Rapid risk research and judgment method in complex task execution environment of unmanned aerial vehicle

Abstract

The invention discloses a rapid risk research and judgment method in a complex task execution environment of an unmanned aerial vehicle, and the method can rapidly recognize and quantify risk factors by comprehensively considering the characteristics of the unmanned aerial vehicle, the flight task attributes, the environmental conditions and the stability of a control system. The method specifically comprises the steps of collecting related data of unmanned aerial vehicle hardware, a flight task, an environment and a control system; calculating respective risk indexes, such as hardware reliability and performance parameters of the unmanned aerial vehicle; types and complexity of flight tasks; climate and geographic characteristics of the environment; the stability and decision support efficiency of the system are controlled; and finally, integrating the risk indexes through weight factors, and calculating an overall risk assessment index. The method provides powerful support for flight safety management of the unmanned aerial vehicle, so that an unmanned aerial vehicle operator can make a more reasonable and safer decision in a complex environment.

Description

Technical Field

[0001] The present invention relates to unmanned aerial vehicle (UAV) risk assessment technology, and in particular to a method for quickly assessing risks in a complex environment during the execution of UAV missions. Background Art

[0002] With the widespread application of drone technology, drones often face changing environments and complex mission requirements when performing missions. How to quickly and effectively assess the potential risks of drone missions has become the key to ensuring the successful execution of missions. Traditional risk assessment methods are often time-consuming and not comprehensive enough to meet the needs of rapid response. Summary of the invention

[0003] Purpose of the invention: The present invention provides a method for quickly assessing risks in complex environments when drones are performing missions, which can accurately assess the risks that drones may face in specific missions and environments in real time, and support drone operators in making more reasonable decisions. The method combines the characteristics of the drone itself, mission characteristics, environmental factors, and the stability of the control system, and quickly identifies and quantifies potential risks by calculating the comprehensive risk evaluation index of different risk factors.

[0004] Technical solution: To solve the above technical problems, the technical solution adopted by the present invention is: In the first aspect, a method for quickly assessing risks in a complex environment for executing a UAV mission is provided, comprising the following steps: (1) Collect basic data required for risk assessment, including at least drone hardware parameters, flight mission characteristics, environmental data, and control system data. It should be noted that these data are collected through flight recorders, environmental monitoring equipment, and system logs; (2) Calculate the drone hardware risk index based on the drone hardware parameters; (3) Calculate the flight mission risk index based on the flight mission characteristics; (4) Calculate environmental risk indicators based on environmental data; (5) Calculate control system risk indicators based on control system data; (6) Take the weighted sum of the UAV hardware risk index, flight mission risk index, environmental risk index and control system risk index to obtain a comprehensive risk assessment index, and complete the rapid risk assessment of UAV mission execution in a complex environment.

[0005] Preferably, in step (2), the calculation method of the drone hardware risk index is: , where R A is the risk index of drone hardware, λ is the hardware failure rate, t is the usage time, V actual is the actual speed of the drone, V maxis the maximum design speed of the UAV, ω 1 and ω 2 is the weight.

[0006] In the calculation formula of the above drone hardware risk index, hardware reliability Indicates the failure probability of hardware decreasing over time, where λ (failure rate, unit: 1 / hour) is obtained from maintenance records and t (usage time, unit: hour) is obtained from operation logs. Performance parameter scoring Indicates the ratio of actual speed to designed maximum speed, where V actual (actual speed, unit: m / s) and V max (Maximum design speed, unit: m / s) obtained from flight data.

[0007] Preferably, in step (3), the flight mission risk index is calculated as follows: , where R M is the mission risk index, p i is the probability of task type i, r i is the level of task type i, n is the number of task types, D is the number of task decision points, k is the complexity coefficient, ω 3 and ω 4 is the weight.

[0008] In the calculation formula of the above flight mission risk index, the mission type risk Including the probability p of different task types i (no unit) and risk level r i The sum of products of (unitless) obtained from mission planning and historical performance evaluation. Mission complexity It represents the increase in risk caused by the increase in the number of task decision points D (unitless), where k (complexity coefficient, unitless) is determined by the pre-set risk model.

[0009] Preferably, in step (4), the environmental risk index is calculated by: , where R E is the environmental risk index, W is the wind force level, T is the temperature, G is the terrain complexity, α, β, γ, ω 5 and ω 6 is the weight.

[0010] In the calculation formula of the above environmental risk indicators, climate conditions affect It includes wind force level W (unitless) and temperature T (unit: Celsius), which are obtained from meteorological data. Geographical characteristics affect γ•G to evaluate terrain complexity G (terrain complexity index, unitless), which is obtained from geographic information system (GIS) data.

[0011] Preferably, in step (5), the calculation method of the control system risk index is: , where R C is the control system risk index, N is the number of control system failures, μ is the severity coefficient of the failure, A is the actual accuracy of the control system, and A 0 is the target accuracy of the decision system, θ is the sensitivity coefficient, ω 7 and ω 8 is the weight.

[0012] In the above calculation formula of control system risk index, system reliability Reflects the impact of the number of control system failures N (unitless), where μ (fault severity coefficient, unitless) is determined by the system's historical data. Decision support effectiveness Represents the actual accuracy A (unitless) of the decision system and the target accuracy A 0 The relationship between θ (unitless) and θ (sensitivity coefficient, unitless) is determined by performance testing.

[0013] Preferably, in step (6), the calculation method of the comprehensive risk assessment index is: , where R Total is the comprehensive risk assessment index, R A is the drone hardware risk indicator, R M is the mission risk index, R E is the environmental risk index, R C is the control system risk indicator, σ 1 , σ 2 , σ 3 , σ 4 R A , R M , R E , R C The weight of .

[0014] The calculation formula of the above comprehensive risk assessment index is to divide each sub-item risk into 1 , σ 2 , σ 3 , σ 4 (all unitless) combined, the weights are adjusted according to the specific task and environmental needs to balance the contribution of different risks in the overall assessment.

[0015] In a second aspect, an electronic device is also provided, comprising a memory and a processor, wherein the memory stores a computer program and the processor implements the steps of the above method when executing the computer program.

[0016] According to a third aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0017] Beneficial effects: The present invention scientifically integrates the risk factors of the UAV's own characteristics, mission characteristics, environmental factors and control system stability, quickly generates risk assessment results, provides decision support for UAV operations, and significantly improves the safety and efficiency of UAVs performing tasks in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a method flow chart of an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0020] The present invention provides a method for quickly assessing risks in a complex environment when performing unmanned aerial vehicle tasks. Figure 1 As shown, the following steps are included: (1) Collect basic data required for risk assessment, including at least drone hardware parameters, flight mission characteristics, environmental data, and control system data. It should be noted that these data are collected through flight recorders, environmental monitoring equipment, and system logs; (2) Calculate the drone hardware risk index based on the drone hardware parameters; (3) Calculate the flight mission risk index based on the flight mission characteristics; (4) Calculate environmental risk indicators based on environmental data; (5) Calculate control system risk indicators based on control system data; (6) Take the weighted sum of the UAV hardware risk index, flight mission risk index, environmental risk index and control system risk index to obtain a comprehensive risk assessment index, and complete the rapid risk assessment of UAV mission execution in a complex environment.

[0021] Based on the comprehensive risk assessment index, the UAV operator can quickly judge the risks in the complex environment of the UAV mission execution, and make reasonable and safe decisions based on prior knowledge. Based on the comprehensive risk index, the risk level can be divided according to the following principles: [0, 2) is low risk; [2, 4) is relatively low risk; [4, 6) is medium risk; [6, 8) is relatively high risk; [8, +∞) is high risk.

[0022] Based on the same technical solution, the present invention also proposes a computer-readable storage medium storing one or more programs, wherein the one or more programs include instructions, and when the instructions are executed by a computing device, the computing device executes the above-mentioned segmented evaluation method.

[0023] Based on the same technical solution, the present invention also proposes a computing device, comprising one or more processors, one or more memories and one or more programs, wherein the one or more programs are stored in the one or more memories and are configured to be executed by the one or more processors, and the one or more programs include instructions for executing the above-mentioned segmented evaluation method.

[0024] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0025] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0026] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0027] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0028] In this embodiment, it is assumed that a UAV performs a reconnaissance mission and flies in a mountainous area with complex terrain and changeable weather conditions. The following will use a method for quickly assessing the risk of UAV mission execution in a complex environment proposed by the present invention to assess the risk of the UAV mission execution.

[0029] 1. Data Collection UAV hardware parameters: maximum design speed V max =60 m / s; current actual speed V actual =48 m / s.

[0030] Flight mission characteristics: high mission complexity, decision point D=10.

[0031] Environmental conditions: Current wind force W = Level 3, temperature T = 25 degrees Celsius, terrain complexity G = 0.8 (unitless).

[0032] Control system data: System history failure times N=2, system decision accuracy A=95%, target accuracy A 0 =98%.

[0033] 2. Risk calculation: (1) UAV hardware risk index R A Failure rate λ=0.01(1 / hour), usage time t=1000 hours, weight ω 1 = 0.6 and ω 2 =0.5.

[0034] .

[0035] (2) Flight mission risk index R M Task probability p i =1 (only one task type in this embodiment), risk level r i =0.7, number of task types n=1, complexity coefficient k=0.05, weight ω 3 = 0.6 and ω 4 =0.4.

[0036] .

[0037] (3) Environmental risk index R E Weight α=0.1, β=0.05, γ=0.8, ω 5 =0.5,ω6 =0.5.

[0038] .

[0039] (4) Control system risk index R C The fault severity coefficient μ=0.1, the sensitivity coefficient θ=10, ω 7 =0.5,ω 8 =0.5 。

[0040] 。

[0041] (5) Comprehensive risk assessment index R Total σ 1 =σ 2 =σ 3 =σ 4 =0.25 。

[0042] 。

[0043] (6) Results analysis In this embodiment, the comprehensive risk assessment index R Total =0.7398556, which falls within the interval [0, 2), indicating low risk. The drone operator can maintain the current flight status without taking additional safety measures or adjusting the flight path.

[0044] The above embodiments are only for illustrating the technical idea of ​​the present invention, and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the present invention.

Claims

1. A method for quickly assessing risks in a complex environment when executing a UAV mission, characterized in that: The steps include: (1) Collect basic data required for risk assessment, including at least UAV hardware parameters, flight mission characteristics, environmental data, and control system data; (2) Calculate the drone hardware risk index based on the drone hardware parameters; (3) Calculate the flight mission risk index based on the flight mission characteristics; (4) Calculate environmental risk indicators based on environmental data; (5) Calculate control system risk indicators based on control system data; (6) Take the weighted sum of the UAV hardware risk index, flight mission risk index, environmental risk index and control system risk index to obtain a comprehensive risk assessment index, and complete the rapid risk assessment of UAV mission execution in a complex environment.

2. The method according to claim 1, characterized in that In step (2), the calculation method of drone hardware risk index is: , where R A is the risk index of drone hardware, λ is the hardware failure rate, t is the usage time, V actual is the actual speed of the drone, V max is the maximum design speed of the UAV, ω1 and ω2 are weights.

3. The method according to claim 1, characterized in that In step (3), the calculation method of the flight mission risk index is: , where R M is the mission risk index, p i is the probability of task type i, r i is the level of task type i, n is the number of task types, D is the number of task decision points, k is the complexity coefficient, ω3 and ω4 are weights.

4. The method according to claim 1, characterized in that In step (4), the calculation method of environmental risk index is: , where R E is the environmental risk index, W is the wind force level, T is the temperature, G is the terrain complexity, and α, β, γ, ω5 and ω6 are weights.

5. The method according to claim 1, characterized in that In step (5), the calculation method of the control system risk index is: , where R C is the control system risk index, N is the number of control system failures, μ is the severity coefficient of the failure, A is the actual accuracy of the control system, A0 is the target accuracy of the decision system, θ is the sensitivity coefficient, ω7 and ω8 are weights.

6. The method according to claim 1, characterized in that In step (6), the calculation method of the comprehensive risk assessment index is: , where R Total is the comprehensive risk assessment index, R A is the drone hardware risk indicator, R M is the mission risk index, R E is the environmental risk index, R C is the control system risk index, σ1, σ2, σ3, σ4 are R A , R M , R E , R C The weight of .

7. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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