Vibration frequency determination method and device applied to flight state and flight equipment

Abstract

The invention relates to the technical field of flight control, and particularly discloses a vibration frequency determination method and device applied to a flight state, and flight equipment, and the method comprises the steps: analyzing the current state data collected by a sensor on the flight equipment in the flight state, and when a vibration frequency extraction triggering condition is satisfied through analysis, determining the vibration frequency of the flight equipment in the flight state; according to the invention, real-time data acquisition is carried out on the flight equipment, and vibration frequency data analysis is carried out based on the data acquired in real time, that is, the analysis accuracy and reliability of the vibration frequency data are improved by analyzing the state of the flight equipment in a real flight environment in a non-full flight process, acquiring the data in real time and analyzing the real-time data; the determination accuracy and reliability of the vibration dominant frequency can be improved, so that the dynamic change of the flight equipment in real flight can be reflected, the method is suitable for field real-time use, and the flight equipment can be controlled more stably and accurately.

Description

Technical Field

[0001] The present invention relates to the field of flight equipment control technology, and in particular to a method and device for determining a vibration frequency applied in a flight state, and flight equipment. Background Art

[0002] With the rapid development of Unmanned Aerial Vehicle (UAV) technology, UAVs are increasingly used in military, commercial, logistics, transportation, agriculture and other fields. Ensuring their flight stability and reliability has become one of the key challenges.

[0003] In practical applications, drones generate various vibrations during flight due to factors such as motor and propeller operation and mechanical structure resonance. The most significant harm caused by these vibration noises is distortion of inertial measurement unit (IMU) measurements, which in turn increases state estimation errors and negatively impacts the flight stability and reliability of the drone. Therefore, effective vibration reduction is crucial for drones. One key aspect of this is determining the accurate dominant vibration frequency.

[0004] Currently, methods for extracting the dominant vibration frequency are divided into offline and real-time extraction. Offline extraction typically requires the drone to be stationary in a laboratory environment, where vibration frequency data is acquired using equipment such as a laser Doppler vibrometer and a modal analyzer to determine the dominant vibration frequency. Real-time extraction typically involves sensors installed on the drone collecting data throughout its entire flight, analyzing the data to determine the dominant vibration frequency. However, in practice, offline extraction has proven accurate, but due to experimental limitations, the vibration frequency data cannot reflect the dynamic changes during actual flight and is unsuitable for real-time field use. Because real-time extraction involves collecting data throughout the entire flight, it is susceptible to other vibrations generated during flight, such as wind vibration. This results in low reliability, large data volumes, and significant computational overhead. Therefore, it is crucial to propose a new method for determining the dominant vibration frequency to improve its accuracy and reliability, thereby enabling a technical solution that can reflect the dynamic changes during actual flight and is suitable for real-time field use. Summary of the Invention

[0005] The present invention provides a vibration frequency determination method, device and flight equipment applied to flight status, which can improve the accuracy and reliability of determining the main vibration frequency, thereby reflecting the dynamic changes of the flight equipment in actual flight and being suitable for real-time use on site.

[0006] In order to solve the above technical problems, the first aspect of the present invention discloses a method for determining a vibration frequency applied in a flight state, the method comprising:

[0007] Based on sensors provided on the aircraft, performing data collection operations when the aircraft is in a flight state to obtain current state data of the sensors;

[0008] determining, based on the current state data of the sensor, whether the current state of the flight device satisfies a predetermined vibration frequency extraction trigger condition;

[0009] When it is determined that the vibration frequency extraction trigger condition is met, performing a real-time data acquisition operation on the real-time status of the flight equipment based on the sensor to obtain real-time data from the sensor;

[0010] The real-time vibration frequency data of the flying device is determined according to the real-time data of the sensor.

[0011] As an optional implementation, in the first aspect of the present invention, a first acquisition frequency corresponding to the current state data of the sensor is less than a second acquisition frequency corresponding to the real-time data of the sensor;

[0012] Wherein, determining the real-time vibration frequency data of the flight equipment according to the real-time data of the sensor includes:

[0013] Sequentially acquiring a plurality of target real-time data from the real-time data of the sensor, wherein the data length of each target real-time data is a first preset data length, and except for the target real-time data acquired for the first time, each of the remaining target real-time data is determined by performing a sliding window determination based on the previous target real-time data with a preset data step length; each target real-time data of the sensor includes real-time data of three target axes of the sensor;

[0014] For any target real-time data of any target axis, determining the real-time vibration frequency data of the target real-time data according to the target real-time data, the second acquisition frequency and the first preset data length;

[0015] The real-time vibration frequency data of the flying equipment includes real-time vibration frequency data of all the target real-time data of the three target axes of the sensor.

[0016] As an optional embodiment, in the first aspect of the present invention, determining the real-time vibration frequency data of the target real-time data according to the target real-time data, the second acquisition frequency, and the first preset data length includes:

[0017] Performing a fast Fourier transform operation on the target real-time data and the second acquisition frequency to obtain a plurality of first amplitudes corresponding to the target real-time data;

[0018] For any of the first amplitudes, obtaining an absolute value of the first amplitude, and performing a halving operation on the absolute value to obtain a second amplitude of the first amplitude;

[0019] filtering, from all the second amplitudes, a plurality of second amplitudes corresponding to the target real-time data collected continuously as a plurality of third amplitudes;

[0020] Determining a corrected amplitude of the corrected target real-time data based on all the third amplitudes and the first preset data length;

[0021] determining frequency distribution data of the target real-time data according to the second acquisition frequency and the first preset data length;

[0022] A frequency distribution diagram of the target real-time data is generated according to the frequency distribution data of the target real-time data and the corrected amplitude of the target real-time data as the real-time vibration frequency data of the target real-time data.

[0023] As an optional embodiment, in the first aspect of the present invention, the real-time vibration frequency data of the flight equipment includes real-time vibration frequency data of three target axes of the sensor, and the real-time vibration frequency data of each target axis includes a frequency distribution diagram of all target real-time data of the target axis;

[0024] The method further comprises:

[0025] For any of the target real-time data of any of the target axes, screening the mean amplitude of all amplitudes corresponding to all frequencies of a first preset frequency length from a frequency distribution diagram of the target real-time data;

[0026] Determining the amplitude multiple corresponding to the target axis according to the mean amplitude;

[0027] Calculate the product of the amplitude multiple and the mean amplitude as the reference amplitude;

[0028] According to the frequency distribution diagram of the target real-time data, all amplitudes of the frequency distribution diagram are compared with the reference amplitude to obtain an amplitude comparison result;

[0029] When the amplitude comparison result is used to indicate that there is an amplitude greater than or equal to the reference amplitude in the frequency distribution diagram of the target real-time data, the amplitude with the largest value is screened out from all amplitudes greater than or equal to the reference amplitude and is used as the maximum vibration main frequency of the target real-time data.

[0030] As an optional implementation manner, after selecting the maximum amplitude from all amplitudes greater than or equal to the reference amplitude and using the maximum vibration frequency of the target real-time data, the method further includes:

[0031] Taking the peak position of the maximum vibration main frequency as a reference position, determining a plurality of target frequencies adjacent to the peak position of the maximum vibration main frequency;

[0032] Obtaining the amplitude of the maximum vibration main frequency and the amplitude of each target frequency;

[0033] Determining a position correction factor of the maximum vibration main frequency according to the amplitude of the maximum vibration main frequency and the amplitude of each of the target frequencies;

[0034] Based on the position correction factor, the peak position of the maximum vibration main frequency is corrected to obtain a corrected target peak position;

[0035] Based on the target peak position, performing a correction operation on the maximum vibration main frequency to obtain a corrected maximum vibration main frequency;

[0036] Wherein, determining the position correction factor of the maximum vibration main frequency according to the amplitude of the maximum vibration main frequency and the amplitude of each target frequency includes:

[0037] Based on the peak position of the maximum vibration main frequency, all the target frequencies are divided into a first frequency point position group and a second frequency point position group, where all the target frequencies in the first frequency point position group and all the target frequencies in the second frequency point position group are located on both sides of the peak position of the maximum vibration main frequency, respectively;

[0038] Determining a first amplitude ratio based on the amplitude of the maximum vibration main frequency and the amplitudes of all target frequencies of the first frequency point position group, and determining a first position correction factor based on the first amplitude ratio;

[0039] Determining a second amplitude ratio based on the amplitude of the maximum vibration main frequency and the amplitudes of all target frequencies of the second frequency point position group, and determining a second position correction factor based on the second amplitude ratio;

[0040] The position correction factor of the maximum vibration main frequency is determined according to the first position correction factor and the second position correction factor.

[0041] A second aspect of the present invention discloses a vibration frequency determination device for use in flight. The device is applied to flight equipment and includes:

[0042] a collection module, configured to collect data from sensors provided on the aircraft when the aircraft is in flight, and obtain current status data of the sensors;

[0043] a judgment module, configured to judge, based on the current state data of the sensor, whether the current state of the flight device satisfies a predetermined vibration frequency extraction trigger condition;

[0044] The acquisition module is further configured to, when it is determined that the vibration frequency extraction trigger condition is met, perform a real-time data acquisition operation on the real-time status of the flight equipment based on the sensor to obtain real-time data from the sensor;

[0045] The determination module is used to determine the real-time vibration frequency data of the flight equipment according to the real-time data of the sensor.

[0046] As an optional implementation, in the second aspect of the present invention, the first acquisition frequency corresponding to the current state data of the sensor is less than the second acquisition frequency corresponding to the real-time data of the sensor;

[0047] The specific manner in which the determination module determines the real-time vibration frequency data of the flight equipment based on the real-time data of the sensor includes:

[0048] Sequentially acquiring a plurality of target real-time data from the real-time data of the sensor, wherein the data length of each target real-time data is a first preset data length, and except for the target real-time data acquired for the first time, each of the remaining target real-time data is determined by performing a sliding window determination based on the previous target real-time data with a preset data step length; each target real-time data of the sensor includes real-time data of three target axes of the sensor;

[0049] For any target real-time data of any target axis, determining the real-time vibration frequency data of the target real-time data according to the target real-time data, the second acquisition frequency and the first preset data length;

[0050] The real-time vibration frequency data of the flying equipment includes real-time vibration frequency data of all the target real-time data of the three target axes of the sensor.

[0051] As an optional embodiment, in the second aspect of the present invention, the specific manner in which the determination module determines the real-time vibration frequency data of the target real-time data according to the target real-time data, the second acquisition frequency, and the first preset data length includes:

[0052] Performing a fast Fourier transform operation on the target real-time data and the second acquisition frequency to obtain a plurality of first amplitudes corresponding to the target real-time data;

[0053] For any of the first amplitudes, obtaining an absolute value of the first amplitude, and performing a halving operation on the absolute value to obtain a second amplitude of the first amplitude;

[0054] filtering, from all the second amplitudes, a plurality of second amplitudes corresponding to the target real-time data collected continuously as a plurality of third amplitudes;

[0055] Determining a corrected amplitude of the corrected target real-time data based on all the third amplitudes and the first preset data length;

[0056] determining frequency distribution data of the target real-time data according to the second acquisition frequency and the first preset data length;

[0057] A frequency distribution diagram of the target real-time data is generated according to the frequency distribution data of the target real-time data and the corrected amplitude of the target real-time data as the real-time vibration frequency data of the target real-time data.

[0058] As an optional embodiment, in the second aspect of the present invention, the real-time vibration frequency data of the flight equipment includes real-time vibration frequency data of three target axes of the sensor, and the real-time vibration frequency data of each target axis includes a frequency distribution diagram of all target real-time data of the target axis;

[0059] The device further comprises:

[0060] a screening module, configured to screen, for any target real-time data of any target axis, a mean amplitude of all amplitudes corresponding to all frequencies of a first preset frequency length from a frequency distribution diagram of the target real-time data;

[0061] The determining module is further configured to determine an amplitude multiple corresponding to the target axis according to the mean amplitude;

[0062] a calculation module, configured to calculate the product of the amplitude multiple and the mean amplitude as a reference amplitude;

[0063] a comparison module, configured to compare all amplitudes of the frequency distribution graph of the target real-time data with the reference amplitude according to the frequency distribution graph of the target real-time data, to obtain an amplitude comparison result;

[0064] The screening module is further configured to, when the amplitude comparison result is used to indicate that there is an amplitude greater than or equal to the reference amplitude in the frequency distribution diagram of the target real-time data, screen the amplitude with the largest value from all amplitudes greater than or equal to the reference amplitude as the maximum vibration main frequency of the target real-time data.

[0065] As an optional embodiment, in the second aspect of the present invention, the determining module is further configured to, after the screening module selects the maximum amplitude from all amplitudes greater than or equal to the reference amplitude, as the maximum vibration frequency of the target real-time data, determine a plurality of target frequencies adjacent to the peak position of the maximum vibration frequency with the peak position of the maximum vibration frequency as the reference position;

[0066] The determination module is further configured to obtain the amplitude of the maximum vibration main frequency and the amplitude of each target frequency;

[0067] The determination module is further configured to determine a position correction factor of the maximum vibration main frequency based on the amplitude of the maximum vibration main frequency and the amplitude of each target frequency;

[0068] The device further comprises:

[0069] a correction module, configured to correct the peak position of the maximum vibration main frequency based on the position correction factor to obtain a corrected target peak position;

[0070] The correction module is further configured to perform a correction operation on the maximum vibration main frequency based on the target peak position to obtain a corrected maximum vibration main frequency;

[0071] The specific manner in which the determination module determines the position correction factor of the maximum vibration main frequency according to the amplitude of the maximum vibration main frequency and the amplitude of each target frequency includes:

[0072] Based on the peak position of the maximum vibration main frequency, all the target frequencies are divided into a first frequency point position group and a second frequency point position group, where all the target frequencies in the first frequency point position group and all the target frequencies in the second frequency point position group are located on both sides of the peak position of the maximum vibration main frequency, respectively;

[0073] Determining a first amplitude ratio based on the amplitude of the maximum vibration main frequency and the amplitudes of all target frequencies of the first frequency point position group, and determining a first position correction factor based on the first amplitude ratio;

[0074] Determining a second amplitude ratio based on the amplitude of the maximum vibration main frequency and the amplitudes of all target frequencies of the second frequency point position group, and determining a second position correction factor based on the second amplitude ratio;

[0075] The position correction factor of the maximum vibration main frequency is determined according to the first position correction factor and the second position correction factor.

[0076] A third aspect of the present invention discloses an aircraft device, wherein the aircraft device is integrated with a sensor, and the aircraft device comprises:

[0077] a memory storing executable program code;

[0078] a processor coupled to the memory;

[0079] The processor calls the executable program code stored in the memory to execute part or all of the steps of any one of the vibration frequency determination methods applied to the flight state disclosed in the first aspect of the present invention.

[0080] The fourth aspect of the present invention discloses a computer storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute part or all of the steps of any one of the vibration frequency determination methods applied to the flight state disclosed in the first aspect of the present invention.

[0081] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0082] In an embodiment of the present invention, a sensor mounted on an aircraft performs data collection when the aircraft is in flight to obtain current state data of the sensor; based on the current state data of the sensor, determines whether the current state of the aircraft satisfies a predetermined vibration frequency extraction trigger condition; when the vibration frequency extraction trigger condition is determined to be satisfied, a real-time data collection operation is performed on the real-time state of the aircraft based on the sensor to obtain real-time data of the sensor; and based on the real-time data of the sensor, determines the real-time vibration frequency data of the aircraft. Thus, the present invention analyzes the current state data collected by the sensor on the aircraft in flight, collects real-time data on the aircraft when the vibration frequency extraction trigger condition is determined to be satisfied, and analyzes the vibration frequency data based on the real-time collected data. That is, by analyzing the state of the aircraft in a real flight environment during a non-full flight process, collecting and analyzing the real-time data in real time, the accuracy and reliability of the vibration frequency data analysis are improved, which is conducive to improving the accuracy and reliability of the determination of the main vibration frequency, thereby being able to reflect the dynamic changes of the aircraft in real flight and being suitable for real-time use on site, and facilitating more stable and precise control of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0084] Figure 1 This is a flow chart of a method for determining a vibration frequency in flight state disclosed in an embodiment of the present invention;

[0085] Figure 2 1 is a flow chart of another method for determining vibration frequency in flight state disclosed in an embodiment of the present invention;

[0086] Figure 3 is a schematic diagram of a frequency distribution diagram of the x-axis of a gyroscope disclosed in an embodiment of the present invention;

[0087] Figure 4 is a schematic diagram of a frequency distribution diagram of the y-axis of a gyroscope disclosed in an embodiment of the present invention;

[0088] Figure 5 is a schematic diagram of a frequency distribution diagram of the z-axis of a gyroscope disclosed in an embodiment of the present invention;

[0089] Figure 6 This is a filtering effect diagram of the maximum vibration main frequency disclosed in an embodiment of the present invention;

[0090] Figure 7 1 is a schematic structural diagram of a vibration frequency determination device for flight state disclosed in an embodiment of the present invention;

[0091] Figure 8 1 is a schematic structural diagram of another vibration frequency determination device for flight state disclosed in an embodiment of the present invention;

[0092] Figure 9 It is a structural schematic diagram of a flying device disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0093] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0094] The terms "first," "second," and so on, in the description and claims of the present invention and the accompanying drawings are used to distinguish between different items, not to describe a specific order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or end comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed therein, or may optionally include other steps or elements inherent to such process, method, product, or end.

[0095] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0096] The present invention discloses a method, device, and flight equipment for determining vibration frequency in flight. The method analyzes current state data collected by sensors on a flight equipment in flight. When the analysis shows that a vibration frequency extraction trigger condition is met, real-time data collection is performed on the flight equipment, and vibration frequency data analysis is performed based on the real-time collected data. Specifically, by analyzing the state of the flight equipment in a real flight environment during a non-full-flight process, collecting and analyzing the real-time data in real time, the accuracy and reliability of the vibration frequency data analysis are improved, which is conducive to improving the accuracy and reliability of determining the main vibration frequency. This method can reflect the dynamic changes of the flight equipment in real flight, is suitable for real-time on-site use, and facilitates more stable and precise control of the flight equipment. Each of these methods is described in detail below.

[0097] Example 1

[0098] See also Figure 1 , Figure 1 This is a flow chart of a method for determining vibration frequency in flight state disclosed in an embodiment of the present invention. Figure 1 The described method can be applied to any scenario where vibration frequency analysis of flight equipment is required, including but not limited to unmanned scenarios, smart city scenarios, border patrol scenarios, power inspection scenarios, forest fire prevention scenarios, logistics and transportation scenarios, agricultural irrigation scenarios, etc., and the corresponding flight equipment in the scenario is performing the corresponding flight mission. Figure 1 As shown, the method may include the following operations:

[0099] 101. Based on sensors provided on the flight equipment, perform data collection operations when the flight equipment is in a flight state to obtain current state data of the sensors.

[0100] In an embodiment of the present invention, the sensor corresponding to the flight device includes an accelerometer and / or a gyroscope. Optionally, the current state data of the sensor includes multiple velocities collected by the accelerometer within a preset time period (e.g., 2 seconds) and / or multiple first angles and multiple second angles continuously collected by the gyroscope within a preset time period.

[0101] 102. Determine, based on the current state data of the sensor, whether the current state of the flight device satisfies a predetermined vibration frequency extraction trigger condition.

[0102] In an embodiment of the present invention, optionally, determining whether the current state of the flight device satisfies a predetermined vibration frequency extraction trigger condition based on the current state data of the sensor includes:

[0103] When the current state data of the sensor includes multiple speeds collected by the accelerometer within a preset time period, determining whether the number of speeds less than or equal to the preset speed among all the speeds corresponding to the accelerometer is greater than or equal to the preset number of speeds; if the result of the determination is yes, determining that the current state of the flight device meets the predetermined vibration frequency extraction trigger condition;

[0104] When the current state data of the sensor includes multiple first angles and multiple second angles continuously collected by the gyroscope within a preset time period, it is determined whether the angle difference between any two adjacent first angles among all the first angles corresponding to the gyroscope is less than or equal to the first preset angle, and whether the angle difference between the first collected second angle and the last collected second angle among all the second angles is less than or equal to the second preset angle. When the judgment result is yes, it is determined that the current state of the flight device meets the predetermined vibration frequency extraction trigger condition, wherein the first preset angle is less than the second preset angle, the types of all the first angles include the pitch angle type and / or the roll angle type, and the types of all the second angles include the yaw angle type.

[0105] In the embodiment of the present invention, further optionally, for the second angle, when the angle changes suddenly from -180° to 180° or from 180° to -180°, the minimum value is taken as the angle difference between two adjacent points using the following angle calculation method:

[0106] y e =min((|y n -y p |),360-|y n -y p |);

[0107] Where y e Represents the angle difference between two adjacent points, y n Indicates the second angle of the gyroscope at the current moment, y p Indicates the second angle of the gyroscope at the previous moment.

[0108] In an embodiment of the present invention, optionally, the current state of the aircraft may be determined to meet the vibration frequency extraction trigger condition when both the velocity collected by the accelerometer and the angle collected by the gyroscope meet the vibration frequency extraction trigger condition. This can further ensure that the aircraft is in a hovering state, thereby improving the accuracy of the real-time data collected by the sensors, and further improving the accuracy of determining the aircraft's main vibration frequency. Furthermore, optionally, the current state data of the aircraft may be collected at a first collection frequency, where the first collection frequency can be one of 10 Hz, 20 Hz, 30 Hz, 40 Hz, etc., as long as the aircraft is kept in a low-dynamic environment for a long period of time.

[0109] In the embodiment of the present invention, optionally, the multiple velocities collected by the accelerometer may be velocities along two axes or three axes.

[0110] For example, the accelerometer measures three-axis velocity. When the aircraft is in flight, the accelerometer collects data within 2 seconds, obtaining 40 consecutive velocities along three axes (e.g., north, east, and ground). If all velocities are less than 0.2 m / s, the aircraft is in a hovering state (also known as low dynamics), meeting the vibration frequency extraction trigger conditions.

[0111] For example, the gyroscope's first angle includes roll and pitch angles, and the second angle is yaw angle. When the aircraft is in flight, the gyroscope collects data within 2 seconds, obtaining 40 consecutive roll, pitch, and yaw angles. If all roll and pitch angles are less than 2 degrees, the difference between any two adjacent yaw angles is less than or equal to 0.2 degrees, and the difference between the first and last collected yaw angles is less than or equal to 2 degrees, the aircraft is in a hovering state (also known as low dynamics), and the vibration frequency extraction trigger conditions are met.

[0112] It can be seen that the embodiments of the present invention can also provide multiple ways to determine whether the aircraft device is in a hovering state by analyzing the multi-axis speed continuously collected by the accelerometer over a period of time and / or the roll angle and / or pitch angle, yaw angle collected by the gyroscope within a corresponding period of time, thereby improving the efficiency and accuracy of determining whether the aircraft device is in a hovering state, thereby facilitating improving the efficiency and accuracy of determining whether the current state of the aircraft device meets the vibration frequency extraction trigger condition.

[0113] 103. When it is determined that the vibration frequency extraction trigger condition is met, a real-time data collection operation is performed on the real-time status of the flight equipment based on the sensor to obtain real-time data of the sensor.

[0114] In the embodiment of the present invention, the first acquisition frequency corresponding to the current state data of the sensor is less than the second acquisition frequency corresponding to the real-time data of the sensor, for example, the first acquisition frequency is 20 Hz and the second acquisition frequency is 200 Hz.

[0115] In the embodiment of the present invention, the real-time data of the sensor includes real-time data collected by the accelerometer and / or real-time data collected by the gyroscope.

[0116] In an embodiment of the present invention, optionally, when it is determined that the vibration frequency extraction trigger condition is not met, the flight speed of the flying device is adjusted, and step 101 is re-executed until the vibration frequency extraction trigger condition is met.

[0117] 104. Determine the real-time vibration frequency data of the flight equipment based on the real-time data of the sensor.

[0118] In an embodiment of the present invention, optionally, the sensor caches the collected real-time data in a storage unit, and obtains the real-time data from the storage unit to determine the real-time vibration frequency of the flight equipment.

[0119] It can be seen that implementation Figure 1 The described method analyzes current status data collected by sensors on an aircraft in flight, and when the analysis shows that a vibration frequency extraction trigger condition is met, collects real-time data from the aircraft, and performs vibration frequency data analysis based on the real-time collected data. That is, by analyzing the status of the aircraft in a non-full-flight process in a real flight environment and collecting and analyzing the real-time data in real time, the accuracy and reliability of the vibration frequency data analysis are improved, which is conducive to improving the accuracy and reliability of determining the main vibration frequency, thereby being able to reflect the dynamic changes of the aircraft in real flight and being suitable for real-time use on site, and facilitating more stable and precise control of the aircraft.

[0120] In an embodiment of the present invention, optionally, determining the real-time vibration frequency data of the flight equipment based on the real-time data of the sensor includes:

[0121] Sequentially acquire a plurality of target real-time data from the real-time data of the sensor, wherein the data length of each target real-time data is a first preset data length (e.g., 512), and except for the target real-time data acquired for the first time, each remaining target real-time data is determined by performing a sliding window determination based on the previous target real-time data with a preset data step size;

[0122] For any target real-time data of any target axis, determining the real-time vibration frequency data of the target real-time data according to the target real-time data, the second acquisition frequency and the first preset data length;

[0123] The real-time vibration frequency data of the flight equipment includes the real-time vibration frequency data of all target real-time data of the three target axes of the sensor.

[0124] In an embodiment of the present invention, optionally, each target real-time data of the sensor includes real-time data of three target axes of the sensor, that is, real-time accelerations of the three target axes of the accelerometer and / or real-time angular velocities of the three target axes of the gyroscope.

[0125] For example, when it is detected that the data length of the real-time data cached in the storage unit is greater than or equal to 512, the first real-time vibration frequency data analysis is performed. When the data length of the real-time data cached in the storage unit is 712, the second real-time vibration frequency data analysis is performed. Among them, the 312 data used in the previous analysis and the new 200 data are used to form a new 512 data for real-time vibration frequency analysis. By analogy, the sliding window value is taken with a step size of 200 data points each time, and 512 data are taken each time for real-time vibration frequency analysis. That is, the real-time data acquisition process of the sensor and the vibration frequency data analysis based on the acquired real-time data are carried out synchronously.

[0126] It can be seen that the embodiment of the present invention can also analyze the vibration frequency while collecting real-time data, without having to wait until all data are collected before performing vibration frequency analysis, thereby reducing the amount of single data analysis, improving the analysis efficiency of the vibration frequency while ensuring the accuracy of the vibration frequency analysis, and reducing CPU consumption and improving the operating efficiency of the CPU.

[0127] In the embodiment of the present invention, further optionally, determining the real-time vibration frequency data of the target real-time data according to the target real-time data, the second acquisition frequency, and the first preset data length includes:

[0128] Performing a fast Fourier transform operation on the target real-time data and the second acquisition frequency to obtain a plurality of first amplitudes corresponding to the target real-time data;

[0129] For any first amplitude, obtaining the absolute value of the first amplitude, and performing a halving operation on the absolute value to obtain a second amplitude of the first amplitude;

[0130] Selecting a portion of the second amplitudes corresponding to the continuously collected target real-time data from all the second amplitudes as a plurality of third amplitudes;

[0131] determining a corrected amplitude of the corrected target real-time data based on all third amplitudes and the first preset data length;

[0132] Determining frequency distribution data of the target real-time data according to the second acquisition frequency and the first preset data length;

[0133] A frequency distribution diagram of the target real-time data is generated according to the frequency distribution data of the target real-time data and the corrected amplitude of the target real-time data as the real-time vibration frequency data of the target real-time data.

[0134] In an embodiment of the present invention, optionally, for any first amplitude, the first amplitude is converted from radians to angles to obtain a phase of the first amplitude, and a halving operation is performed on the phase to obtain a phase value corresponding to the corrected amplitude.

[0135] In the embodiment of the present invention, optionally, the first amplitude may be calculated using the following fast Fourier transform formula:

[0136] [y_real, y_img, freq, y_amp, y_phase] = FFT (fs, x);

[0137] Wherein, fs represents the second acquisition frequency, such as 200 Hz; x represents the target real-time data; freq represents the frequency distribution data, which can be [0, 100] Hz; y_amp represents the corrected amplitude of the corrected target real-time data; y_phase represents the phase value corresponding to the corrected amplitude; y_real represents the real part of each first amplitude; y_img represents the imaginary part of each first amplitude.

[0138] In an embodiment of the present invention, optionally, the multiple third amplitudes can be understood as a continuous portion of the second amplitudes among all the second amplitudes. Specifically, there can be three situations: ① for all the second amplitudes remaining except all the second amplitudes in the first part and all the second amplitudes in the second part, the data acquisition times corresponding to all the second amplitudes in the first part are later than the acquisition times corresponding to all the second amplitudes in the second part, and the data acquisition times corresponding to all the remaining second amplitudes are between the data acquisition times of the foregoing two; or, ② for all the second amplitudes remaining except all the second amplitudes in the first part, the data acquisition times corresponding to all the second amplitudes in the first part are earlier than the acquisition times corresponding to all the remaining second amplitudes; or, ③ for all the second amplitudes remaining except all the second amplitudes in the second part, the data acquisition times corresponding to all the second amplitudes in the second part are later than the acquisition times corresponding to all the remaining second amplitudes. For example, the target real-time data is D1-D9, the data collection times are T1-T9, and T1-T9 increase successively. The multiple third amplitudes corresponding to the above-mentioned situations ①, ②, and ③ can be the amplitudes corresponding to D2-D8, the amplitudes corresponding to D4-D9, and the amplitudes corresponding to D1-D6, respectively.

[0139] In an embodiment of the present invention, optionally, a corrected amplitude of the corrected target real-time data is determined based on all third amplitudes and the first preset data length. Specifically: for any third amplitude, a multiple (such as 2 times) of the third amplitude is divided by the first preset data length to obtain the corrected third amplitude, and all corrected third amplitudes are determined as the corrected amplitude of the target real-time data.

[0140] In an embodiment of the present invention, optionally, frequency distribution data of the target real-time data is determined based on the second acquisition frequency and the first preset data length. Specifically, the second acquisition frequency is divided by the first preset data length to obtain the frequency distribution data of the target real-time data.

[0141] It can be seen that the embodiment of the present invention can also perform Fourier transform analysis on the partial data and corresponding acquisition frequency collected by each axis of each sensor each time, and jointly determine the amplitude and frequency distribution data of the partial data in combination with the corresponding data length, thereby determining the corresponding real-time vibration frequency data, thereby improving the analysis accuracy and reliability of the real-time vibration frequency data corresponding to the data collected by each axis each time, which is conducive to further improving the accuracy and reliability of obtaining the maximum vibration main frequency of the flight equipment.

[0142] In an optional embodiment, the method may further include the following steps:

[0143] In the process of performing real-time data collection operations on the real-time status of the flight equipment, the current status of the flight equipment is monitored to obtain monitoring results of the flight equipment;

[0144] When the monitoring result of the aircraft device indicates that the current state of the aircraft device does not meet the vibration frequency extraction trigger condition, the real-time data collection operation for the current state of the aircraft device is stopped, and a corresponding collection flag is set for the currently collected real-time data of the sensor;

[0145] When it is monitored that the current state of the flight equipment meets the vibration frequency extraction trigger condition again, the above-mentioned sensor-based real-time data collection operation is re-executed according to the collection identifier to obtain the real-time data of the sensor, until the data length of the collected real-time data of the sensor is greater than or equal to the second preset data length, such as 3000 data.

[0146] In this optional embodiment, the second preset data length is greater than the aforementioned first preset data length.

[0147] It should be noted that even if real-time data acquisition is stopped, if there is still real-time data in the storage unit that meets the target real-time data requirements, the window will continue to slide to obtain real-time data to form the target real-time data and perform vibration frequency analysis. The vibration frequency analysis will be suspended only when the target real-time data can no longer be obtained. Furthermore, real-time data that does not meet the target real-time data acquisition requirements can be deleted and a corresponding acquisition flag set. Optionally, the acquisition flag can be any identifier that serves a distinguishing purpose, such as the acquisition time, code, △, etc.

[0148] It can be seen that this optional embodiment collects real-time data from the sensor and performs real-time vibration frequency analysis, while monitoring the flight status of the flight equipment to reduce the occurrence of dynamic mutations that may occur in the flight equipment and fail to meet the main frequency extraction requirements, so as to ensure that the real-time data used for real-time vibration frequency is collected when the flight equipment is in a hovering state, further improving the accuracy and reliability of real-time data collection, thereby further improving the accuracy and reliability of real-time vibration frequency analysis.

[0149] Example 2

[0150] See also Figure 2 , Figure 2 This is a flow chart of a method for determining vibration frequency in flight state disclosed in an embodiment of the present invention. Figure 2 The described method can be applied to any scenario where vibration frequency analysis of flight equipment is required, including but not limited to unmanned scenarios, smart city scenarios, border patrol scenarios, power inspection scenarios, forest fire prevention scenarios, logistics and transportation scenarios, agricultural irrigation scenarios, etc., and the corresponding flight equipment in the scenario is performing the corresponding flight mission. Figure 2 As shown, the method may include the following operations:

[0151] 201. Based on sensors provided on the flight equipment, perform data collection operations when the flight equipment is in a flight state to obtain current state data of the sensors.

[0152] In an embodiment of the present invention, the sensor corresponding to the flying device includes an accelerometer and / or a gyroscope.

[0153] 202. Determine, based on the current state data of the sensor, whether the current state of the flight device satisfies a predetermined vibration frequency extraction trigger condition.

[0154] 203. When it is determined that the vibration frequency extraction trigger condition is met, a real-time data collection operation is performed on the real-time status of the flight equipment based on the sensor to obtain real-time data of the sensor.

[0155] In the embodiment of the present invention, the first acquisition frequency corresponding to the current state data of the sensor is less than the second acquisition frequency corresponding to the real-time data of the sensor.

[0156] 204. Determine the real-time vibration frequency data of the flight equipment based on the real-time data of the sensor, wherein the real-time vibration frequency data of the flight equipment includes the real-time vibration frequency data of three target axes of the sensor, and the real-time vibration frequency data of each target axis includes a frequency distribution diagram of all target real-time data of the target axis.

[0157] 205. For any target real-time data of any target axis, filter the mean amplitude of all amplitudes corresponding to all frequencies of a first preset frequency length from the frequency distribution diagram of the target real-time data.

[0158] In an embodiment of the present invention, optionally, generally speaking, the first 5 Hz in the spectrum diagram belongs to the control signal frequency. Therefore, the first preset frequency length can be the length between 0 Hz and 5 Hz excluding 0 Hz, or it can be other frequency lengths, such as the length between 4 Hz and 10 Hz.

[0159] 206. Determine the amplitude multiple corresponding to the target axis based on the mean amplitude, and calculate the product between the amplitude multiple and the mean amplitude as the reference amplitude.

[0160] In an embodiment of the present invention, optionally, if the mean amplitude is greater than a preset mean amplitude, the amplitude multiplier is a first amplitude multiplier; if the mean amplitude is less than or equal to the preset mean amplitude, the amplitude multiplier is a second amplitude multiplier, wherein the first amplitude multiplier is less than the second amplitude multiplier. For example, if the preset mean amplitude is 0.3, if the mean amplitude is 0.25, the amplitude multiplier is 4; if the mean amplitude is 0.5, the amplitude multiplier is 3.

[0161] 207. According to the frequency distribution diagram of the target real-time data, all amplitudes of the frequency distribution diagram are compared with the reference amplitude to obtain an amplitude comparison result.

[0162] 208. When the amplitude comparison result is used to indicate that there is an amplitude greater than or equal to the reference amplitude in the frequency distribution diagram of the target real-time data, the amplitude with the largest value is selected from all amplitudes greater than or equal to the reference amplitude and is used as the maximum vibration main frequency of the target real-time data.

[0163] In an embodiment of the present invention, optionally, when the amplitude comparison result is used to indicate that there is no amplitude greater than or equal to the reference amplitude in the frequency distribution diagram of the target real-time data, the maximum vibration main frequency of the target real-time data collected this time by the axis is not extracted.

[0164] In the embodiment of the present invention, for other related descriptions of steps 201 to 204, please refer to the detailed description of steps 101 to 104 in the first embodiment, which will not be repeated in the embodiment of the present invention.

[0165] It can be seen that implementation Figure 2 The described method analyzes current state data collected by sensors on an aircraft in flight. When the analysis shows that a vibration frequency extraction trigger condition is met, the method collects real-time data from the aircraft and performs vibration frequency data analysis based on the real-time data. Specifically, by analyzing the state of the aircraft in a real flight environment during a non-full flight process and collecting and analyzing the real-time data in real time, the accuracy and reliability of vibration frequency data analysis are improved, which is conducive to improving the accuracy and reliability of determining the dominant vibration frequency. This method can reflect the dynamic changes of the aircraft in real flight and is suitable for real-time on-site use, facilitating more stable and precise control of the aircraft. Furthermore, after obtaining the corresponding real-time vibration frequency data for each data set collected by the sensor on any axis, i.e., a frequency distribution graph, a multiplier threshold analysis is performed on all amplitudes in the frequency distribution graph and the corresponding amplitude mean to determine whether any amplitude in the frequency distribution graph meets the amplitude requirements, thereby determining the maximum dominant vibration frequency. This reduces the occurrence of local maximum dominant vibration frequencies caused by simply taking the maximum value of all amplitudes, improves the accuracy of determining the maximum dominant vibration frequency, and further improves the accuracy and reliability of analyzing the maximum dominant vibration frequency of the aircraft.

[0166] In an optional embodiment, the method may further include the following steps:

[0167] For any target axis, performing a rounding operation on each maximum vibration main frequency of the target axis to obtain an integer vibration main frequency of each maximum vibration main frequency;

[0168] Performing a mode analysis operation on all integer vibration main frequencies corresponding to the target axis to obtain the main frequency mode analysis result;

[0169] According to the results of the main frequency mode analysis, the target maximum vibration main frequency of the target axis is determined.

[0170] In this optional embodiment, optionally, determining the target maximum vibration main frequency of the target shaft according to the main frequency mode analysis result includes:

[0171] When the dominant frequency mode analysis result is used to indicate an integer dominant vibration frequency that does not have a mode among all integer dominant vibration frequencies, determining the object at the median of all maximum dominant vibration frequencies or all integer dominant vibration frequencies as the target maximum dominant vibration frequency of the target axis;

[0172] When the main frequency mode analysis result is used to indicate that there is a mode integer main vibration frequency among all integer main vibration frequencies, determining the mode of all integer main vibration frequencies;

[0173] According to the majority situation, the target maximum vibration frequency of the target axis is determined.

[0174] In this optional embodiment, further optionally, determining the target maximum vibration frequency of the target axis according to the mode condition includes:

[0175] When the mode case is used for all integer vibration main frequencies and there is only one integer vibration main frequency of the mode, the mean vibration main frequency corresponding to all maximum vibration main frequencies is determined as the target maximum vibration main frequency of the target axis;

[0176] When the mode case is used for all integer vibration main frequencies and there are two modes of integer vibration main frequencies, for any integer vibration main frequency of the mode, the integer vibration main frequency is used as the starting point to obtain the number of main frequencies of all maximum vibration main frequencies that are within a second preset frequency length (e.g., 3 Hz) before and after.

[0177] Compare the number of main frequencies corresponding to the integer vibration main frequencies of each mode to obtain the main frequency comparison result;

[0178] According to the main frequency comparison result, the target maximum vibration main frequency of the target axis is determined.

[0179] In this optional embodiment, further optionally, determining the target maximum vibration main frequency of the target shaft according to the main frequency comparison result includes:

[0180] When the main frequency comparison result is used to represent the number of main frequencies corresponding to all the mode integer vibration main frequencies, and there is only one main frequency number with a maximum value, the main frequency average of the integer vibration main frequency corresponding to the maximum value and all the maximum vibration main frequencies within the second preset frequency length corresponding to the integer vibration main frequency is calculated as the target maximum vibration main frequency of the target axis;

[0181] When the main frequency comparison result is used to represent the number of main frequencies corresponding to the integer vibration main frequencies of all modes, and there are at least two main frequency numbers with equal maximum values, the main frequency average corresponding to all maximum vibration main frequencies belonging to the integer vibration main frequencies corresponding to the two equal maximum main frequency numbers is calculated as the target maximum vibration main frequency of the target axis.

[0182] In this optional embodiment, the rounding operation may optionally include one of a rounding-up operation, a rounding-down operation, a rounding-up operation, and a truncation-rounding operation.

[0183] In order to make relevant personnel in this field better understand this embodiment, an example is now given by rounding down operations such as floor: for any target axis of the sensor, after all the maximum vibration main frequencies of the target axis are rounded up, if the integer vibration main frequencies obtained are 5hz, 6hz, 9hz, 11hz, and 14hz, there is no mode and all the maximum vibration main frequencies are 5.2hz, 6.0hz, 9.5hz, 11.2hz, and 14.0hz, then the median 9.5hz is taken as the maximum vibration main frequency of the target axis; if the integer vibration main frequencies obtained are 5hz, 6hz, 9, 9hz, and 11hz, there is a mode of 9hz and all the maximum vibration main frequencies are The frequencies are 5.2 Hz, 6.0 Hz, 9.5 Hz, 9.8 Hz and 11.3 Hz, then the average of 8 Hz of 5 Hz, 6 Hz, 9 Hz, 9 Hz and 11 Hz can be taken, or the average of 8.36 Hz of 5.2 Hz, 6.0 Hz, 9.5 Hz, 9.8 Hz and 11.3 Hz can be taken, or the average of 8.36 Hz and 8 Hz can be taken as the target maximum vibration frequency of the target axis; if the integer vibration frequencies are 5 Hz, 5 Hz, 9 Hz, 9 Hz and 11 Hz, then there are two modes 5 Hz and 9 Hz and all the maximum vibration frequencies are 5.2 Hz, 5.8 Hz, 9.5 Hz, 9.8 Hz and 11.3 hz, at this time the maximum vibration frequencies within ±3hz of 5hz are 5.2hz and 5.8hz, and the maximum vibration frequencies within ±3hz of 9hz are 9.5hz, 9.8hz, and 11.3hz, then the average of 9.5hz, 9.8hz, 11.3hz, and 9hz can be 9.9hz, or the average of 9.5hz, 9.8hz, and 11.3hz can be 10.2hz, or the average of 9.9hz and 10.2hz can be 10.05hz, which is the target maximum vibration frequency of the target axis; if the integer vibration frequencies obtained are 5hz, 5hz, 9hz, 9hz, and 11hz, there are two modes 5hz and 9hz, and the The maximum vibration main frequencies are 5.2 Hz, 5.8 Hz, 9.5 Hz, 9.8 Hz, and 16.3 Hz. At this time, the maximum vibration main frequencies contained within ±3 Hz of 5 Hz are 5.2 Hz and 5.8 Hz, and the maximum vibration main frequencies contained within ±3 Hz of 9 Hz are 9.5 Hz and 9.8 Hz. The average of 5.2 Hz, 5.8 Hz, 9.5 Hz, and 9.8 Hz, 7.575 Hz, or the average of 5.2 Hz, 5.8 Hz, 9.5 Hz, 9.8 Hz, 5 Hz, and 9 Hz, 7.383 Hz, or the average of 7.575 Hz and 7.383 Hz, 7.479 Hz, can be taken as the target maximum vibration main frequency of the target axis. It should be noted that the analysis process of three modes, four modes, and other numbers of modes can be referred to the analysis process of the above two modes, which will not be repeated here.

[0184] In this optional embodiment, taking a gyroscope as an example, Figure 3-5 As shown, Figure 3 is a schematic diagram of a frequency distribution diagram of the x-axis of a gyroscope disclosed in an embodiment of the present invention, Figure 4 is a schematic diagram of a frequency distribution diagram of the y-axis of a gyroscope disclosed in an embodiment of the present invention, Figure 5 Schematic diagram of the frequency distribution diagram of the z-axis of a gyroscope disclosed in an embodiment of the present invention. Figure 3-5 As shown, the horizontal axis represents frequency, the vertical axis represents amplitude, and 3111 data points are collected on the x-axis, y-axis, and z-axis, totaling 14 sets of data, and the corresponding maximum vibration frequency is determined for all 14 sets of data, as shown in the figure. Figure 3-5 As shown. Figure 3-5 As shown in the figure, the maximum vibration frequencies of the x-axis, y-axis, and z-axis analyzed by the mode composite method are 22.4051 Hz, 22.3772 Hz, and 22.3772 Hz, respectively.

[0185] It can be seen that this optional embodiment performs a mode composite method analysis on all the maximum vibration main frequencies obtained for each axis of the sensor. It is particularly suitable for scenarios where the accuracy of the maximum vibration main frequency may be reduced due to the mixing of interference data caused by the operator's operating habits, wind resistance, etc. in offline analysis of the results of multiple actual flight data. It further improves the analysis accuracy and reliability of the maximum vibration main frequency of each axis, thereby further improving the accuracy and reliability of obtaining the maximum vibration main frequency of the flight equipment.

[0186] In an optional embodiment, after selecting the maximum amplitude from all amplitudes greater than or equal to the reference amplitude and using it as the maximum vibration frequency of the target real-time data, the method may further include the following steps:

[0187] Taking the peak position of the maximum vibration main frequency as the reference position, determining a number of target frequencies adjacent to the peak position of the maximum vibration main frequency;

[0188] Obtain the amplitude of the maximum vibration main frequency and the amplitude of each target frequency;

[0189] Determining a position correction factor of the maximum vibration main frequency based on the amplitude of the maximum vibration main frequency and the amplitude of each target frequency;

[0190] Based on the position correction factor, the peak position of the maximum vibration main frequency is corrected to obtain a corrected target peak position;

[0191] Based on the target peak position, a correction operation is performed on the maximum vibration main frequency to obtain a corrected maximum vibration main frequency.

[0192] In this optional embodiment, optionally, determining a position correction factor of the maximum vibration main frequency according to the amplitude of the maximum vibration main frequency and the amplitude of each target frequency includes:

[0193] Based on the peak position of the maximum vibration main frequency, all target frequencies are divided into a first frequency position group and a second frequency position group, and all target frequencies in the first frequency position group and the second frequency position group are located on both sides of the peak position of the maximum vibration main frequency respectively;

[0194] Determining a first amplitude ratio based on the amplitude of the maximum vibration main frequency and the amplitudes of all target frequencies of the first frequency point position group, and determining a first position correction factor based on the first amplitude ratio;

[0195] Determining a second amplitude ratio based on the amplitude of the maximum vibration main frequency and the amplitudes of all target frequencies of the second frequency point position group, and determining a second position correction factor based on the second amplitude ratio;

[0196] A position correction factor of the maximum vibration main frequency is determined according to the first position correction factor and the second position correction factor.

[0197] In this optional embodiment, the target frequencies adjacent to the peak position of the maximum vibration frequency can be understood as multiple adjacent target frequencies on the left and right sides of the peak position. For example, if there are multiple vibration frequencies f1-f8, where the maximum vibration frequency is located at f5, then the multiple adjacent target frequencies on the left and right sides can be f4 and f6, in which case the first frequency point position group is f4 and the second frequency point position group is f6. Alternatively, they can be f3, f4, f6, and f7, in which case the first frequency point position group is f3 and 4, and the second frequency point position group is f6 and f7.

[0198] In this optional embodiment, optionally, the position of the maximum vibration main frequency is f5, the first frequency point position group is f4, and the second frequency point position group is f6, and the following calculation formulas are used to illustrate the first position correction factor, the second position correction factor and the position correction factor of the maximum vibration main frequency.

[0199]

[0200] k c =k p +ld;

[0201] f=k c *Δf;

[0202] Where a p is the first amplitude ratio; a m is the second amplitude ratio; d p is the first position correction factor; d mis the second position correction factor; R k-1 and I k-1 are the real and imaginary parts of the f4 amplitude respectively; R k and I k are the real and imaginary parts of the f5 amplitude respectively; R k+1 and I k+1 are the real and imaginary parts of the amplitude of f6 respectively; d is the position correction factor of f5; k p is the peak position of f5; k c is the target peak position of f5; △f is the maximum vibration frequency; f is the maximum vibration frequency after correction; g here is d p or d m ; m, a, b, c, e, j, l are all constant coefficients, such as 1 / 4, 3, 6, 1, 2.

[0203] like Figure 3-5 As shown in the figure, the maximum vibration frequencies of the x-axis, y-axis, and z-axis analyzed by the interpolation estimation method and then the mode composite method are 22.8022 Hz, 22.8037 Hz, and 22.8022 Hz respectively.

[0204] It can be seen that this optional embodiment interpolates and estimates the amplitude of the maximum vibration main frequency analyzed above and the amplitude of the frequency points adjacent to the peak position of the maximum vibration main frequency to determine the position correction factor corresponding to the maximum vibration main frequency, and then corrects the maximum vibration main frequency in combination with the peak position of the maximum vibration main frequency to obtain the corrected maximum vibration main frequency, so as to reduce the occurrence of errors in the output maximum vibration main frequency (such as an error of 0.2 Hz) caused by the true maximum vibration main frequency appearing between the small grids on the frequency distribution diagram on the frequency distribution diagram, further improve the analysis accuracy and reliability of the maximum vibration main frequency, so as to more realistically reflect the dynamic changes of the flight equipment in actual flight and be suitable for real-time use on site.

[0205] In another optional embodiment, the method may further include the following steps:

[0206] For any target axis, obtain the number of main frequencies of all maximum vibration main frequencies of the target axis, and calculate the ratio between the number of main frequencies corresponding to the target axis and the number of all target real-time data corresponding to the target axis;

[0207] Determine whether the ratio corresponding to the target axis is greater than or equal to a preset ratio threshold, such as 80%. When it is determined that the ratio is greater than or equal to the preset ratio threshold, perform the above-mentioned rounding operation on each maximum vibration main frequency of the target axis for any target axis to obtain the integer vibration main frequency of each maximum vibration main frequency.

[0208] In this optional embodiment, optionally, when it is determined that the ratio is less than a preset ratio threshold, the maximum vibration main frequency output is not performed, that is, the analysis operation of the maximum vibration main frequency of the target axis is terminated.

[0209] It can be seen that this optional embodiment analyzes the maximum vibration main frequency of each axis of the sensor by using the group number determination method. If it is analyzed that the number of groups that can obtain the maximum vibration main frequency of the axis is relatively large compared with the total number of groups performing the maximum vibration main frequency vibration analysis, the reliability analysis of the maximum vibration main frequency of the axis is performed by the majority composite method. This is particularly suitable for situations where an invalid maximum vibration main frequency is obtained based on real-time data collected when the flight equipment may be in an unstable state. It increases the possibility that the maximum vibration main frequency obtained for each axis is a valid maximum vibration main frequency, and further improves the accuracy and reliability of obtaining the maximum vibration main frequency of the flight equipment.

[0210] In another optional embodiment, the method may further include the following steps:

[0211] Perform pairwise subtraction on the target maximum vibration main frequencies of all target axes to obtain all main frequency differences;

[0212] Comparing each main frequency difference with the preset main frequency to obtain a comparison result of each main frequency difference;

[0213] According to the comparison result of all the main frequency differences, it is determined whether the number of main frequency differences whose values ​​are less than or equal to a preset main frequency (such as 3 Hz) among all the main frequency differences is greater than or equal to a preset number, such as 5;

[0214] When it is determined that the value is greater than or equal to the preset number, the target maximum vibration frequency of the flight equipment is output.

[0215] In this optional embodiment, optionally, when it is determined that the number is less than a preset number, it is determined that the flight equipment cannot obtain an effective maximum vibration main frequency, and step 201 is re-executed.

[0216] In this optional embodiment, optionally, the target maximum vibration frequency of the flight equipment can be understood as the target maximum vibration frequency of each target axis of the sensor, or as the average of the target maximum vibration frequencies of each target axis of the sensor, or as the target maximum vibration frequency of all target axes whose frequency difference is less than or equal to the preset frequency, or as the average of the target maximum vibration frequencies of all target axes.

[0217] In this optional embodiment, optionally, the preset number is determined by the number of all target axes of the sensor. For example, if the number of all target axes is 3, the preset number may be 3. If the number of all target axes is 6, the preset number may be 5 or 6.

[0218] It can be seen that this optional embodiment uses the multi-axis data difference analysis method to re-analyze the reliability of the maximum vibration main frequency with higher reliability obtained by each axis of the sensor, and only when it is determined that the difference between the effective maximum vibration main frequencies between the axes is relatively small, it is determined that the flight equipment has obtained an effective maximum vibration main frequency, which further improves the accuracy and reliability of obtaining the effective maximum vibration main frequency of the flight equipment, more realistically reflects the dynamic changes of the flight equipment in actual flight, and is suitable for real-time use on site.

[0219] In yet another optional embodiment, after obtaining the target maximum vibration frequency of the flight equipment, the method may further include the following steps:

[0220] For any target axis, a filtering operation is performed on the target maximum vibration main frequency of the target axis based on a preset notch filter to obtain a filtered target maximum vibration main frequency;

[0221] The target maximum vibration frequency of each target axis after filtering is determined as the target maximum vibration frequency of the flight equipment.

[0222] In this optional embodiment, optionally, the calculation formula corresponding to the preset notch filter is as follows:

[0223]

[0224] Where G(s) represents the target maximum vibration frequency of each target axis after filtering; s is the s domain; d is the notch depth corresponding to each target axis, and the value range of d is [-d1, d1], where d1 is a constant coefficient, such as h represents the damping ratio; w0 represents the target maximum vibration frequency of each target axis; w c represents half bandwidth, and w c The value range of is [-w1,w1], where w1 is a constant coefficient, such as 2.

[0225] In this optional embodiment, optionally, Figure 6 This is a filtering effect diagram of the maximum vibration main frequency disclosed in an embodiment of the present invention, such as Figure 6 As shown in the figure, the horizontal axis is frequency and the vertical axis is amplitude. The blue color represents the frequency distribution diagram before filtering and the orange color represents the frequency distribution diagram after filtering. As can be seen from the figure, the noise of the maximum vibration frequency and amplitude is significantly reduced after filtering. Figure 3-5 As shown, the final maximum vibration frequencies of the x-axis, y-axis, and z-axis are 22.365 Hz, 22.365 Hz, and 22.365 Hz, respectively.

[0226] It can be seen that this optional embodiment performs notch filtering on the effective maximum vibration main frequency of the flight equipment obtained above, thereby filtering out the noise of the effective maximum vibration main frequency caused by the vibration of the flight equipment, thereby further improving the quality of the effective maximum vibration main frequency of the flight equipment, thereby facilitating improving the control stability of the flight equipment, and being suitable for flight equipment of various configurations and different load conditions.

[0227] Example 3

[0228] See also Figure 7 , Figure 7 This is a structural diagram of a vibration frequency determination device for flight status disclosed in an embodiment of the present invention. The device can be applied to any scenario where vibration frequency analysis of flight equipment is required, including but not limited to unmanned scenarios, smart city scenarios, border patrol scenarios, power inspection scenarios, forest fire prevention scenarios, logistics and transportation scenarios, agricultural irrigation scenarios, etc. And in the scenario, there is a corresponding flight equipment performing a corresponding flight mission. Figure 7 As shown, the device includes:

[0229] The acquisition module 301 is used to perform data acquisition operations on the aircraft when the aircraft is in flight based on sensors provided on the aircraft, and obtain current status data of the sensors.

[0230] The judgment module 302 is used to judge whether the current state of the aircraft meets the predetermined vibration frequency extraction trigger condition based on the current state data of the sensor.

[0231] The acquisition module 301 is further configured to, when it is determined that the vibration frequency extraction trigger condition is met, perform a real-time data acquisition operation on the real-time status of the flight equipment based on the sensor to obtain real-time data from the sensor.

[0232] The determination module 303 is used to determine the real-time vibration frequency data of the flight equipment according to the real-time data of the sensor.

[0233] It can be seen that implementation Figure 3 The described device analyzes the current status data collected by sensors on a flight device in flight, and when the analysis shows that the vibration frequency extraction trigger conditions are met, collects real-time data of the flight device, and performs vibration frequency data analysis based on the real-time collected data. That is, by analyzing the status of the flight device in a non-full-flight process in a real flight environment and collecting and analyzing the real-time data in real time, the accuracy and reliability of the vibration frequency data analysis are improved, which is conducive to improving the accuracy and reliability of determining the main vibration frequency, thereby being able to reflect the dynamic changes of the flight device in real flight and being suitable for real-time use on site, which is conducive to more stable and precise control of the flight device.

[0234] In the embodiment of the present invention, the sensor corresponding to the aircraft device optionally includes an accelerometer and / or a gyroscope. The specific manner in which the determination module 302 determines whether the current state of the aircraft device satisfies a predetermined vibration frequency extraction trigger condition based on the current state data of the sensor includes:

[0235] When the current state data of the sensor includes multiple speeds collected by the accelerometer within a preset time period, determining whether the number of speeds less than or equal to the preset speed among all the speeds corresponding to the accelerometer is greater than or equal to the preset number of speeds; if the result of the determination is yes, determining that the current state of the flight device meets the predetermined vibration frequency extraction trigger condition;

[0236] When the current state data of the sensor includes multiple first angles and multiple second angles continuously collected by the gyroscope within a preset time period, it is determined whether the angle difference between any two adjacent first angles among all the first angles corresponding to the gyroscope is less than or equal to the first preset angle, and whether the angle difference between the first collected second angle and the last collected second angle among all the second angles is less than or equal to the second preset angle. When the judgment result is yes, it is determined that the current state of the flight device meets the predetermined vibration frequency extraction trigger condition, wherein the first preset angle is less than the second preset angle, the types of all the first angles include the pitch angle type and / or the roll angle type, and the types of all the second angles include the yaw angle type.

[0237] It can be seen that the embodiments of the present invention can also provide multiple ways to determine whether the aircraft device is in a hovering state by analyzing the multi-axis speed continuously collected by the accelerometer over a period of time and / or the roll angle and / or pitch angle, yaw angle collected by the gyroscope within a corresponding period of time, thereby improving the efficiency and accuracy of determining whether the aircraft device is in a hovering state, thereby facilitating improving the efficiency and accuracy of determining whether the current state of the aircraft device meets the vibration frequency extraction trigger condition.

[0238] In the embodiment of the present invention, optionally, the first acquisition frequency corresponding to the current state data of the sensor is lower than the second acquisition frequency corresponding to the real-time data of the sensor. The specific manner in which the determination module 303 determines the real-time vibration frequency data of the flight equipment based on the real-time data of the sensor includes:

[0239] Sequentially acquire multiple target real-time data from the real-time data of the sensor, wherein the data length of each target real-time data is a first preset data length (e.g., 512). Except for the target real-time data acquired for the first time, each remaining target real-time data is determined by performing a sliding window based on the previous target real-time data of the target real-time data with a preset data step size, wherein each target real-time data of the sensor includes real-time data of three target axes of the sensor;

[0240] For any target real-time data of any target axis, determining the real-time vibration frequency data of the target real-time data according to the target real-time data, the second acquisition frequency and the first preset data length;

[0241] The real-time vibration frequency data of the flight equipment includes the real-time vibration frequency data of all target real-time data of the three target axes of the sensor.

[0242] It can be seen that the embodiment of the present invention can also analyze the vibration frequency while collecting real-time data, without having to wait until all data are collected before performing vibration frequency analysis, thereby reducing the amount of single data analysis, improving the analysis efficiency of the vibration frequency while ensuring the accuracy of the vibration frequency analysis, and reducing CPU consumption and improving the operating efficiency of the CPU.

[0243] In the embodiment of the present invention, further optionally, the specific manner in which the determination module 303 determines the real-time vibration frequency data of the target real-time data according to the target real-time data, the second acquisition frequency, and the first preset data length includes:

[0244] Performing a fast Fourier transform operation on the target real-time data and the second acquisition frequency to obtain a plurality of first amplitudes corresponding to the target real-time data;

[0245] For any first amplitude, obtaining the absolute value of the first amplitude, and performing a halving operation on the absolute value to obtain a second amplitude of the first amplitude;

[0246] Selecting a portion of the second amplitudes corresponding to the continuously collected target real-time data from all the second amplitudes as a plurality of third amplitudes;

[0247] determining a corrected amplitude of the corrected target real-time data based on all third amplitudes and the first preset data length;

[0248] Determining frequency distribution data of the target real-time data according to the second acquisition frequency and the first preset data length;

[0249] A frequency distribution diagram of the target real-time data is generated according to the frequency distribution data of the target real-time data and the corrected amplitude of the target real-time data as the real-time vibration frequency data of the target real-time data.

[0250] It can be seen that the embodiment of the present invention can also perform Fourier transform analysis on the partial data and corresponding acquisition frequency collected each time by each axis of each sensor, and jointly determine the amplitude and frequency distribution data of the partial data in combination with the corresponding data length, so as to determine the corresponding real-time vibration frequency data, thereby improving the analysis accuracy and reliability of the real-time vibration frequency data corresponding to the data collected each time by each axis, which is conducive to further improving the accuracy and reliability of obtaining the maximum vibration main frequency of the flight equipment.

[0251] In an optional embodiment, the real-time vibration frequency data of the flying device includes real-time vibration frequency data of three target axes of the sensor, and the real-time vibration frequency data of each target axis includes a frequency distribution diagram of all target real-time data of the target axis. Figure 8 FIG. 1 is a schematic diagram of another vibration frequency determination device for flight state disclosed in an embodiment of the present invention. Figure 8 As shown, the device may also include:

[0252] A screening module 304 is configured to screen, for any target real-time data of any target axis, the mean amplitude of all amplitudes corresponding to all frequencies of a first preset frequency length from a frequency distribution diagram of the target real-time data;

[0253] The determination module 303 is further configured to determine the amplitude multiple corresponding to the target axis according to the mean amplitude;

[0254] A calculation module 305 is used to calculate the product between the amplitude multiple and the mean amplitude as a reference amplitude;

[0255] A comparison module 306 is configured to compare all amplitudes of the frequency distribution graph of the target real-time data with a reference amplitude based on the frequency distribution graph of the target real-time data to obtain an amplitude comparison result;

[0256] The screening module 304 is also used to screen the amplitude with the largest value from all amplitudes greater than or equal to the reference amplitude when the amplitude comparison result is used to indicate that there is an amplitude greater than or equal to the reference amplitude in the frequency distribution diagram of the target real-time data, as the maximum vibration main frequency of the target real-time data.

[0257] It can be seen that implementation Figure 8The described device obtains the corresponding real-time vibration frequency data, i.e., the frequency distribution diagram, for each data group collected by any axis of the sensor. Then, all amplitudes of the frequency distribution diagram and the corresponding amplitude mean are subjected to a multiple threshold analysis to determine whether there is an amplitude in the frequency distribution diagram that meets the amplitude requirements, thereby determining the maximum vibration main frequency. This reduces the occurrence of local maximum vibration main frequency caused by only taking the maximum value of all amplitudes, improves the accuracy of determining the maximum vibration main frequency, and is conducive to further improving the analysis accuracy and reliability of the maximum vibration main frequency of flight equipment.

[0258] In another optional embodiment, Figure 8 As shown, the determination module 303 is further configured to, after the screening module 304 selects the maximum amplitude from all amplitudes greater than or equal to the reference amplitude, as the maximum vibration frequency of the target real-time data, and then, using the peak position of the maximum vibration frequency as the reference position, determine a plurality of target frequencies adjacent to the peak position of the maximum vibration frequency;

[0259] The determination module 303 is further configured to obtain the amplitude of the maximum vibration main frequency and the amplitude of each target frequency;

[0260] The determination module 303 is further configured to determine a position correction factor of the maximum vibration main frequency based on the amplitude of the maximum vibration main frequency and the amplitude of each target frequency;

[0261] like Figure 8 As shown, the device may also include:

[0262] A correction module 307 is configured to correct the peak position of the maximum vibration main frequency based on the position correction factor to obtain a corrected target peak position;

[0263] The correction module 307 is further configured to perform a correction operation on the maximum vibration main frequency based on the target peak position to obtain a corrected maximum vibration main frequency;

[0264] The specific manner in which the determination module 303 determines the position correction factor of the maximum vibration main frequency according to the amplitude of the maximum vibration main frequency and the amplitude of each target frequency includes:

[0265] Based on the peak position of the maximum vibration main frequency, all target frequencies are divided into a first frequency position group and a second frequency position group, and all target frequencies in the first frequency position group and the second frequency position group are located on both sides of the peak position of the maximum vibration main frequency respectively;

[0266] Determining a first amplitude ratio based on the amplitude of the maximum vibration main frequency and the amplitudes of all target frequencies of the first frequency point position group, and determining a first position correction factor based on the first amplitude ratio;

[0267] Determining a second amplitude ratio based on the amplitude of the maximum vibration main frequency and the amplitudes of all target frequencies of the second frequency point position group, and determining a second position correction factor based on the second amplitude ratio;

[0268] A position correction factor of the maximum vibration main frequency is determined according to the first position correction factor and the second position correction factor.

[0269] It can be seen that implementation Figure 8 The described device can also determine the position correction factor corresponding to the maximum vibration main frequency by interpolating and estimating the amplitude of the maximum vibration main frequency analyzed above and the amplitude of the frequency points adjacent to the peak position of the maximum vibration main frequency, and then correct the maximum vibration main frequency in combination with the peak position of the maximum vibration main frequency to obtain the corrected maximum vibration main frequency, so as to reduce the occurrence of errors in the output maximum vibration main frequency (such as an error of 0.2 Hz) caused by the fact that the true maximum vibration main frequency appears between the small grids of the frequency distribution diagram on the frequency distribution diagram, further improve the analysis accuracy and reliability of the maximum vibration main frequency, so as to more realistically reflect the dynamic changes of the flight equipment in actual flight and be suitable for real-time use on site.

[0270] In another optional embodiment, Figure 8 As shown, the device may also include:

[0271] A rounding module 308 is configured to perform a rounding operation on each maximum vibration frequency of any target axis to obtain an integer vibration frequency of each maximum vibration frequency;

[0272] An analysis module 309 is configured to perform a mode analysis on all integer vibration main frequencies corresponding to the target axis to obtain a main frequency mode analysis result;

[0273] The determination module 303 is further configured to determine a target maximum vibration frequency of the target shaft based on the main frequency mode analysis result;

[0274] The specific method of determining the target maximum vibration frequency of the target shaft by the determination module 303 according to the main frequency mode analysis result includes:

[0275] When the dominant frequency mode analysis result is used to indicate an integer dominant vibration frequency that does not have a mode among all integer dominant vibration frequencies, determining the object at the median of all maximum dominant vibration frequencies or all integer dominant vibration frequencies as the target maximum dominant vibration frequency of the target axis;

[0276] When the main frequency mode analysis result is used to indicate that there is a mode integer main vibration frequency among all integer main vibration frequencies, determining the mode of all integer main vibration frequencies;

[0277] According to the majority situation, the target maximum vibration frequency of the target axis is determined.

[0278] The specific method of determining the target maximum vibration frequency of the target axis by the determination module 303 according to the mode condition includes:

[0279] When the mode case is used for all integer vibration main frequencies and there is only one integer vibration main frequency of the mode, the mean vibration main frequency corresponding to all maximum vibration main frequencies is determined as the target maximum vibration main frequency of the target axis;

[0280] When the mode case is used for all integer vibration main frequencies and there are two modes of integer vibration main frequencies, for any integer vibration main frequency of the mode, the integer vibration main frequency is used as the starting point to obtain the number of main frequencies of all maximum vibration main frequencies that are within a second preset frequency length (e.g., 3 Hz) before and after.

[0281] Compare the number of main frequencies corresponding to the integer vibration main frequencies of each mode to obtain the main frequency comparison result;

[0282] According to the main frequency comparison result, the target maximum vibration main frequency of the target axis is determined.

[0283] The specific method of determining the target maximum vibration main frequency of the target shaft by the determination module 303 according to the main frequency comparison result includes:

[0284] When the main frequency comparison result is used to represent the number of main frequencies corresponding to all the mode integer vibration main frequencies, and there is only one main frequency number with a maximum value, the main frequency average of the integer vibration main frequency corresponding to the maximum value and all the maximum vibration main frequencies within the second preset frequency length corresponding to the integer vibration main frequency is calculated as the target maximum vibration main frequency of the target axis;

[0285] When the main frequency comparison result is used to represent the number of main frequencies corresponding to the integer vibration main frequencies of all modes, and there are at least two main frequency numbers with equal maximum values, the main frequency average corresponding to all maximum vibration main frequencies belonging to the integer vibration main frequencies corresponding to the two equal maximum main frequency numbers is calculated as the target maximum vibration main frequency of the target axis.

[0286] It can be seen that implementation Figure 8 The described device can also perform a mode composite method analysis on all the maximum vibration main frequencies obtained by each axis of the sensor. This is particularly suitable for scenarios where offline analysis of the results of multiple actual flight data may be performed, where the accuracy of the maximum vibration main frequency may be reduced due to interference data caused by the operator's operating habits, wind resistance, etc. This further improves the analysis accuracy and reliability of the maximum vibration main frequency of each axis, thereby further improving the accuracy and reliability of obtaining the maximum vibration main frequency of the flight equipment.

[0287] In another optional embodiment, Figure 8 As shown, the device may also include:

[0288] An acquisition module 310 is configured to acquire, for any target axis, the number of main frequencies of all maximum vibration main frequencies of the target axis;

[0289] The calculation module 305 is further configured to calculate the ratio between the number of main frequencies corresponding to the target axis and the number of all target real-time data corresponding to the target axis;

[0290] The judgment module 302 is also used to judge whether the ratio corresponding to the target axis is greater than or equal to a preset ratio threshold. When it is judged that the ratio is greater than or equal to the preset ratio threshold, the rounding module 308 is triggered to perform the above-mentioned rounding operation for each maximum vibration main frequency of any target axis to obtain the integer vibration main frequency of each maximum vibration main frequency.

[0291] It can be seen that implementation Figure 8 The described device can also analyze the maximum vibration main frequency of each axis of the sensor through the group number determination method. If it is analyzed that the number of groups that can obtain the maximum vibration main frequency of the axis is relatively large compared with the total number of groups for the maximum vibration main frequency vibration analysis, the reliability analysis of the maximum vibration main frequency of the axis will be performed through the mode composite method. It is particularly suitable for situations where an invalid maximum vibration main frequency is obtained based on real-time data collected when the flight equipment may be in an unstable state. It increases the possibility that the maximum vibration main frequency obtained by each axis is a valid maximum vibration main frequency, and further improves the accuracy and reliability of obtaining the maximum vibration main frequency of the flight equipment.

[0292] In another optional embodiment, Figure 8 As shown, the calculation module 305 is further used to perform pairwise subtraction of the target maximum vibration main frequencies of all target axes to obtain all main frequency differences;

[0293] The comparison module 306 is further configured to compare each main frequency difference with a preset main frequency to obtain a comparison result of each main frequency difference;

[0294] The judgment module 302 is further configured to judge, based on the comparison result of all the main frequency differences, whether the number of main frequency differences less than or equal to a preset main frequency (e.g., 3 Hz) among all the main frequency differences is greater than or equal to a preset number, e.g., 5;

[0295] The determination module 303 is further configured to output a target maximum vibration main frequency of the flight equipment when it is determined that the target maximum vibration main frequency is greater than or equal to a preset number.

[0296] It can be seen that implementation Figure 8The described device can also perform a difference analysis method on multi-axis data to re-analyze the reliability of the maximum vibration main frequency with higher reliability obtained by each axis of the sensor, and only when it is determined that the difference between the effective maximum vibration main frequencies between the axes is relatively small, it is determined that the flight equipment has obtained an effective maximum vibration main frequency, which further improves the accuracy and reliability of obtaining the effective maximum vibration main frequency of the flight equipment, more realistically reflects the dynamic changes of the flight equipment in actual flight, and is suitable for real-time use on site.

[0297] In another optional embodiment, Figure 8 As shown, the device may also include:

[0298] The monitoring module 311 is used to monitor the current status of the aircraft and obtain monitoring results of the aircraft during the process of performing real-time data collection operations on the real-time status of the aircraft;

[0299] The acquisition module 301 is further configured to stop real-time data acquisition for the current state of the aircraft when the monitoring result of the aircraft indicates that the current state of the aircraft does not meet the vibration frequency extraction trigger condition;

[0300] A setting module 312 is used to set a corresponding collection identifier for the real-time data currently collected by the sensor;

[0301] The acquisition module 301 is further configured to, when it is detected that the current state of the aircraft device again satisfies the vibration frequency extraction trigger condition, re-execute the above-mentioned sensor-based real-time data acquisition operation on the real-time state of the aircraft device to obtain the real-time data of the sensor, according to the acquisition identifier, until the data length of the collected real-time sensor data is greater than or equal to the second preset data length.

[0302] In this optional embodiment, the second preset data length is greater than the aforementioned first preset data length.

[0303] It can be seen that implementation Figure 8 The described device can also collect real-time data from sensors to perform real-time vibration frequency analysis, while monitoring the flight status of the flight equipment to reduce the occurrence of dynamic mutations that may occur in the flight equipment and fail to meet the main frequency extraction requirements, thereby ensuring that the real-time data used for real-time vibration frequency analysis is collected when the flight equipment is in a hovering state, further improving the accuracy and reliability of real-time data collection, and thus further improving the accuracy and reliability of real-time vibration frequency analysis.

[0304] Example 4

[0305] See also Figure 9 , Figure 9This is a structural diagram of a flight device disclosed in an embodiment of the present invention. The flight device can be applied to any scenario where vibration frequency analysis of the flight device is required, wherein the scenario includes but is not limited to unmanned scenarios, smart city scenarios, border patrol scenarios, power inspection scenarios, forest fire prevention scenarios, logistics and transportation scenarios, agricultural irrigation scenarios, etc. And in the scenario, there is a corresponding flight device that is performing a corresponding flight mission. Figure 9 As shown, the flying device may include:

[0306] A memory 401 storing executable program code;

[0307] a processor 402 coupled to the memory 401;

[0308] Furthermore, it may also include an input interface 403 and an output interface 404 coupled to the processor 402;

[0309] The processor 402 calls the executable program code stored in the memory 401 to execute part or all of the steps in the vibration frequency determination method applied to the flight state disclosed in the first or second embodiment of the present invention.

[0310] Example 5

[0311] An embodiment of the present invention discloses a computer storage medium storing computer instructions. When the computer instructions are called, they are used to execute some or all of the steps in the vibration frequency determination method applied to the flight state disclosed in the first or second embodiment of the present invention.

[0312] The device embodiments described above are merely illustrative, wherein the modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, i.e., they may be located in one place or distributed across multiple network modules. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Those skilled in the art can understand and implement the present invention without inventive effort.

[0313] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus the necessary general hardware platform, or of course, by means of hardware. Based on this understanding, the above technical solution, in essence, or the portion that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, including a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0314] Finally, it should be noted that the vibration frequency determination method, device and flight equipment applied to the flight state disclosed in the embodiments of the present invention are only preferred embodiments of the present invention, which are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for determining vibration frequency in flight, characterized in that: The method comprises: Based on sensors provided on the aircraft, performing data collection operations when the aircraft is in a flight state to obtain current state data of the sensors; determining, based on the current state data of the sensor, whether the current state of the flight device satisfies a predetermined vibration frequency extraction trigger condition; When it is determined that the vibration frequency extraction trigger condition is met, performing a real-time data acquisition operation on the real-time status of the flight equipment based on the sensor to obtain real-time data from the sensor; The real-time vibration frequency data of the flying device is determined according to the real-time data of the sensor.

2. The method for determining vibration frequency in flight according to claim 1, wherein: The first acquisition frequency corresponding to the current state data of the sensor is less than the second acquisition frequency corresponding to the real-time data of the sensor; Wherein, determining the real-time vibration frequency data of the flight equipment according to the real-time data of the sensor includes: Sequentially acquiring a plurality of target real-time data from the real-time data of the sensor, wherein the data length of each target real-time data is a first preset data length, and except for the target real-time data acquired for the first time, each of the remaining target real-time data is determined by performing a sliding window determination based on the previous target real-time data with a preset data step length; each target real-time data of the sensor includes real-time data of three target axes of the sensor; For any target real-time data of any target axis, determining the real-time vibration frequency data of the target real-time data according to the target real-time data, the second acquisition frequency and the first preset data length; The real-time vibration frequency data of the flying equipment includes real-time vibration frequency data of all the target real-time data of the three target axes of the sensor.

3. The method for determining vibration frequency in flight according to claim 2, wherein: The step of determining the real-time vibration frequency data of the target real-time data according to the target real-time data, the second acquisition frequency, and the first preset data length includes: Performing a fast Fourier transform operation on the target real-time data and the second acquisition frequency to obtain a plurality of first amplitudes corresponding to the target real-time data; For any of the first amplitudes, obtaining an absolute value of the first amplitude, and performing a halving operation on the absolute value to obtain a second amplitude of the first amplitude; filtering, from all the second amplitudes, a plurality of second amplitudes corresponding to the target real-time data collected continuously as a plurality of third amplitudes; Determining a corrected amplitude of the corrected target real-time data based on all the third amplitudes and the first preset data length; determining frequency distribution data of the target real-time data according to the second acquisition frequency and the first preset data length; A frequency distribution diagram of the target real-time data is generated according to the frequency distribution data of the target real-time data and the corrected amplitude of the target real-time data as the real-time vibration frequency data of the target real-time data.

4. The method for determining vibration frequency in flight according to any one of claims 1 to 3, wherein: The real-time vibration frequency data of the flight equipment includes the real-time vibration frequency data of the three target axes of the sensor, and the real-time vibration frequency data of each target axis includes a frequency distribution diagram of all target real-time data of the target axis; The method further comprises: For any of the target real-time data of any of the target axes, screening the mean amplitude of all amplitudes corresponding to all frequencies of a first preset frequency length from a frequency distribution diagram of the target real-time data; Determining the amplitude multiple corresponding to the target axis according to the mean amplitude; Calculate the product of the amplitude multiple and the mean amplitude as the reference amplitude; According to the frequency distribution diagram of the target real-time data, all amplitudes of the frequency distribution diagram are compared with the reference amplitude to obtain an amplitude comparison result; When the amplitude comparison result is used to indicate that there is an amplitude greater than or equal to the reference amplitude in the frequency distribution diagram of the target real-time data, the amplitude with the largest value is screened out from all amplitudes greater than or equal to the reference amplitude and is used as the maximum vibration main frequency of the target real-time data.

5. The method for determining vibration frequency in flight according to claim 4, wherein: After selecting the maximum amplitude from all amplitudes greater than or equal to the reference amplitude and using the maximum vibration frequency of the target real-time data as the maximum vibration frequency of the target real-time data, the method further includes: Taking the peak position of the maximum vibration main frequency as a reference position, determining a plurality of target frequencies adjacent to the peak position of the maximum vibration main frequency; Obtaining the amplitude of the maximum vibration main frequency and the amplitude of each target frequency; Determining a position correction factor of the maximum vibration main frequency according to the amplitude of the maximum vibration main frequency and the amplitude of each of the target frequencies; Based on the position correction factor, the peak position of the maximum vibration main frequency is corrected to obtain a corrected target peak position; Based on the target peak position, performing a correction operation on the maximum vibration main frequency to obtain a corrected maximum vibration main frequency; Wherein, determining the position correction factor of the maximum vibration main frequency according to the amplitude of the maximum vibration main frequency and the amplitude of each target frequency includes: Based on the peak position of the maximum vibration main frequency, all the target frequencies are divided into a first frequency point position group and a second frequency point position group, where all the target frequencies in the first frequency point position group and all the target frequencies in the second frequency point position group are located on both sides of the peak position of the maximum vibration main frequency, respectively; Determining a first amplitude ratio based on the amplitude of the maximum vibration main frequency and the amplitudes of all target frequencies of the first frequency point position group, and determining a first position correction factor based on the first amplitude ratio; Determining a second amplitude ratio based on the amplitude of the maximum vibration main frequency and the amplitudes of all target frequencies of the second frequency point position group, and determining a second position correction factor based on the second amplitude ratio; The position correction factor of the maximum vibration main frequency is determined according to the first position correction factor and the second position correction factor.

6. The method for determining vibration frequency in flight according to claim 4, wherein: The method further comprises: For any of the target axes, performing a rounding operation on each maximum vibration main frequency of the target axis to obtain an integer vibration main frequency of each maximum vibration main frequency; Performing a mode analysis operation on all the integer vibration main frequencies corresponding to the target axis to obtain a main frequency mode analysis result; Determining a target maximum vibration main frequency of the target shaft according to the main frequency mode analysis result; Wherein, determining the target maximum vibration main frequency of the target shaft according to the main frequency mode analysis result includes: When the main frequency mode analysis result indicates that there is no integer main vibration frequency that is a mode among all the integer main vibration frequencies, determining the object that is in the median among all the maximum main vibration frequencies or all the integer main vibration frequencies as the target maximum main vibration frequency of the target axis; When the main frequency mode analysis result is used to indicate that there is a mode integer main vibration frequency among all the integer main vibration frequencies, determining the mode of all the integer main vibration frequencies; Determining a target maximum vibration frequency of the target shaft according to the mode; Wherein, determining the target maximum vibration frequency of the target axis according to the mode condition includes: When the mode case is used for all the integer vibration main frequencies and there is only one integer vibration main frequency of the mode, determining the average vibration main frequency corresponding to all the maximum vibration main frequencies as the target maximum vibration main frequency of the target axis; When the mode condition is used for all the integer main vibration frequencies and there are two integer main vibration frequencies of the mode, for any of the integer main vibration frequencies of the mode, the integer main vibration frequency is used as a starting point to obtain the number of main frequencies of all maximum main vibration frequencies that are within the second preset frequency length before and after the integer main vibration frequency; Comparing the numbers of main frequencies corresponding to the integer vibration main frequencies of each of the modes to obtain a main frequency comparison result; The target maximum vibration main frequency of the target shaft is determined according to the main frequency comparison result.

7. The method for determining vibration frequency in flight according to claim 6, wherein: The method further comprises: For any of the target axes, obtaining the number of main frequencies of all the maximum vibration main frequencies of the target axes, and calculating the ratio between the number of main frequencies corresponding to the target axes and the number of all target real-time data corresponding to the target axes; determining whether the ratio corresponding to the target axis is greater than or equal to a preset ratio threshold, and when it is determined that the ratio is greater than or equal to the preset ratio threshold, performing the operation of rounding each maximum vibration main frequency of the target axis for any of the target axes to obtain an integer vibration main frequency of each maximum vibration main frequency; The method further comprises: Performing pairwise subtraction on the target maximum vibration main frequencies of all the target axes to obtain all main frequency differences; Comparing each of the main frequency differences with a preset main frequency to obtain a comparison result of each of the main frequency differences; According to the comparison result of all the main frequency differences, determining whether the number of main frequency differences whose values ​​are less than or equal to the preset main frequency among all the main frequency differences is greater than or equal to a preset number; When it is determined that the value is greater than or equal to the preset number, the target maximum vibration main frequency of the flying device is output.

8. The method for determining vibration frequency in flight according to any one of claims 1 to 3, 5 and 7, characterized in that: The method comprises: During the process of performing the real-time data collection operation on the real-time status of the flight equipment, monitoring the current status of the flight equipment to obtain a monitoring result of the flight equipment; When the monitoring result of the aircraft device indicates that the current state of the aircraft device does not satisfy the vibration frequency extraction trigger condition, stopping the real-time data collection operation for the current state of the aircraft device and setting a corresponding collection flag for the currently collected real-time data of the sensor; When it is monitored that the current state of the aircraft device again satisfies the vibration frequency extraction trigger condition, re-executing the real-time data collection operation of the real-time state of the aircraft device based on the sensor to obtain the real-time data of the sensor according to the collection identifier, until the data length of the collected real-time data of the sensor is greater than or equal to a second preset data length; The sensors corresponding to the flight equipment include accelerometers and / or gyroscopes; The step of determining, based on the current state data of the sensor, whether the current state of the flight device satisfies a predetermined vibration frequency extraction trigger condition includes: When the current state data of the sensor includes a plurality of speeds collected by the accelerometer within a preset time period, determining whether the number of speeds less than or equal to the preset speed among all the speeds corresponding to the accelerometer is greater than or equal to the preset number of speeds; if the determination result is yes, determining that the current state of the flight device meets the predetermined vibration frequency extraction trigger condition; When the current state data of the sensor includes multiple first angles and multiple second angles continuously collected by the gyroscope within a preset time period, it is determined whether the angle difference between any two adjacent first angles among all the first angles corresponding to the gyroscope is less than or equal to the first preset angle, and whether the angle difference between the first collected second angle and the last collected second angle among all the second angles is less than or equal to the second preset angle; when the judgment result is yes, it is determined that the current state of the flight device meets the predetermined vibration frequency extraction trigger condition, wherein the first preset angle is less than the second preset angle, the types of all the first angles include pitch angle type and / or roll angle type, and the types of all the second angles include yaw angle type.

9. A vibration frequency determination device used in flight, characterized in that: The device is applied to flight equipment, and the device includes: a collection module, configured to collect data from sensors provided on the aircraft when the aircraft is in flight, and obtain current status data of the sensors; a judgment module, configured to judge, based on the current state data of the sensor, whether the current state of the flight device satisfies a predetermined vibration frequency extraction trigger condition; The acquisition module is further configured to, when it is determined that the vibration frequency extraction trigger condition is met, perform a real-time data acquisition operation on the real-time status of the flight equipment based on the sensor to obtain real-time data from the sensor; The determination module is used to determine the real-time vibration frequency data of the flight equipment according to the real-time data of the sensor.

10. A flying device, wherein the flying device is integrated with a sensor, characterized in that: The flight equipment includes: a memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the vibration frequency determination method applied to the flight state as described in any one of claims 1 to 8.

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