A method and system for determining the injury level of a drone hitting a human body

Abstract

The present invention discloses a method and system for determining the level of injury resulting from a drone impact on a human body. The method comprises the following steps: substituting drone parameters into a drone-to-ground impact composite velocity calculation model to calculate the composite velocity of the drone-to-ground impact; calculating the kinetic energy of the drone-to-ground impact based on the composite velocity of the drone-to-ground impact; calculating the fatality rate of the drone-to-ground impact based on the kinetic energy of the drone-to-ground impact; and calculating the level of human injury resulting from the drone-to-ground impact based on the fatality rate of the drone-to-ground impact. This invention not only improves assessment efficiency and reduces costs, but also provides strong technical support for drone operational safety risk assessment, helping to prevent and mitigate potential harm to ground personnel caused by a drone losing control.

Description

Technical Field

[0001] The present invention relates to a method for determining the injury level of a human body caused by a drone colliding with the 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 operational risks are primarily categorized as ground-based and airborne. Among these risks, the most important consideration for ground-based risks is the potential for injury from a loss of control drone impacting a person. Such a collision could potentially result in personal injury, so assessing the level of injury resulting from a drone impact is fundamental and crucial to assessing ground-based risks.

[0003] Currently, there are two main methods for assessing the level of injury from drone impacts: experimental methods and mathematical model simulation. Experimental methods require the construction of a collision test system, which is not only expensive but also causes damage to both the drone and the crash dummy during the collision, further increasing costs. In contrast, mathematical model simulation methods do not require the construction of an actual test system, significantly reducing assessment costs. However, the main challenge with this method is the lack of a method to directly correlate drone parameters with the level of injury from impact.

[0004] Chinese invention patent ZL 201911380414.0 proposes a method for assessing ground risk in drone operational safety risk assessments. This method includes the following steps: first, obtaining specific drone parameter information, operational and scenario information; then, determining the cause of the drone failure; then, determining the descent mode resulting from the drone failure; integrating uncertain parameters to determine the ground collision probability density function; and finally, simulating a population density model to obtain the final ground risk result for the drone failure. This technical solution provides strong support for accurately assessing ground risk when a drone's operational 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 caused by a drone striking a human body is provided, comprising the following steps:

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

[0010] 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:

[0011]

[0012] Where m is the mass of the drone; v r The composite velocity for the drone’s ground impact;

[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] Where P is the fatality rate of drone-to-ground collisions; α and β are weighted coefficients corresponding to when a drone hits the human head, chest, and abdomen;

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

[0017]

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

[0019] Preferably, the UAV ground impact composite velocity calculation 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 UAV along the three axes of 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 UAV along the three axes of 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 axes of the earth coordinate system, and the attitude angle of rotation along the three axes of the body coordinate system. 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 axes 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 due to 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; and 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 UAV’s No. i driving motor.

[0029] Preferably, 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 obtained from the UAV drive motor speed is:

[0030]

[0031] 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 UAV along the z-axis of the body coordinate system; I xx is the moment of inertia of the center of the drone around the x-axis; I yy is the moment of inertia of the center of the drone around the y-axis; I zz is the moment of inertia of the center of the drone around the z axis; I r is the total moment of inertia of the UAV's driving motor rotor and rotor around the body's rotation axis; ω τ is 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 UAV 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 drone arm; k is the drag coefficient of the drone rotor rotation; b is the drag coefficient of the drone rotor rotation.

[0038] Preferably, in the UAV kinematic sub-model, the calculation formula for calculating the displacement of the UAV along the three axes of the Earth coordinate system from the acceleration of the UAV along the three axes 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 kinematic 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 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 velocity error of the UAV; φ e is the roll angle error of the UAV; is the UAV roll 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 is the yaw angular velocity error of the UAV; K 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 UAV pitch angle deviation proportional control coefficient; 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;

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

[0048]

[0049] Among them, z d Provides altitude instructions for the drone;

[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 roll angular velocity error is:

[0056]

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

[0058]

[0059] Among them, θ d The pitch angle command for 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 UAV;

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

[0066]

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

[0068]

[0069] According to a second aspect of an embodiment of the present invention, a system for determining the level of injury caused by a drone colliding with a human body is provided, 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 existing technology, the present invention calculates the composite velocity of drone impacts by substituting drone parameters into the composite velocity solution model of drone impacts on the ground, and then calculates the kinetic energy and mortality rate of drone impacts on the ground, and finally determines the level of human injury caused by drone impacts. This method avoids the high cost and equipment loss caused by setting up a collision test system and actual collisions in traditional testing methods. Through modeling and simulation, it achieves an accurate assessment of the level of human injury caused by drone impacts. The use of this invention not only improves assessment efficiency and reduces costs, but also provides strong technical support for drone operation safety risk assessment, helping to prevent and reduce the harm that may be caused to ground personnel after a drone loses control. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0073] Figure 3 This is 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, the first embodiment of the present invention provides a method for determining the injury level of a drone impacting a human body, comprising at least 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 UAV impacting the ground.

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

[0082]

[0083] Where P is the fatality rate of drone-to-ground impacts. α and β are weighting coefficients corresponding to when a drone hits the human head, chest, or abdomen.

[0084] S4: Calculate the human injury level caused by the drone collision using the fatality rate of the drone collision obtained in step S3. The formula for calculating the human injury level caused by the drone collision 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 calculation 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 rotation along 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 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, 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 rotation along 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's coordinate system. g is the acceleration due to 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 total thrust provided by the drone's 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 thrust 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 UAV’s No. i driving motor.

[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 UAV along the z-axis of the body coordinate system. xx is the moment of inertia of the drone center 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 drone center around the z axis. r ω is the total moment of inertia of the UAV's driving motor rotor and rotor around the body's rotation 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 UAV's synthetic angular velocity 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 for the UAV's torque around the x-axis, y-axis, and z-axis is:

[0102]

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

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

[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 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 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 in the body coordinate system. q is the angular velocity of the drone rotating along the y-axis in the body coordinate system. r is the angular velocity of the drone rotating along the z-axis 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 the three attitude angle errors is:

[0111]

[0112] Among them, z e is the altitude error of the UAV. is the vertical velocity error of the UAV. e is the roll angle error of the UAV. θ is the roll angular velocity error of the UAV. 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 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 UAV pitch angle deviation. 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 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 calculation 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 for the drone 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 human injuries, which can provide a scientific basis for calculating the drone impact fatality rate.

[0136] In one embodiment of the present invention, the level of human injury defined in step S4 is assessed with reference to the AIS (Anatomical Injury Score). The AIS (Anatomical Injury Score) 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 on the AIS (Anatomical Injury Score), 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, this invention effectively addresses the challenge of determining the human injury level in drone operational risk assessments by providing a method for calculating the composite velocity of drone ground impacts, the fatality rate of ground impacts, and the human injury level. Furthermore, this invention employs a modeling and simulation approach to assess the human injury level in drone ground impacts, eliminating the specialized testing equipment and high testing costs required for traditional impact tests and providing a more cost-effective solution for drone operational safety risk assessments.

[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] 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. These data may include, for example, instructions for any application or method operating on the system, as well as 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 certain functions, 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, an in-vehicle human-computer interaction device, a cellular phone, a camera phone, a smartphone, 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 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, implement the steps of the method described in any of the above embodiments. For example, the computer-readable storage medium may be the aforementioned memory including the program instructions, which may be executed by a processor to perform the above method and achieve the same technical effects as the above method.

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

[0144] The above describes in detail the method and system for determining the injury level of a drone collision with a human body provided by the present invention. For those skilled in the art, any obvious modification of this invention without departing from its essence would constitute an infringement of the present invention's patent rights and would incur corresponding legal liability.

Claims

1. A method for determining the level of injury caused by a drone hitting a human body, characterized in that include: S1: Substitute the UAV parameters into the UAV ground impact composite velocity solution model to calculate the UAV ground impact composite velocity; 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: Where m is the mass of the drone; v r The composite velocity for the drone’s ground impact; 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: Where P is the fatality rate of drone-to-ground collisions; α and β are weighted coefficients corresponding to when a drone hits the human head, chest, and abdomen; S4: Calculate the human injury level caused by the drone collision based on the fatality rate of the drone collision obtained in step S3. The formula for calculating the human injury level caused by the drone collision is: Among them, AIS is the human injury level; The UAV ground impact composite velocity calculation model includes: UAV dynamics sub-model, UAV kinematics sub-model and 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 UAV along the three axes of 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 UAV along the three axes of the body coordinate system; The input of the UAV motion control sub-model is the UAV's desired flight altitude and attitude angle, as well as the UAV's displacement in the three axes of the earth coordinate system and the attitude angle along the three axes of the body coordinate system. The output is the UAV drive motor speed. The UAV dynamics sub-model, UAV kinematics sub-model, and UAV motion control sub-model in the UAV ground impact composite velocity calculation model are combined to calculate the UAV ground impact composite velocity formula:

2. The method according to claim 1, wherein 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: 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 due to 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; and T is the sum of the thrusts provided by the UAV rotors.

3. The method according to claim 2, wherein 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 UAV’s No. i driving motor.

4. The method according to claim 3, wherein 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: 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 UAV along the z-axis of the body coordinate system; I xx is the moment of inertia of the center of the drone around the x-axis; I yy is the moment of inertia of the center of the drone around the y-axis; I zz is the moment of inertia of the center of the drone around the z axis; I r is the total moment of inertia of the UAV's driving motor rotor and rotor around the body's rotation axis; ω τ is 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 torque of the UAV around the z-axis of the body; p is the angular velocity of the UAV rotating along the x-axis of the body coordinate system in the body coordinate system; q is the angular velocity of the UAV rotating along the y-axis of the body coordinate system in the body coordinate system; r is the angular velocity of the UAV rotating along the z-axis of the body coordinate system in the body coordinate system.

5. The method according to claim 4, wherein 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.

6. The method according to claim 5, wherein The calculation formula of the UAV's torque around the x-axis, y-axis and z-axis is: Among them, l is the length of the drone arm; k is the drag coefficient of the drone rotor rotation; b is the drag coefficient of the drone rotor rotation.

7. The method according to claim 6, wherein The calculation formula for calculating the displacement of the drone along the three axes of the earth coordinate system from the acceleration of the drone along the three axes of the earth coordinate system output by the drone dynamics sub-model in the drone kinematic 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.

8. The method according to claim 7, wherein The calculation formula for calculating the attitude angle of the drone along the body axis of the body coordinate system is as follows: 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.

9. The method according to claim 8, wherein 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 velocity error of the UAV; φ e is the roll angle error of the UAV; is the UAV roll 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; is the yaw angular velocity error of the UAV; D 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 UAV pitch angle deviation proportional control coefficient; 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 =z d -With Among them, z d is the altitude command of the UAV; z is the displacement of the UAV along the z-axis of the earth coordinate system; 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 roll angular velocity error is: The calculation formula of the UAV pitch angle error is: Among them, θ d The pitch angle command for the UAV; The calculation formula of the UAV pitch angular velocity error is: The calculation formula of the UAV yaw angle error is: Among them, ψ d The yaw angle command for the UAV; The calculation formula of the UAV yaw angular velocity error is:

10. A system for determining the level of injury caused by a drone hitting a human body, characterized in that The method 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 according to any one of claims 1 to 9.

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