Method and system for determining injury level of unmanned aerial vehicle colliding with human body

Abstract

The invention discloses a method and system for determining the injury level of an unmanned aerial vehicle colliding with a human body. The method comprises the following steps: substituting unmanned aerial vehicle parameters into an unmanned aerial vehicle to-ground impact synthesis speed calculation model, and calculating to obtain an unmanned aerial vehicle to-ground impact synthesis speed; calculating the ground impact kinetic energy of the unmanned aerial vehicle through the ground impact synthesis speed of the unmanned aerial vehicle; calculating the ground collision fatality rate of the unmanned aerial vehicle through the ground collision kinetic energy of the unmanned aerial vehicle; and calculating the level of human injury caused by the collision of the unmanned aerial vehicle through the ground collision fatality rate of the unmanned aerial vehicle. By utilizing the method, the evaluation efficiency is improved, the cost is reduced, powerful technical support is provided for unmanned aerial vehicle operation safety risk evaluation, and possible damage to ground personnel after the unmanned aerial vehicle is out of control can be prevented and relieved.

Description

Technical Field

[0001] The invention relates to a method for determining the injury level of a drone colliding with a human body, and also relates to a system for implementing the method, belonging to the technical field of drone operation risk assessment. Background Art

[0002] Drone operation risks are mainly divided into two categories: ground risks and air risks. Among these risks, the damage caused by the drone losing control and hitting people on the ground is the most important consideration in ground risks. This collision may cause personal injury, so assessing the level of damage caused by the drone hitting the human body is the basis and key to assessing the ground risks of drones.

[0003] At present, there are two main methods for evaluating the level of injury caused by drone collisions: experimental methods and mathematical model simulation calculations. The experimental method requires the construction of a collision test system, which is not only costly, but also causes damage to the drone and the collision dummy during the collision, further increasing the cost. In contrast, the mathematical model simulation calculation method does not require the actual construction of a test system, which can greatly reduce the cost of the assessment. However, the main problem currently faced by this method is the lack of a method to directly link drone parameters with the level of impact injury.

[0004] Chinese invention patent ZL 201911380414.0 proposes a method for assessing ground risk in the safety risk assessment of drone operation. The method includes the following steps: first, obtain the specific parameter information and operation and scene information of the drone; then determine the cause of the drone failure; then determine the descent mode caused by the drone failure; integrate uncertain parameters to determine the ground collision probability density function; finally, simulate the population density model to obtain the final drone failure ground risk result. This technical solution provides strong support for accurately assessing the ground risk when the drone operation system fails. Summary of the invention

[0005] The primary technical problem to be solved by the present invention is to provide a method for determining the injury level caused by a drone colliding with a human body.

[0006] Another technical problem to be solved by the present invention is to provide a system for determining the level of injury caused by a drone colliding with a human body.

[0007] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0008] According to a first aspect of an embodiment of the present invention, a method for determining the injury level of a drone hitting a human body is provided, comprising the following steps:

[0009] S1: Substitute the UAV parameters into the UAV ground impact composite velocity calculation model to calculate the UAV ground impact composite velocity;

[0010] S2: Calculate the kinetic energy of the UAV's impact on the ground by using the composite velocity of the UAV's impact on the ground obtained in step S1; the formula for calculating the kinetic energy of the UAV's impact on the ground is:

[0011]

[0012] Where m is the mass of the drone; v r Synthesize the speed of the drone's impact on the ground;

[0013] S3: Calculate the fatality rate of the drone-to-ground impact using the drone-to-ground impact kinetic energy obtained in step S2. The formula for calculating the fatality rate of the drone-to-ground impact is:

[0014]

[0015] Among them, P is the fatality rate of drone impact on the ground; α and β are weighted coefficients corresponding to the drone impact on the human head, chest, and abdomen;

[0016] S4: Calculate the level of human injury caused by the drone impact based on the fatality rate of the drone impact on the ground obtained in step S3; the formula for calculating the level of human injury caused by the drone impact is:

[0017]

[0018] Among them, AIS is the human injury level.

[0019] Preferably, the UAV ground impact synthetic velocity solution model includes: a UAV dynamics sub-model, a UAV kinematics sub-model and a UAV motion control sub-model;

[0020] The input of the UAV dynamics sub-model is the speed of the UAV drive motor, and the output is the acceleration of the UAV along the three axes of the earth coordinate system and the angular acceleration of the three axes of rotation along the body coordinate system;

[0021] The input of the UAV kinematic sub-model is the acceleration of the UAV in the earth coordinate system and the angular acceleration in the body coordinate system, and the output is the displacement of the UAV along the three axes of the earth coordinate system and the attitude angle of the three axes of rotation along the body coordinate system;

[0022] The input of the UAV motion control sub-model is the desired flight altitude and attitude angle of the UAV, the displacement of the UAV in the three-axis direction of the earth coordinate system and the attitude angle of the three-axis rotation along the body coordinate system, and the output is the speed of the UAV drive motor.

[0023] Preferably, in the UAV dynamics sub-model, the calculation formula for obtaining the acceleration of the UAV along the three-axis directions of the earth coordinate system from the speed of the UAV drive motor is:

[0024]

[0025] in, is the acceleration of the UAV along the x-axis of the earth coordinate system; is the acceleration of the UAV along the y-axis of the earth coordinate system; is the acceleration of the UAV along the z-axis of the earth coordinate system; g is the acceleration of gravity; m is the mass of the UAV; φ is the roll angle of the UAV; θ is the pitch angle of the UAV; ψ is the yaw angle of the UAV; T is the sum of the thrusts provided by the UAV rotors.

[0026] Preferably, the calculation formula for the sum of the pulling forces provided by the UAV rotor is:

[0027]

[0028] Among them, T i is the pulling force generated by the i-th rotor of the UAV; k is the lift constant of the UAV rotor drive motor; ω i is the speed of the i-th driving motor of the drone.

[0029] Preferably, in the UAV dynamics sub-model, the calculation formula for the angular acceleration of the UAV rotating along the three coordinate axes of the body coordinate system is obtained from the speed of the UAV driving motor:

[0030]

[0031] in, is the angular acceleration of the drone rotating along the x-axis of the body coordinate system; is the angular acceleration of the drone rotating along the y-axis of the body coordinate system; I is the angular acceleration of the drone rotating along the z-axis of the body coordinate system; xx I is the moment of inertia of the center of the drone around the x-axis; yy I is the moment of inertia of the center of the drone around the y-axis; zz I is the moment of inertia of the center of the drone around the z axis; r is the total moment of inertia of the UAV drive motor rotor and the rotor around the body axis; ω τ The synthetic angular velocity of the UAV; τ φ is the moment of the drone around the x-axis; τ θ is the moment of the drone around the y-axis; τ ψ is the moment of the drone around the z-axis.

[0032] Preferably, the calculation formula of the synthetic angular velocity of the drone is:

[0033] ω τ =ω1-ω2+ω3-ω4

[0034] Among them, ω1, ω2, ω3, and ω4 are the speeds of the UAV driving motors respectively.

[0035] Preferably, the calculation formula of the moment of the drone around the x-axis, y-axis and z-axis of the body is:

[0036]

[0037] Among them, l is the length of the UAV arm; k is the drag coefficient of the UAV rotor rotation; b is the drag coefficient of the UAV rotor rotation.

[0038] Preferably, in the UAV kinematic sub-model, the calculation formula for calculating the displacement of the UAV along the three-axis directions of the earth coordinate system by the acceleration of the UAV along the three-axis directions of the earth coordinate system output by the UAV dynamics sub-model is:

[0039]

[0040] Among them, x is the displacement of the UAV along the x-axis of the earth coordinate system; y is the displacement of the UAV along the y-axis of the earth coordinate system; z is the displacement of the UAV along the z-axis of the earth coordinate system.

[0041] Preferably, in the UAV kinematics sub-model, the calculation formula for calculating the attitude angle of the UAV along the body axis of the body coordinate system from the angular acceleration of the UAV rotating along the three coordinate axes of the body coordinate system output by the UAV dynamics sub-model is:

[0042]

[0043] Among them, p is the angular velocity of the drone rotating along the x-axis of the body coordinate system in the body coordinate system; q is the angular velocity of the drone rotating along the y-axis of the body coordinate system in the body coordinate system; r is the angular velocity of the drone rotating along the z-axis of the body coordinate system in the body coordinate system.

[0044] Preferably, in the UAV motion control sub-model, the formula for calculating the UAV drive motor speed from the UAV height error and the three attitude angle errors is:

[0045]

[0046] Among them, z e is the altitude error of the UAV; is the vertical speed error of the UAV; φ e is the rolling angle error of the UAV; is the UAV rolling angular velocity error; θ e is the pitch angle error of the UAV; is the pitch angular velocity error of the UAV; ψ eis the yaw angle error of the UAV; ψ e K is the yaw angular velocity error of the UAV; z，D K is the differential control coefficient of the UAV height deviation; z，p K is the UAV height deviation proportional control coefficient; φ，D K is the differential control coefficient of the UAV roll angle deviation; φ，P K is the UAV roll angle deviation proportional control coefficient; θ，D K is the differential control coefficient of the UAV pitch angle deviation; θ，P K is the proportional control coefficient of the pitch angle deviation of the UAV; ψ，D K is the differential control coefficient of the UAV yaw angle deviation; ψ，P is the UAV yaw angle deviation proportional control coefficient;

[0047] The calculation formula of the UAV height error is:

[0048]

[0049] Among them, z d Provide altitude instructions for drones;

[0050] The calculation formula of the vertical speed error of the UAV is:

[0051]

[0052] The calculation formula of the UAV roll angle error is:

[0053]

[0054] Among them, φ d Roll angle command for the drone;

[0055] The calculation formula of the UAV rolling angular velocity error is:

[0056]

[0057] The calculation formula of the pitch angle error of the UAV is:

[0058]

[0059] Among them, θ d It is the pitch angle command of the UAV;

[0060] The calculation formula of the UAV pitch angular velocity error is:

[0061]

[0062] The calculation formula of the UAV yaw angle error is:

[0063] ψe =ψ d -ψ

[0064] Among them, ψ d The yaw angle command for the drone;

[0065] The calculation formula of the UAV yaw angular velocity error is:

[0066]

[0067] Preferably, the UAV dynamics sub-model, the UAV kinematics sub-model and the UAV motion control sub-model in the UAV ground impact composite velocity solution model are combined to obtain a formula for calculating the UAV ground impact composite velocity:

[0068]

[0069] According to a second aspect of an embodiment of the present invention, there is provided a system for determining the level of injury caused by a drone colliding with a human body, comprising a processor and a memory; wherein the memory is coupled to the processor and is used to store a computer program, and when the computer program is executed by the processor, the processor implements the above method.

[0070] Compared with the prior art, the present invention substitutes the drone parameters into the composite velocity solution model of the drone-to-ground impact, calculates the composite velocity of the drone-to-ground impact, and then calculates the kinetic energy and lethality of the drone-to-ground impact, and finally determines the level of human injury caused by the drone impact. This method avoids the high cost and equipment loss caused by the construction of a collision test system and actual collision in traditional test methods, and achieves an accurate assessment of the level of human injury caused by drone impacts through modeling and simulation. The use of the present invention not only improves the evaluation efficiency and reduces the cost, but also provides strong technical support for the safety risk assessment of drone operations, which helps to prevent and reduce the damage that may be caused to ground personnel after the drone loses control. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 A flow chart of a method for determining the injury level of a drone hitting a human body provided by the present invention;

[0072] Figure 2 A schematic diagram of the relationship between the three sub-models in the UAV ground impact composite velocity solution model provided by the present invention;

[0073] Figure 3 A structural diagram of a system for determining the level of injury caused by a drone colliding with a human body provided by the present invention. DETAILED DESCRIPTION

[0074] The technical content of the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0075] First embodiment

[0076] like Figure 1 As shown, a method for determining the injury level of a drone hitting a human body provided by the first embodiment of the present invention at least comprises the following steps:

[0077] S1: Substitute the UAV parameters into the UAV ground impact composite velocity solution model to calculate the UAV ground impact composite velocity.

[0078] S2: Calculate the kinetic energy of the UAV's impact on the ground using the composite velocity of the UAV's impact on the ground obtained in step S1. The formula for calculating the kinetic energy of the UAV's impact on the ground is:

[0079]

[0080] Where m is the mass of the drone. r The composite velocity of the drone's impact with the ground.

[0081] S3: Calculate the fatality rate of the drone-to-ground impact using the drone-to-ground impact kinetic energy obtained in step S2. The formula for calculating the fatality rate of the drone-to-ground impact is:

[0082]

[0083] Among them, P is the fatality rate of drone impact on the ground. α and β are the weighting coefficients corresponding to the drone impact on the human head, chest and abdomen.

[0084] S4: Calculate the level of human injury caused by drone impact using the fatality rate of drone impact on the ground obtained in step S3. The formula for calculating the level of human injury caused by drone impact is:

[0085]

[0086] Among them, AIS is the human injury level.

[0087] In one embodiment of the present invention, the UAV ground impact composite velocity solution model in step S1 includes three sub-models, namely: a UAV dynamics sub-model, a UAV kinematics sub-model and a UAV motion control sub-model.

[0088] like Figure 2As shown in the figure, the input of the UAV dynamics sub-model is the speed of the UAV drive motor, and the output is the acceleration of the UAV along the three axes of the earth coordinate system and the angular acceleration of the three axes of the body coordinate system. The input of the UAV kinematics sub-model is the acceleration of the UAV in the earth coordinate system and the angular acceleration in the body coordinate system, and the output is the displacement of the UAV along the three axes of the earth coordinate system and the attitude angle of the three axes of the body coordinate system. The input of the UAV motion control sub-model is the desired flight altitude and attitude angle of the UAV, as well as the displacement of the UAV in the three axes of the earth coordinate system and the attitude angle of the three axes of the body coordinate system, and the output is the speed of the UAV drive motor.

[0089] In the UAV dynamics sub-model, the calculation formula for the acceleration of the UAV along the three axes of the earth coordinate system is obtained from the speed of the UAV drive motor:

[0090]

[0091] in, is the acceleration of the UAV along the x-axis of the earth coordinate system. is the acceleration of the UAV along the y-axis of the earth coordinate system. is the acceleration of the drone along the z-axis of the earth coordinate system. g is the acceleration of gravity. m is the mass of the drone. φ is the roll angle of the drone. θ is the pitch angle of the drone. ψ is the yaw angle of the drone. T is the sum of the thrusts provided by the drone rotors.

[0092] The calculation formula for the sum of the thrust provided by the drone rotor is:

[0093]

[0094] Among them, T i is the pulling force generated by the i-th rotor of the UAV. k is the lift constant of the UAV rotor drive motor. ω i is the speed of the i-th driving motor of the drone.

[0095] In the UAV dynamics sub-model, the calculation formula for the angular acceleration of the UAV along the three coordinate axes of the body coordinate system is obtained from the speed of the UAV drive motor:

[0096]

[0097] in, is the angular acceleration of the drone along the x-axis of the body coordinate system. is the angular acceleration of the drone along the y-axis of the body coordinate system. is the angular acceleration of the drone rotating along the z-axis of the body coordinate system. xx is the moment of inertia of the center of the drone around the x-axis. yyis the moment of inertia of the center of the drone around the y-axis. zz is the moment of inertia of the center of the drone around the z-axis. r It is the total moment of inertia of the UAV drive motor rotor and the rotor around the body axis. τ The synthetic angular velocity of the UAV. τ φ is the moment of the drone around the x-axis. θ is the moment of the drone around the y-axis. ψ is the moment of the drone around the z-axis.

[0098] The calculation formula of the synthetic angular velocity of the drone is:

[0099] ω τ =ω1-ω2+ω3-ω4

[0100] Among them, ω1, ω2, ω3, and ω4 are the speeds of the UAV driving motors respectively.

[0101] The calculation formula of the moment of the drone around the x-axis, y-axis and z-axis is:

[0102]

[0103] Where, I is the length of the drone arm. k is the drag coefficient of the drone rotor. b is the drag coefficient of the drone rotor.

[0104] In the UAV kinematics sub-model, the displacement of the UAV along the three axes of the earth coordinate system is calculated by the acceleration of the UAV along the three axes of the earth coordinate system output by the UAV dynamics sub-model:

[0105]

[0106] Where x is the displacement of the drone along the x-axis of the earth coordinate system. y is the displacement of the drone along the y-axis of the earth coordinate system. z is the displacement of the drone along the z-axis of the earth coordinate system.

[0107] In the UAV kinematics sub-model, the angular acceleration of the UAV rotating along the three coordinate axes of the body coordinate system output by the UAV dynamics sub-model is used to calculate the attitude angle of the UAV rotating along the body axis of the body coordinate system:

[0108]

[0109] Where p is the angular velocity of the drone rotating along the x-axis of the body coordinate system in the body coordinate system. q is the angular velocity of the drone rotating along the y-axis of the body coordinate system in the body coordinate system. r is the angular velocity of the drone rotating along the z-axis of the body coordinate system in the body coordinate system.

[0110] In the UAV motion control sub-model, the formula for calculating the UAV drive motor speed based on the UAV height error and three attitude angle errors is:

[0111]

[0112] Among them, z e is the altitude error of the drone. is the vertical velocity error of the UAV. e is the rolling angle error of the UAV. θ is the UAV roll angular velocity error. e is the pitch angle error of the UAV. is the pitch angular velocity error of the UAV. e is the yaw angle error of the UAV. e K is the yaw angular velocity error of the UAV. z，D K is the UAV height deviation differential control coefficient. z，P K is the UAV height deviation proportional control coefficient. φ，D K is the differential control coefficient of the UAV roll angle deviation. φ，P K is the UAV roll angle deviation proportional control coefficient. θ，D K is the differential control coefficient of the UAV pitch angle deviation. θ，P K is the proportional control coefficient of the pitch angle deviation of the UAV. ψ，D K is the differential control coefficient of the UAV yaw angle deviation. ψ，P is the proportional control coefficient of the UAV yaw angle deviation.

[0113] The calculation formula of the drone height error is:

[0114]

[0115] Among them, z d Altitude command for the drone.

[0116] The calculation formula of the vertical speed error of the UAV is:

[0117]

[0118] The calculation formula of the UAV roll angle error is:

[0119]

[0120] Among them, φ d Roll angle command for the drone.

[0121] The calculation formula of the UAV roll angular velocity error is:

[0122]

[0123] The calculation formula of the UAV pitch angle error is:

[0124]

[0125] Among them, θ d It is the pitch angle command of the UAV.

[0126] The calculation formula of the UAV pitch angular velocity error is:

[0127]

[0128] The calculation formula of the UAV yaw angle error is:

[0129] ψ e =ψ d -ψ

[0130] Among them, ψ d The yaw angle command of the UAV.

[0131] The calculation formula of the UAV yaw angular velocity error is:

[0132]

[0133] The UAV dynamics sub-model, UAV kinematics sub-model and UAV motion control sub-model in the UAV ground impact composite velocity solution model are combined to obtain the formula for calculating the UAV ground impact composite velocity:

[0134]

[0135] In one embodiment of the present invention, the key parameters and values ​​involved in the calculation formula of the drone-to-ground impact fatality rate in step S3 can be set with reference to the "Personnel Casualty Study" published by Feinstein DI, Heugel WF, Kardatzke ML, et al. in 1968. This study provides important data and analysis on personal injuries, which can provide a scientific basis for the calculation of drone impact fatality rate.

[0136] In one embodiment of the present invention, the human injury level defined in step S4 is evaluated with reference to the AIS Simple Injury Standard. The AIS Simple Injury Standard is a recognized, anatomically based injury severity scoring system that uses a 6-point scale to classify the severity of personal injuries, where 1 represents a minor injury and 6 represents the most severe injury. For more information about the specific content of the AIS Simple Injury Standard, please refer to the official link provided by the American Society of Automotive Engineers (AAAM): https: / / www.aaam.org / abbreviated-injury-scale-ais / , the present invention will not be described in detail here.

[0137] In summary, the present invention effectively solves the problem of determining the level of human injury in the risk assessment of drone operation by providing a calculation method for the composite speed of drone ground impact, the fatality rate of ground impact, and the level of human injury in impact. In addition, the present invention uses a modeling and simulation method to evaluate the level of injury in drone ground impact, which not only avoids the special test equipment and high test costs required for traditional impact tests, but also provides a more cost-effective solution for drone operation safety risk assessment.

[0138] Second embodiment

[0139] Based on the above method, the second embodiment of the present invention provides a system for determining the injury level of a drone hitting a human body. Figure 3 As shown, the system includes one or more processors and a memory, wherein the memory is coupled to the processor and is used to store a computer program, and when the computer program is executed by the processor, the processor implements the above method.

[0140] Wherein, the processor is used to control the overall operation of the system to complete all or part of the steps of the above method. The processor can be a central processing unit (CPU), a graphics processing unit (GPU), a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a digital signal processing (DSP) chip, etc. The memory is used to store various types of data to support operations in the system, and these data may include, for example, instructions for any application or method for operating on the system, and application-related data. The memory can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, etc.

[0141] In an exemplary embodiment, the system can be implemented by a computer or a drone, or by a product with a certain function, for executing the above method and achieving the same technical effect as the above method. Specifically, the computer can be, for example, a personal computer, a laptop computer, a vehicle-mounted human-computer interaction device, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices. The drone can be, for example, a fixed-wing drone, a rotary-wing drone, an unmanned airship, a paraglider drone, a flapping-wing drone, or any aircraft that does not require a pilot to operate on board.

[0142] In another exemplary embodiment, the present invention further provides a computer-readable storage medium including program instructions, which, when executed by a processor, implements the steps of the method in any of the above embodiments. For example, the computer-readable storage medium may be the above-mentioned memory including program instructions, and the above-mentioned program instructions may be executed by a processor to complete the above-mentioned method and achieve the same technical effect as the above-mentioned method.

[0143] It should be noted that the above embodiments are only examples, and the technical solutions of the various embodiments can be combined, all within the protection scope of the present invention.

[0144] The above is a detailed description of the method and system for determining the injury level of a drone hitting a human body provided by the present invention. For a person skilled in the art, any obvious changes made to it without departing from the essence of the present invention will constitute an infringement of the patent right of the present invention and will bear corresponding legal liabilities.

Claims

1. A method for determining the level of injury caused by a drone hitting a human body, characterized in that The steps include: S1: Substitute the UAV parameters into the UAV ground impact composite velocity calculation model to calculate the UAV ground impact composite velocity; S2: Calculate the kinetic energy of the UAV's impact on the ground by using the composite velocity of the UAV's impact on the ground obtained in step S1; the formula for calculating the kinetic energy of the UAV's impact on the ground is: Where m is the mass of the drone; v r Synthesize the speed of the drone's impact on the ground; S3: Calculate the fatality rate of the drone-to-ground impact using the drone-to-ground impact kinetic energy obtained in step S2. The formula for calculating the fatality rate of the drone-to-ground impact is: Among them, P is the fatality rate of drone impact on the ground; α and β are weighted coefficients corresponding to the drone impact on the human head, chest, and abdomen; S4: Calculate the level of human injury caused by the drone impact based on the fatality rate of the drone impact on the ground obtained in step S3; the formula for calculating the level of human injury caused by the drone impact is: Among them, AIS is the human injury level.

2. The method according to claim 1, characterized in that The UAV ground impact synthetic velocity solution model includes: a UAV dynamics sub-model, a UAV kinematics sub-model and a UAV motion control sub-model; The input of the UAV dynamics sub-model is the speed of the UAV drive motor, and the output is the acceleration of the UAV along the three axes of the earth coordinate system and the angular acceleration of the three axes of rotation along the body coordinate system; The input of the UAV kinematic sub-model is the acceleration of the UAV in the earth coordinate system and the angular acceleration in the body coordinate system, and the output is the displacement of the UAV along the three axes of the earth coordinate system and the attitude angle of the three axes of rotation along the body coordinate system; The input of the UAV motion control sub-model is the desired flight altitude and attitude angle of the UAV, the displacement of the UAV in the three-axis direction of the earth coordinate system and the attitude angle of the three-axis rotation along the body coordinate system, and the output is the speed of the UAV drive motor.

3. The method according to claim 2, characterized in that In the UAV dynamics sub-model, the calculation formula for the acceleration of the UAV along the three axes of the earth coordinate system is obtained from the speed of the UAV driving motor: in, is the acceleration of the UAV along the x-axis of the earth coordinate system; is the acceleration of the UAV along the y-axis of the earth coordinate system; is the acceleration of the UAV along the z-axis of the earth coordinate system; g is the acceleration of gravity; m is the mass of the UAV; φ is the roll angle of the UAV; θ is the pitch angle of the UAV; ψ is the yaw angle of the UAV; T is the sum of the thrusts provided by the UAV rotors.

4. The method according to claim 3, characterized in that The calculation formula for the sum of the pulling forces provided by the UAV rotor is: Among them, T i is the pulling force generated by the i-th rotor of the UAV; k is the lift constant of the UAV rotor drive motor; ω i is the speed of the i-th driving motor of the drone.

5. The method according to claim 4, characterized in that In the UAV dynamics sub-model, the calculation formula for the angular acceleration of the UAV rotating along the three coordinate axes of the body coordinate system is obtained from the UAV driving motor speed: in, is the angular acceleration of the drone rotating along the x-axis of the body coordinate system; is the angular acceleration of the drone rotating along the y-axis of the body coordinate system; I is the angular acceleration of the drone rotating along the z-axis of the body coordinate system; xx I is the moment of inertia of the center of the drone around the x-axis; yy I is the moment of inertia of the center of the drone around the y-axis; zz I is the moment of inertia of the center of the drone around the z axis; r is the total moment of inertia of the UAV drive motor rotor and the rotor around the body axis; ω τ The synthetic angular velocity of the UAV; τ φ is the moment of the drone around the x-axis; τ θ is the moment of the drone around the y-axis; τ ψ is the moment of the drone around the z-axis.

6. The method according to claim 5, characterized in that The calculation formula of the synthetic angular velocity of the UAV is: oh τ =ω1-ω2+ω3-ω4 Among them, ω1, ω2, ω3, and ω4 are the speeds of the UAV driving motors respectively.

7. The method according to claim 6, characterized in that The calculation formula of the moment of the drone around the x-axis, y-axis and z-axis of the fuselage is: Among them, l is the length of the UAV arm; k is the drag coefficient of the UAV rotor rotation; b is the drag coefficient of the UAV rotor rotation.

8. The method according to claim 7, characterized in that In the UAV kinematics sub-model, the calculation formula for calculating the displacement of the UAV along the three-axis directions of the earth coordinate system by the acceleration of the UAV along the three-axis directions of the earth coordinate system output by the UAV dynamics sub-model is: Among them, x is the displacement of the UAV along the x-axis of the earth coordinate system; y is the displacement of the UAV along the y-axis of the earth coordinate system; z is the displacement of the UAV along the z-axis of the earth coordinate system.

9. The method according to claim 8, characterized in that In the UAV kinematics sub-model, the calculation formula for calculating the attitude angle of the UAV along the body axis of the body coordinate system is calculated by using the angular acceleration of the UAV rotating along the three coordinate axes of the body coordinate system output by the UAV dynamics sub-model: Among them, p is the angular velocity of the drone rotating along the x-axis of the body coordinate system in the body coordinate system; q is the angular velocity of the drone rotating along the y-axis of the body coordinate system in the body coordinate system; r is the angular velocity of the drone rotating along the z-axis of the body coordinate system in the body coordinate system.

10. The method according to claim 9, characterized in that In the UAV motion control sub-model, the formula for calculating the UAV drive motor speed from the UAV height error and the three attitude angle errors is: Among them, z e is the altitude error of the UAV; is the vertical speed error of the UAV; φ e is the rolling angle error of the UAV; is the UAV rolling angular velocity error; θ e is the pitch angle error of the UAV; is the pitch angular velocity error of the UAV; ψ e is the yaw angle error of the UAV; K is the yaw angular velocity error of the UAV; z，D K is the UAV height deviation differential control coefficient; z，P K is the UAV height deviation proportional control coefficient; φ，D K is the differential control coefficient of the UAV roll angle deviation; φ，P K is the UAV roll angle deviation proportional control coefficient; θ，D K is the differential control coefficient of the UAV pitch angle deviation; θ，P K is the proportional control coefficient of the pitch angle deviation of the UAV; ψ，D K is the differential control coefficient of the UAV yaw angle deviation; ψ，P is the proportional control coefficient of the UAV yaw angle deviation; The calculation formula of the UAV height error is: With e =from d -With Among them, z d Provides altitude instructions for drones; The calculation formula of the vertical speed error of the UAV is: The calculation formula of the UAV roll angle error is: f e =φ d -f Among them, φ d Roll angle command for the drone; The calculation formula of the UAV rolling angular velocity error is: The calculation formula of the pitch angle error of the UAV is: i e =θ d -θ Among them, θ d It is the pitch angle command of the UAV; The calculation formula of the UAV pitch angular velocity error is: The calculation formula of the UAV yaw angle error is: ψ e =ψ d -ψ Among them, ψ d The yaw angle command for the drone; The calculation formula of the UAV yaw angular velocity error is:

11. The method according to claim 10, characterized in that The UAV dynamics sub-model, UAV kinematics sub-model and UAV motion control sub-model in the UAV ground impact composite velocity solution model are combined to obtain the formula for calculating the UAV ground impact composite velocity:

12. A system for determining the level of injury caused by a drone hitting a human body, characterized in that It comprises a processor and a memory; wherein the memory is coupled to the processor and is used to store a computer program, and when the computer program is executed by the processor, the processor implements the method described in any one of claims 1 to 11.

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