based on a UAV is used to perform flight missions and collect ground image information through the UAV, including a UAV accompanying flight management unit, a UAV data feedback unit, a flight simulation system and a target recognition management unit; wherein,

[0056] The UAV accompanying flight management unit includes a flight instruction control module, a flight status monitoring module and a flight scene configuration module; wherein the flight instruction control module is used to control the flight instruction data used by the UAV to perform flight missions, and the flight status monitoring module is used to monitor the UAV flight status data corresponding to the flight instruction data; the flight scene configuration module is used to configure the flight simulation scene according to the GIS geographic data of the UAV performing flight missions;

[0057] The drone data re-injection unit includes a data import module and a re-injection configuration module; wherein the data import module is used to parse the drone data into re-injection data, and the re-injection configuration module is used to generate corresponding configuration files and airborne messages according to the re-injection data, and inject the airborne messages into the bus corresponding to the flight simulation system according to the description of the configuration file;

[0058] Flight simulation system: including a flight simulation model and a data interaction module; wherein the flight simulation model is used to perform flight simulation on the UAV in the flight simulation scene, and the data interaction module is used to perform data interaction control on the flight simulation model through the bus;

[0059] Target recognition management unit: includes a target image recognition module, a UAV data extraction module and a target position acquisition module; wherein the target image recognition module is used to collect ground image information through the UAV for target recognition, and record the time point and relative position relationship of the target appearance; the UAV data extraction module is used to extract the UAV data corresponding to the time point and send it to the UAV data feedback unit; wherein the UAV data includes flight instruction data and flight status data; the target position acquisition module obtains the UAV coordinates corresponding to the UAV at the time point according to the flight simulation system, and calculates the target coordinate position according to the UAV coordinates and the relative position relationship.

[0060] It should be noted that: the present invention realizes the data feedback of the UAV through the cooperation of the UAV accompanying flight management unit, the UAV data feedback unit, the flight simulation system and the target identification management unit, so as to reproduce and simulate the UAV mission execution scene, and find the corresponding relative position relationship by discovering the time point of the target, obtain the UAV coordinates corresponding to the UAV at the time point through the flight simulation system, and calculate the target coordinate position according to the UAV coordinates and the relative position relationship, thereby realizing offline target identification of the target based on the UAV.

[0061] The companion flight and re-injection software is divided into two parts: companion flight and re-injection. The companion flight system is responsible for flight simulation, monitoring and control of the test aircraft, while the re-injection system is responsible for processing and analyzing the flight data collected during the companion flight, and feeding back the processing results to the companion flight system to form a closed-loop flight test and analysis system.

[0062] The accompanying flight function can be used to simulate a real or specific flight environment, providing a real-time, dynamic test scenario for the object under test, such as the aircraft's airborne system. Its core functions are as follows:

[0063] (1) Dynamic flight test simulation: Based on project planning and flight requirements, the system automatically generates or customizes flight trajectories to simulate various flight conditions within the full flight envelope, including normal flight, extreme environments, and fault simulation, to ensure the comprehensiveness and authenticity of the test.

[0064] (2) Real-time data interaction: Establish real-time data communication with the object under test, simulate sensor input, control command output, etc., realize synchronous transmission and monitoring of flight data, support online adjustment of test parameters, and quickly respond to changes in test requirements.

[0065] (3) Flight data monitoring: Integrated data acquisition software monitors the data collected during flight in real time and provides visual reports to help users quickly identify problems and evaluate performance.

[0066] The re-injection function is a "time machine" for data verification and playback. It imports historical flight data or simulation data and re-injects it into the system under test in a specific format (such as ICD) to verify its data processing, response and performance. Its core functions are as follows:

[0067] (1) Multi-format data support: Supports multiple common data formats such as csv, xls, and custom formats to meet different data sources and user needs.

[0068] (2) Accurate timestamp control: Based on the timestamp in the data record, accurate data playback can be achieved to ensure data synchronization and timing.

[0069] (3) Multi-channel parallel re-injection: Supports parallel re-injection of multiple ICDs and multiple simulation channels to improve test efficiency and resource utilization.

[0070] (4) Data mapping and packaging: It provides flexible data mapping functions, allowing users to define the mapping relationship between parameters in data records and ICD, and encapsulate data in ICD format to ensure data consistency and accuracy.

[0071] (5) Error handling and logging: Automatically detect and handle data format errors, missing values, and other issues during data re-injection, and record detailed operation logs and error reports to facilitate problem tracking and resolution.

[0072] The companion flight and re-injection software adopts C / S architecture. The client software is deployed on the upper computer and the server program is deployed on the lower computer for underlying data scheduling and communication with the flight simulation model.

[0073] The client is used to implement simple functional logic, including project management, flight scenario configuration, flight data monitoring, flight command control, data import, recharge control, recharge configuration, processing requests and other functions.

[0074] The server is used to process the execution request sent by the host client, and to establish and recycle the process. The interface management is responsible for communicating with the flight simulation model, injecting data into the flight simulation model, and obtaining the output data of the flight simulation model.

[0075] The database is used to store and read and write data of the entire software.

[0076] The companion flight and recharging system adopts C / S (client / server) architecture design to realize efficient data processing and communication mechanism. In the system, the host computer serves as the control center, deploys client software, provides an intuitive and easy-to-use user interface, and supports a series of core functions, including: project management (project creation, editing and deletion), customized configuration of flight scenes (terrain, weather, obstacles, etc.), real-time flight data monitoring (dynamic display of key parameters such as speed, altitude, attitude, etc.), precise control of flight instructions (take-off, landing, route adjustment, etc.), data import and export functions (supports data files in multiple formats for easy data backup and sharing), and recharging control modules, allowing users to flexibly configure recharging parameters and achieve precise intervention in the simulation environment. In addition, the client also integrates a request processing system to receive user operations and forward them to the server for processing.

[0077] The lower computer plays an important role as the server, deploying a powerful server program that focuses on the scheduling and processing of underlying data and seamless communication with the flight simulation model. The server program can efficiently process execution requests from the upper computer client, dynamically create and manage processes, and ensure the reasonable allocation and recovery of system resources. Its built-in interface management system uses a standardized protocol to achieve two-way communication with the flight simulation model. It can not only inject various control data and parameters into the simulation model in real time, but also receive and parse the output data of the simulation model, providing accurate and timely feedback to the upper computer.

[0078] In order to ensure the integrity and security of data, the system integrates a high-performance database management system to store all data during the operation of the companion flight and recharging software, including user configuration information, flight records, simulation results, etc. The database supports efficient read and write operations, ensuring rapid response to data access and maintenance of data consistency, providing a solid foundation for the stable operation of the system and subsequent data analysis.

[0079] The accompanying flight system and refilling software are responsible for flight simulation, monitoring and control of the test aircraft, while the refilling system is responsible for processing and analyzing the flight data collected during the accompanying flight and feeding back the processing results to the accompanying flight system to optimize the flight plan, improve flight efficiency or discover potential problems. This combination forms a closed-loop flight test system.

[0080] like Figure 2 As shown in the figure, the function navigation bar on the left side of the interface supports guiding users to configure different test scenarios. Each functional module has an independent operation window, which intuitively displays key data through various visualization methods such as tables and graphics, and is equipped with a series of convenient function buttons, allowing users to quickly perform common operations. In addition, the interface also displays key information such as the current simulation status, time progress, system resource usage, etc. in real time to help users fully control the test process.

[0081] In the main configuration area in the middle, all configurations and test configurations made by the user in this area can be automatically saved to ensure data security and integrity. When the software is started next time, it can automatically initialize and load the last configuration and configuration, greatly saving the user's time and energy, making the preparation process for flight tests more efficient and smooth.

[0082] Flight scenario configuration module (such as Figure 3 As shown in the figure): used to set flight parameters (such as altitude, speed, attitude, longitude and latitude, etc.), simulate environment (such as weather, terrain, etc.), 3D site management: used to configure the scene for each location, flight route configuration: configure the route of the aircraft, and plan the aircraft path by adding sites.

[0083] The flight command control module is the core part of the accompanying flight software. It is responsible for simulating the pilot's command input, controlling the aircraft's flight status, and realizing dynamic simulation of the full flight envelope. The main functions include: command input, flight status control, fault simulation, and processing communication and coordination and user interaction and feedback.

[0084] (1) Command input interface:

[0085] A) Simulated Controllers: Provides a simulated interface similar to real aircraft controllers, including simulation of joystick, throttle, brake and other controllers. These controllers can interact through the software interface to simulate real flight operations;

[0086] B) Discrete command input: In addition to the analog controller, it also provides input interfaces for discrete commands such as buttons and switches to perform specific flight operations or switch flight modes.

[0087] (2) Flight status control:

[0088] A) Dynamic response model: Based on the input instructions, the flight dynamics model and control system algorithm are used to calculate the aircraft's flight status in real time, including speed, altitude, attitude, heading, etc. These calculation results will be used to update the flight simulation screen to show the dynamic response of the aircraft;

[0089] B) Flight mode management: supports switching between multiple flight modes, such as manual flight, automatic flight, hovering, etc. Each flight mode has its own specific control logic and parameter settings to meet different test flight requirements.

[0090] like Figure 4 As shown, the function implementation logic is as follows:

[0091] (1) Initialize and start the flight state control module, load the necessary flight dynamics model, control system algorithm, preset parameters and initial flight state;

[0092] (2) Receive flight instructions from the pilot through the user interface and communication interface;

[0093] (3) Command analysis and verification: Analyze the received flight commands and verify their validity and legality. Ensure that the commands are within the allowable range of the flight control system;

[0094] (4) Flight state calculation: Based on the analyzed flight instructions and the current flight state (such as speed, altitude, attitude, etc.), the new flight state is calculated using the flight dynamics model and control system algorithm;

[0095] (5) Update the flight status. Update the calculated new flight status to the flight simulation screen and software interface so that the user can see the changes in the aircraft's flight status in real time.

[0096] like Figure 5 As shown, user interaction and feedback are carried out through the following steps:

[0097] A) Command feedback: Provide users with feedback on the execution of commands, including whether the command was successfully executed and the execution results. This helps users understand the flight status and control effect;

[0098] B) Status Display: The aircraft's flight status parameters and onboard equipment status information are displayed in real time on the software interface to facilitate user monitoring and analysis.

[0099] Flight data monitoring module (such as Figure 6 and Figure 7 It integrates flight instrument display, mission recording, mode configuration and flight recording functions. It can execute preset flight missions, and flight simulation is achieved by calling the flight simulation model built by Simulink, providing accurate data support for flight tests. The specific function details are as follows:

[0100] (1) Flight instrument display:

[0101] The flight instrument display module is used to simulate the instrument interface in real flight, including speedometer, altimeter, attitude indicator, heading indicator, etc. These instruments will display the flight data obtained from the flight simulation software interface in real time. Data interaction:

[0102] Obtain flight data from the flight simulation software interface in real time and update it to the corresponding instruments;

[0103] Supports data unit conversion and calibration to ensure that the data displayed by the instrument is accurate.

[0104] (2) Flight mission display

[0105] The flight mission display module is used to display detailed information of the current flight mission, including take-off point, target point, flight path, mission phase, etc. This information helps pilots or testers understand the overall planning and current progress of the flight mission. Data interaction:

[0106] Obtain mission data from the flight mission planning system and display it on the interface.

[0107] Update mission progress information in real time and keep in sync with the flight status of the flight simulation software.

[0108] (3) Flight mode configuration

[0109] The flight mode configuration module allows users to configure the flight mode of the aircraft according to test requirements, such as autopilot mode, manual flight mode, emergency flight mode, etc. These configurations will directly affect the simulation behavior of the flight simulation software. Data interaction:

[0110] Pass the user-configured flight mode and parameters to the flight simulation software interface.

[0111] Receive feedback from the flight simulation software and update the flight mode status information on the interface in real time.

[0112] (4) Flight records

[0113] The flight record module is used to record key data and events during the flight, including flight trajectory, flight parameter changes, warning information, fault handling, etc. These data are of great significance for subsequent data analysis, troubleshooting and performance evaluation. Data interaction:

[0114] Acquire flight data and event information from the flight simulation software interface in real time and record them.

[0115] Supports exporting flight record data into file formats (such as CSV, Excel, etc.) to facilitate subsequent data processing and analysis.

[0116] (5) Flight simulation

[0117] The flight simulation function is implemented by calling the flight simulation model interface of the flight simulation software. This function allows users to simulate various flight conditions and scenarios without actually operating the aircraft to verify the performance of the aircraft and test the reliability of the onboard electronic equipment. Implementation method:

[0118] The flight simulation model interface of the integrated flight simulation software ensures real-time transmission and synchronization of data.

[0119] According to the flight mission and flight mode configured by the user, the corresponding simulation model is called for calculation and simulation.

[0120] The simulation results are fed back to other functional modules of the flight data monitoring module (such as flight instrument display, flight mission display, etc.) in real time.

[0121] like Fig.12 As shown, the present invention provides a target recognition method based on a drone, which is applied to a target recognition system based on a drone as described in any one of the above items, and the target coordinate position is obtained through the following steps:

[0122] Step 1: Use the flight command control module to control the flight command data used by the drone to perform the flight mission;

[0123] Step 2: Monitor the UAV flight status data corresponding to the flight instruction data through the flight status monitoring module;

[0124] Step 3: Use drones to perform flight missions and collect ground image information;

[0125] Step 4: When offline target identification is required, start the flight simulation system;

[0126] Step 5: Use the flight scenario configuration module to configure the flight simulation scenario based on the GIS geographic data of the UAV's flight mission;

[0127] Step 6: The target image recognition module collects ground image information through the drone to identify the target, and records the time point and relative position relationship of the target;

[0128] Step 7: The drone data corresponding to the time point is extracted by the drone data extraction module and sent to the drone data recharging unit, and the drone data is parsed into recharging data by the data import module;

[0129] Step 8: The refill configuration module is used to generate corresponding configuration files and airborne messages according to the refill data, and inject the airborne messages into the corresponding bus of the flight simulation system according to the description of the configuration files;

[0130] Step 9: The flight simulation model is used to simulate the flight of the UAV in the flight simulation scene. The data interaction module controls the flight simulation model through the bus and obtains the coordinates of the UAV corresponding to the time point.

[0131] Step 10: The target position acquisition module obtains the drone coordinates corresponding to the drone at the time point according to the flight simulation system, and calculates the target coordinate position according to the drone coordinates and the relative position relationship.

[0132] like Figure 8 As shown in the figure, the data import module can support the import and re-injection of various data record files, such as csv, xls, etc. The module has built-in parsing technology, which can parse ICD documents and extract data specifications, including data types, data formats, mapping relationships, etc. It can realize the re-injection function of ICD format data. The underlying algorithm of the program supports automatic parsing and displays file parameters in a table. Users can directly define the mapping relationship between parameters and ICD in the front-end interface, and encapsulate the parsed data according to the ICD specification to ensure the accuracy and uniqueness of the data.

[0133] The data import module is mainly responsible for the collection, storage and import of data in the accompanying flight test. This module has the following functions:

[0134] Data acquisition, responsible for real-time data collection during the flight test;

[0135] Data storage, responsible for storing the collected accompanying flight data into the data server for use in the recharging process;

[0136] Data import: import the stored data in the flight test into the refill module, and support the import of csv and xls data format files;

[0137] Data reading, responsible for reading data from the server's storage records;

[0138] Data classification, which is responsible for identifying data types, sources, and configuring data timestamps;

[0139] The bus data mainly comes from laboratory tests, field flights, simulated training flights, etc. There are many sources and the data volume is relatively large. It is necessary to design a better storage system to unify and classify the data. The storage system is responsible for processing and managing the data and providing external data services. It mainly includes data processing modules, data servers, and databases.

[0140] The stored procedure exists as a relatively independent process and does not directly interact with the re-injection function. It is only responsible for storing and managing data. Specific implementation process:

[0141] Extract the data area of ​​the original record according to the storage rules of the onboard record card given by the user;

[0142] According to the bus message transmission format, the bus messages distributed in the data area are cut out and uploaded to the data server for subsequent reinjection.

[0143] The recharging configuration module is responsible for providing users with parameter display of accompanying flight data, configuring ICD mapping, and packaging in ICD format. The recharging configuration module can parse the data record file and sort the parameters according to the timestamp after the data is parsed, ensuring that the recharging process can be executed in the original time sequence.

[0144] The logic of the recharging configuration function is as follows:

[0145] (1) Respond to requests, such as requests and commands from users or other programs;

[0146] (2) Data selection: provides the function of selecting parameters in data records and supports the functions of modifying and filtering the parameters;

[0147] (3) Data display, providing data display, message display, query, etc.;

[0148] (4) Configuration management: providing the function of managing configuration management rule files, description files and other configurable data.

[0149] The recharge control module provides an interface for users to intervene in data management. This process enables functions such as querying, processing, filtering, and configuring data records according to user needs. It mainly realizes the ability to simulate messages on demand, generate fixed formats and description files, and hand them over to the sending module for processing and sending to the required nodes or systems. The main implementation logic is as follows:

[0150] (1) Message reading, providing the function of reading messages from the data server;

[0151] (2) Message sending and receiving, which realizes the function of generating fixed format and description files of messages and sending messages to IO boards according to rules, including event messages and periodic messages;

[0152] (3) Time setting: set the sending cycle and sending sequence of each message. In the future, you can consider implementing functions such as changing the recording time and generation time to adjust the message sequence to assist in debugging and troubleshooting.

[0153] (4) Time synchronization: responsible for maintaining the message timing of each node, the order of sending, the initial time synchronization of each node, etc.

[0154] In this process, users can assemble previously processed message data according to their needs to build the data required for flight scene reproduction or troubleshooting. The bus message identification and assembly process identifies the onboard message ID and stores the message in its own sending queue.

[0155] like Fig. 9 As shown in the figure, in the simulated message sending process, when the user selects the re-injection data with a longer time, there will be a problem of large data volume processing. The double buffering technology solution can be used to solve this problem and achieve performance indicators.

[0156] Specific implementation process:

[0157] The data reading thread reads data from the data server and passes it to the buffer responsible for reading;

[0158] When the buffer responsible for reading is full of 10,000 data, it exchanges identities with the buffer responsible for completing the reading (exchanges the first address)

[0159] The sending module is responsible for processing the data in the read buffer and deleting it after processing.

[0160] Note: This method is currently a general solution for the system with large data volume interaction and real-time transmission requirements. In the future, we will consider introducing a third-party general caching mechanism.

[0161] The recharging control module adopts a parallel computing architecture, which can assign the recharging tasks to different simulation channels. Each simulation channel can independently handle the recharging tasks of one or more ICDs, realizing the parallel recharging process of multiple ICDs and multiple simulation channels.

[0162] like Fig.10 As shown, the refill control module is responsible for sending the simulated message data according to the description file. This module can consider implementing the function into software and sending the data to the lower computer board through the real-time communication network to ensure the real-time nature of the refill. The fixed format data file generated by the simulation message module is refilled into the specified subsystem according to the configuration file description.

[0163] Simulate message sending, responsible for completing the distribution of simulated messages according to given rules;

[0164] The sending thread is responsible for completing the final sending of the message.

[0165] The message sending module is implemented in the host computer, but the real-time performance requires the host computer to also use a real-time operating system to ensure it. It can also be implemented by integrating it into the simulation card, installing a real-time operating system on the simulation card to run the message sending module. At this time, you only need to pass the data files and configuration files generated by the simulation message module to the simulation card. For simulation cards that cannot run real-time operating systems, you can find a way to re-implement the message sending function using the real-time functions provided by the simulation card.

[0166] like Fig.11 As shown, the specific implementation process is:

[0167] The recharging system applies for and sets the execution unit according to the configuration file;

[0168] Poll each message sending queue every beat to query the messages that meet the timing conditions;

[0169] Execute bus message sending;

[0170] Note: In this process, the sending module will differ due to the location of integration. In the specific implementation, it can be developed into an independent module. Try to consider compatibility and portability, strive to develop it only once, and make differentiated modifications according to different usage platforms.

[0171] The above embodiments only express preferred implementation modes, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Claims

1. A target recognition system based on drones, which performs flight missions and collects ground image information through drones, characterized in that: It includes UAV accompanying flight management unit, UAV data recharging unit, flight simulation system and target identification management unit; among them, The UAV accompanying flight management unit includes a flight instruction control module, a flight status monitoring module and a flight scene configuration module; wherein the flight instruction control module is used to control the flight instruction data used by the UAV to perform flight missions, and the flight status monitoring module is used to monitor the UAV flight status data corresponding to the flight instruction data; the flight scene configuration module is used to configure the flight simulation scene according to the GIS geographic data of the UAV performing flight missions; The drone data re-injection unit includes a data import module and a re-injection configuration module; wherein the data import module is used to parse the drone data into re-injection data, and the re-injection configuration module is used to generate corresponding configuration files and airborne messages according to the re-injection data, and inject the airborne messages into the bus corresponding to the flight simulation system according to the description of the configuration file; Flight simulation system: including a flight simulation model and a data interaction module; wherein the flight simulation model is used to perform flight simulation on the UAV in the flight simulation scene, and the data interaction module is used to perform data interaction control on the flight simulation model through the bus; Target recognition management unit: includes a target image recognition module, a UAV data extraction module and a target position acquisition module; wherein the target image recognition module is used to collect ground image information through the UAV for target recognition, and record the time point and relative position relationship of the target appearance; the UAV data extraction module is used to extract the UAV data corresponding to the time point and send it to the UAV data feedback unit; wherein the UAV data includes flight instruction data and flight status data; the target position acquisition module obtains the UAV coordinates corresponding to the UAV at the time point according to the flight simulation system, and calculates the target coordinate position according to the UAV coordinates and the relative position relationship.

2. The target recognition system based on drone according to claim 1, characterized in that: The flight scene configuration module is used to set flight parameters, simulated environment and flight route; wherein the flight parameters include longitude coordinates, latitude coordinates, flight altitude parameters, azimuth data and aircraft tilt angle.

3. The target recognition system based on drone according to claim 1, characterized in that: The flight command control module is used for command input interface configuration and flight status control; wherein the command input interface configuration includes analog controller configuration and discrete command input configuration; and the flight status control includes dynamic response model control and flight mode management control.

4. The target recognition system based on drone according to claim 1, characterized in that: The flight data monitoring module is used for flight instrument parameter display, flight mission record, flight mode configuration, data interaction record, flight record and flight mission execution record.

5. The target recognition system based on drone according to claim 1, characterized in that: The drone data is ICD document data. The data import module parses the ICD document data, extracts the data type, data format and mapping relationship therein, and encapsulates the parsed data according to the preset ICD specification to obtain the corresponding feedback data and save it.

6. The target recognition system based on drone according to claim 1, characterized in that: The recharge configuration module includes a parsing module and a sending module; wherein the parsing module is used to generate corresponding configuration files and airborne messages according to the recharge data; and the sending module injects the airborne messages into the bus corresponding to the flight simulation system according to the description of the configuration file.

7. The target recognition method based on drone according to claim 6, characterized in that: The parsing module generates a configuration file through the following steps: The user chooses to re-inject data; The parsing module performs message parsing on the recharge data to obtain a bus message description file, several airborne messages and corresponding airborne message IDs; According to the ID naming rules, the airborne messages are classified and stored according to the airborne message IDs, and the same type of airborne messages are used to form a message sending queue; Parse the sending conditions according to the bus message description file, and drive the message sending queue to assemble the onboard message through the sending conditions; wherein the sending conditions include periodic sending conditions and event sending conditions; Assemble the onboard messages into fixed format files, generate and send the corresponding configuration files to the sending module.

8. The target recognition method based on drone according to claim 7, characterized in that: The sending module sends the airborne message through the following steps: Import data files and configuration files; wherein the data files are used to describe the status data of the drone; Read the configuration file, apply for resources and create a sending thread according to the configuration file; Read the data file and start the clock source to drive the data; Perform sending condition triggering judgment; if an airborne message is triggered in the sending thread, the corresponding airborne message is sent to the data distribution layer; The data distribution layer extracts the corresponding airborne message according to the airborne message ID and injects the airborne message into the corresponding bus.

9. The target recognition system based on drone according to claim 6, characterized in that: The sending module performs data injection through a double buffering technical solution.

10. A target recognition method based on a drone, applied to a target recognition system based on a drone as claimed in any one of claims 1 to 5, characterized in that: Get the target coordinates by following the steps below: Step 1: Use the flight command control module to control the flight command data used by the drone to perform the flight mission; Step 2: Monitor the UAV flight status data corresponding to the flight instruction data through the flight status monitoring module; Step 3: Use drones to perform flight missions and collect ground image information; Step 4: When offline target identification is required, start the flight simulation system; Step 5: Use the flight scenario configuration module to configure the flight simulation scenario based on the GIS geographic data of the UAV's flight mission; Step 6: The target image recognition module collects ground image information through the drone to identify the target, and records the time point and relative position relationship of the target; Step 7: The drone data corresponding to the time point is extracted by the drone data extraction module and sent to the drone data recharging unit, and the drone data is parsed into recharging data by the data import module; Step 8: The refill configuration module is used to generate corresponding configuration files and airborne messages according to the refill data, and inject the airborne messages into the corresponding bus of the flight simulation system according to the description of the configuration files; Step 9: The flight simulation model is used to simulate the flight of the UAV in the flight simulation scene. The data interaction module controls the flight simulation model through the bus and obtains the coordinates of the UAV corresponding to the time point. Step 10: The target position acquisition module obtains the drone coordinates corresponding to the drone at the time point according to the flight simulation system, and calculates the target coordinate position according to the drone coordinates and the relative position relationship.

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