Effective value determination method and system of VDT acquisition device, memory and electronic equipment

Abstract

The invention provides an effective value determination method and system of a VDT acquisition device, a memory and electronic equipment, and belongs to the technical field of unmanned aerial vehicle simulation testing, and the method comprises the steps: carrying out the preprocessing of the data of the VDT acquisition device, and obtaining the forward distribution discrete data; performing integral operation on a distribution waveform formed by the forward distribution discrete data by using a Simpson method to obtain a total area; and determining the effective value of the VDT acquisition device according to the relationship between the total area and the effective value. According to the method, the effective value of the VDT acquisition device is calculated through the total area, so that the obtained effective value cannot be seriously deviated from a real value due to interference of individual data, the technical problem of large interference noise caused by large signal fluctuation is solved, and the accuracy of data measurement of the VDT acquisition device is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle simulation testing, and relates to an improved technology of a VDT acquisition device in unmanned aerial vehicle simulation testing, specifically to an effective value determination method, system, memory and electronic equipment of the VDT acquisition device. Background Art

[0002] The VDT acquisition device, also known as the VDT sensor, consists of a housing, an acquisition module (a series of sensors), a control module, and a power module. When used in different fields, the sensor type corresponding to the acquisition module is also different.

[0003] In the field of UAV simulation testing, VDT acquisition device is a commonly used equipment. The sensor types corresponding to its acquisition module are accelerometers, gyroscopes, magnetic compasses, and air pressure sensors. The acquisition module collects the acceleration, heading angle, altitude, and air pressure data of the UAV, and calculates them through the control module to determine the attitude information and position information of the UAV and its various devices, ensuring the smooth execution of the UAV's tasks in various environments.

[0004] However, in the field of UAV simulation testing, the measurement accuracy requirements for VDT acquisition devices are particularly high. When the VDT acquisition device is used in the actuation system of the UAV simulation test, it is necessary to accurately measure the position changes of various devices to ensure the stability and safety of the UAV. Therefore, accurately and quickly collecting relevant parameters through the VDT acquisition device is crucial to improving the performance of the UAV system. However, the traditional VDT acquisition device calculates and outputs its effective value through the AD637 chip. During the data acquisition process, the AD637 chip will show a certain delay, causing the collected signal to fluctuate greatly, thereby causing technical problems such as large interference noise, affecting the accuracy of the measurement data of the VDT acquisition device, and thus resulting in inaccurate airborne data acquisition of the UAV system. Summary of the invention

[0005] In view of the technical problem described in the above background technology that the traditional VDT acquisition device has large fluctuations in the collected signals, which causes large interference noise and affects the accuracy of the measured data of the VDT acquisition device. To address this technical problem, the present invention proposes a method, system, memory and electronic device for determining the effective value of a VDT acquisition device to improve the accuracy of airborne data acquisition of a UAV system.

[0006] The present invention calculates the effective value of a VDT acquisition device by total area, so that the obtained effective value will not be seriously deviated from the true value by the interference of individual data, solves the technical problem of large interference noise caused by large signal fluctuation, and improves the accuracy of the measurement data of the VDT acquisition device.

[0007] In order to solve the above technical problems, the present invention adopts the following technical solutions: The effective value determination method of the VDT acquisition device of the present invention comprises the following steps: Preprocessing the data of the VDT acquisition device to obtain positively distributed discrete data, wherein the data of the VDT acquisition device refers to the airborne data of the UAV system; The Simpson method is used to integrate the distribution waveform formed by the discrete data of the positive distribution to obtain the total area; The effective value of the VDT acquisition device is determined based on the relationship between the total area and the effective value. It is further defined that the preprocessing of the data of the VDT acquisition device specifically includes: preprocessing the data before sampling by the VDT acquisition device and preprocessing the data after sampling by the VDT acquisition device.

[0008] It is further defined that the pre-processing of the data before sampling by the VDT acquisition device specifically includes: The data sequence of the to-be-sampled points of the VDT acquisition device is obtained, and the to-be-sampled point data sequence is subjected to intensive processing by using an interpolation algorithm to obtain a sampling point data sequence.

[0009] It is further defined that the preprocessing of the data sampled by the VDT acquisition device specifically includes: The VDT acquisition device collects data according to the sampling point data sequence to obtain discrete data; The discretized data are filtered, de-DC-componented and normalized to obtain positively distributed discrete data.

[0010] It is further defined that the Simpson method is used to perform an integral operation on the distribution waveform formed by the discrete data of the positive distribution to obtain the total area specifically comprising: The distribution waveform of the discrete data of the positive distribution is obtained, and the Simpson method is used to perform an integral operation on each sub-interval on the distribution waveform to obtain the integral value of each sub-interval, and the integral values ​​of each sub-interval are added to obtain the total area.

[0011] The relationship between the total area and the effective value in step S3 is: In the formula, Is the effective value, unit: V; is the total area, unit: V2•S; It is the period of VDT acquisition device, unit: S.

[0012] It is further defined that the period of the VDT acquisition device is determined by the frequency of the VDT acquisition device, wherein the frequency of the VDT acquisition device is 1 kHz-10 kHz.

[0013] The effective value determination system of the VDT acquisition device of the present invention comprises: Data preprocessing module: used to preprocess the data of the VDT acquisition device to obtain positively distributed discrete data, wherein the data of the VDT acquisition device refers to the airborne data of the UAV system; Integration module: used to integrate the distribution waveform formed by the discrete data of the positive distribution using the Simpson method to obtain the total area; And an effective value determination module: used for determining the effective value of the VDT acquisition device according to the relationship between the total area and the effective value.

[0014] The memory of the present invention stores a program file, and the program file is executed to implement the program instructions formed by the effective value determination method of the VDT acquisition device.

[0015] The electronic device of the present invention comprises a processor and a memory coupled to each other, wherein: The memory is used to store program instructions formed by the effective value determination method of the VDT acquisition device; The processor is used to execute program instructions stored in the memory.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, the Simpson method is used to perform an integral operation on the distribution waveform formed by the discrete data of the positive distribution, so as to determine the total area corresponding to the distribution waveform, and the effective value of the VDT acquisition device is calculated using the total area. The present invention calculates the effective value of the VDT acquisition device by the total area, and the obtained effective value will not be seriously deviated from the true value by the interference of individual data, solves the technical problem of large interference noise caused by large signal fluctuations, improves the accuracy of the measurement data of the VDT acquisition device, and thus improves the accuracy of the airborne data acquisition of the UAV system.

[0017] 2. In the present invention, an interpolation algorithm is used to perform intensive processing on the sampling point data sequence, so that the sampling point values ​​are intensive to obtain data with a higher sampling rate. On the one hand, it can ensure that enough discrete data are obtained. The higher the degree of discretization, the closer the result is to the true value of the continuous integral, which can ensure higher calculation accuracy. On the other hand, it can ensure that the collected data accurately reflects the area of ​​the discretized data within a specific period, thereby facilitating the determination of the total area through integral calculation.

[0018] 3. In the present invention, the discrete data are respectively subjected to filtering processing, DC component removal processing and normalization processing. The filtering processing can minimize the influence of ripples, the DC component removal processing can eliminate the DC bias in the discrete data, and the normalization processing can adjust the amplitude of the discrete data to a uniform range, so as to facilitate the subsequent integration operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of a method for determining an effective value of a VDT acquisition device of the present invention; Figure 2 It is a schematic diagram of the effective value determination system of the VDT acquisition device of the present invention; Figure 3 The distribution waveform of discrete data with positive distribution. DETAILED DESCRIPTION

[0020] The technical solution of the present invention is further explained below in conjunction with the accompanying drawings and embodiments, but the present invention is not limited to the implementation modes described below.

[0021] See also Figure 1 The present invention proposes a method for determining the effective value of a VDT acquisition device, comprising the following steps: S1: Preprocessing the data of the VDT acquisition device to obtain discrete data of positive distribution, wherein the data of the VDT acquisition device refers to the airborne data of the UAV system, and the airborne data of the UAV system includes the left flap position, the right flap position or the output shaft position.

[0022] S2: Use the Simpson method to integrate the distribution waveform formed by the discrete data of the positive distribution to obtain the total area; S3: Determine the effective value of the VDT acquisition device according to the relationship between the total area and the effective value. The preprocessing of the data of the VDT acquisition device in step S1 specifically includes: preprocessing the data before sampling by the VDT acquisition device and preprocessing the data after sampling by the VDT acquisition device.

[0023] The pre-processing of the data before sampling by the VDT acquisition device specifically includes: obtaining the data sequence of the to-be-sampled points of the VDT acquisition device, using the interpolation algorithm to perform intensive processing on the to-be-sampled point data sequence, specifically using the sinc function to perform infinite interpolation on the to-be-sampled point data sequence to obtain the sampling point data sequence, wherein the sampling point data in the sampling point data sequence is determined based on the sampling frequency of the VDT acquisition device. Through the interpolation processing, on the one hand, it can ensure that enough discretized data is obtained, and the higher the degree of discretization, the closer the result is to the true value of the continuous integral, which can ensure a higher calculation accuracy; on the other hand, it can ensure that the collected data accurately reflects the area of ​​the discretized data within a specific period, so as to facilitate the determination of the total area through integral operation.

[0024] The interpolation algorithm is: In the formula, is the interpolated data in the sampling point data sequence; is the data to be interpolated in the data sequence of the sampling points; is the sampling time value (corresponding to the number of discretized data); for The value at the previous sampling time.

[0025] The preprocessing of the data sampled by the VDT acquisition device specifically includes: the VDT acquisition device performs data acquisition according to the sampling point data sequence to obtain discretized data; the discretized data is respectively subjected to filtering processing, DC component removal processing and normalization processing to obtain forward distributed discrete data. The data collected by the VDT acquisition device may be the left flap position, the right flap position or the output shaft position, and the obtained discretized data may be the discretized data of the left flap position, the discretized data of the right flap position or the discretized data of the output shaft position.

[0026] The filtering process is: Calculate the first-order difference: For each point in the discretized data, calculate the difference between it and the previous point to obtain the first-order difference sequence, the expression is: , The sampling point data sequence has a sampling time value of The interpolated data of is the interpolated data with sampling time value (n-1) in the sampling point data sequence; is the first-order difference data in the first-order difference series.

[0027] Set the threshold and perform filtering to obtain filtered discrete data.

[0028] The filtering algorithm is: In the formula, is the discrete data after filtering.

[0029] The filtered data are processed to remove the DC component and normalize to obtain discrete data with positive distribution.

[0030] Parts of the interpolation processing, filtering processing, DC component removal processing and normalization processing that are not specifically described are all technologies well known to those skilled in the art.

[0031] Among them, in step S2, performing an integral operation on the distribution waveform formed by the discrete data of the forward distribution using the Simpson method to obtain the total area specifically includes: obtaining the distribution waveform of the discrete data of the forward distribution, performing an integral operation on each sub-interval on the distribution waveform using the Simpson method to obtain the integral value of each sub-interval, and adding the integral values ​​of each sub-interval to obtain the total area. The distribution waveform of the discrete data of the forward distribution can be a distribution waveform formed by the discretized data of the left flap position, a distribution waveform formed by the discretized data of the right flap position, or a distribution waveform formed by the discretized data of the output shaft position.

[0032] The Simpson method is used to perform an integral operation on each sub-interval on the distribution waveform to obtain the integral value of each sub-interval, which specifically includes the following steps: Determine data points and intervals: See Figure 3 , assuming that there are (m+1) data in the positively distributed discrete data, which are ,…,( ), ..., , generating a distribution waveform, where , h is the step size, that is, the width of the sub-interval; is the sequence number of the data in the positively distributed discrete data, .

[0033] Simpson's formula is in each subinterval is the midpoint The value at is usually obtained by interpolation, but since there are only discrete data points in the positive distribution, it is usually assumed that The distribution waveform and Linear interpolation between .

[0034] To calculate the total area, add the integral values ​​of each subinterval to get the approximate value of the entire integral interval, which is the total area.

[0035] In the formula, is the total area, is the coordinate point value of the data when j=m on the distribution waveform, is the ordinate of the data when j=m-1 on the distribution waveform, The distribution waveform is and Linear interpolation between ; ( ) is the coordinate point value of the data when j=0 on the distribution waveform.

[0036] The relationship between the total area and the effective value in step S3 is: In the formula, Is the effective value, unit: V; is the total area, unit: V 2 ·S; It is the period of VDT acquisition device, unit: S.

[0037] In the present invention, the period of the VDT acquisition device is determined by the frequency of the VDT acquisition device, wherein the frequency of the VDT acquisition device is 1kHz-10kHz.

[0038] The present invention calculates the effective value of the VDT acquisition device through the total area, and the obtained effective value will not be seriously deviated from the true value by the interference of individual data, thereby reducing the technical problem of large interference noise caused by large signal fluctuations and improving the accuracy of the measurement data of the VDT acquisition device.

[0039] See also Figure 2 The present invention also proposes an effective value determination system for a VDT acquisition device, including a data preprocessing module, an integration module and an effective value determination module. Data preprocessing module: used for preprocessing the data of the VDT acquisition device to obtain discrete data of positive distribution, wherein the data of the VDT acquisition device refers to the airborne data of the UAV system, and the airborne data of the UAV system includes the left flap position, the right flap position or the output shaft position; Integration module: used to integrate the distribution waveform formed by the discrete data of the positive distribution using the Simpson method to obtain the total area; Effective value determination module: used to determine the effective value of the VDT acquisition device according to the relationship between the total area and the effective value.

[0040] The effective value determination system of the VDT acquisition device of the present invention corresponds to the effective value determination method of the above-mentioned VDT acquisition device, wherein the specific contents of the data preprocessing module, the integration module and the effective value determination module refer to the description of the effective value determination method of the above-mentioned VDT acquisition device, and the present invention will not be repeated here.

[0041] The memory of the present invention stores a program file, and the program file is executed to implement the program instructions formed by the effective value determination method of the VDT acquisition device.

[0042] The memory in the present invention may specifically include random access memory (RAM), internal memory, read-only memory (ROM), programmable ROM, erasable programmable ROM, register, hard disk, removable disk or CD-ROM. It should be noted that those skilled in the art may specifically select the form and type of storage medium according to actual use requirements, and the present invention does not make further specific limitations.

[0043] The electronic device of the present invention comprises a processor and a memory coupled to each other, wherein the memory is used to store program instructions formed by the effective value determination method of the above-mentioned VDT acquisition device; and the processor is used to execute the program instructions stored in the memory.

[0044] The electronic device in the present invention includes any electronic device that can execute program instructions, such as a computer, a mobile terminal, a remote control device or a wearable device.

[0045] The above content is only used to illustrate the technical solution of the present invention, rather than to limit the present invention. Although the present invention has been described in detail with reference to the foregoing, a person skilled in the art should understand that the technical solution described above can still be modified, or part or all of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the present invention.

Claims

1. A method for determining the effective value of a VDT acquisition device, characterized in that: The following steps are involved: Preprocessing the data of the VDT acquisition device to obtain positively distributed discrete data, wherein the data of the VDT acquisition device refers to the airborne data of the UAV system; The Simpson method is used to integrate the distribution waveform formed by the discrete data of the positive distribution to obtain the total area; The effective value of the VDT acquisition device is determined based on the relationship between the total area and the effective value.

2. The effective value determination method of the VDT acquisition device according to claim 1, characterized in that: The preprocessing of the data of the VDT acquisition device specifically includes: The data before sampling by the VDT acquisition device is preprocessed and the data after sampling by the VDT acquisition device is preprocessed.

3. The effective value determination method of the VDT acquisition device according to claim 2, characterized in that: The pre-processing of the data before sampling by the VDT acquisition device specifically includes: The data sequence of the to-be-sampled points of the VDT acquisition device is obtained, and the to-be-sampled point data sequence is subjected to intensive processing by using an interpolation algorithm to obtain a sampling point data sequence.

4. The effective value determination method of the VDT acquisition device according to claim 3, characterized in that: The preprocessing of the data sampled by the VDT acquisition device specifically includes: The VDT acquisition device collects data according to the sampling point data sequence to obtain discrete data; The discretized data are filtered, de-DC-componented and normalized to obtain positively distributed discrete data.

5. The effective value determination method of the VDT acquisition device according to claim 1, characterized in that: The Simpson method is used to perform an integral operation on the distribution waveform formed by the discrete data of the positive distribution to obtain the total area, which specifically includes: The distribution waveform of the discrete data of the positive distribution is obtained, and the Simpson method is used to perform an integral operation on each sub-interval on the distribution waveform to obtain the integral value of each sub-interval, and the integral values ​​of each sub-interval are added to obtain the total area.

6. The effective value determination method of the VDT acquisition device according to claim 1, characterized in that: The relationship between the total area and the effective value is: In the formula, Is the effective value, unit: V; is the total area, unit: V 2 ·S; It is the period of VDT acquisition device, unit: S.

7. The effective value determination method of the VDT acquisition device according to claim 6, characterized in that: The period of the VDT acquisition device is determined by the frequency of the VDT acquisition device, wherein the frequency of the VDT acquisition device is 1 kHz-10 kHz.

8. The effective value determination system of the VDT acquisition device is characterized in that: include: Data preprocessing module: used to preprocess the data of the VDT acquisition device to obtain positively distributed discrete data, wherein the data of the VDT acquisition device refers to the airborne data of the UAV system; Integration module: used to integrate the distribution waveform formed by the discrete data of the positive distribution using the Simpson method to obtain the total area; And an effective value determination module: used for determining the effective value of the VDT acquisition device according to the relationship between the total area and the effective value.

9. A memory, characterized in that A program file is stored, and the program file is executed to implement program instructions formed by the effective value determination method of the VDT acquisition device according to any one of claims 1 to 7.

10. An electronic device, characterized in that The invention comprises a processor and a memory coupled to each other, wherein: The memory is used to store program instructions formed by the effective value determination method of the VDT acquisition device according to any one of claims 1 to 7; The processor is used to execute program instructions stored in the memory.

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