Vibration frequency determination method and apparatus applied to flight state, and flight device

Abstract

The application relates to the field of flight control technology, and particularly discloses a vibration frequency determination method and device applied to a flight state and flight equipment, wherein current state data collected by a sensor on the flight equipment in the flight state is analyzed, real-time data collection is performed on the flight equipment when the vibration frequency extraction trigger condition is met, vibration frequency data analysis is performed based on the real-time collected data, that is, the state of the flight equipment in the real flight environment in the non-full flight process is analyzed, and real-time data collection and analysis are performed, the analysis accuracy and reliability of the vibration frequency data are improved, the determination accuracy and reliability of the vibration frequency are improved, the dynamic change of the flight equipment in the real flight can be reflected, the flight equipment can be used in real time on site, and the flight equipment can be more stably and accurately controlled.

Description

Technical Field

[0001] This invention relates to the field of flight equipment control technology, and in particular to a method, apparatus and flight equipment for determining vibration frequency in flight conditions. Background Technology

[0002] With the rapid development of unmanned aerial vehicle (UAV) technology, UAVs are increasingly being used in military, commercial, logistics, and agricultural fields, making ensuring their flight stability and reliability one of the key challenges.

[0003] In practical applications, drones generate various vibrations during flight due to the operation of motors and propellers, mechanical structure resonance, and other factors. The greatest harm caused by these vibrations and noises is the distortion of measurements by the inertial measurement unit (IMU), leading to increased state estimation errors and adversely affecting the drone's flight stability and reliability. Therefore, effective vibration reduction for drones is crucial. One of the keys to effective vibration reduction for drones is obtaining accurate dominant vibration frequencies.

[0004] Currently, methods for extracting the dominant vibration frequency are divided into offline extraction and real-time extraction. Offline extraction typically requires the UAV to be stationary in a laboratory environment, using equipment such as laser Doppler vibration meters and modal analyzers to acquire vibration frequency data, thereby obtaining the dominant vibration frequency. Real-time extraction usually involves sensors mounted on the UAV collecting data throughout its entire flight and analyzing this data to obtain the dominant vibration frequency. However, practice has shown that while offline extraction yields accurate results, it is limited by experimental conditions, and the vibration frequency data cannot reflect the dynamic changes of the UAV during actual flight, making it unsuitable for real-time field use. Real-time extraction, on the other hand, involves data acquisition throughout the entire flight, making it susceptible to other vibrations generated during flight, such as wind vibrations, resulting in low reliability and large data volumes, consuming significant computational resources. Therefore, proposing a new method for determining the dominant vibration frequency to improve its accuracy and reliability, thereby providing a technical solution that reflects the dynamic changes of the UAV during actual flight and is suitable for real-time field use, is of paramount importance. Summary of the Invention

[0005] This invention provides a method, apparatus, and flight equipment for determining vibration frequency in flight conditions, which can improve the accuracy and reliability of determining the dominant vibration frequency, thereby reflecting the dynamic changes of the flight equipment in actual flight and being suitable for real-time on-site use.

[0006] To address the aforementioned technical problems, the first aspect of this invention discloses a method for determining vibration frequencies during flight, the method comprising:

[0007] Based on the sensors installed on the flight equipment, data acquisition operations are performed when the flight equipment is in flight to obtain the current status data of the sensors;

[0008] Based on the current state data of the sensor, determine whether the current state of the flight equipment meets the predetermined vibration frequency extraction trigger condition;

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

[0010] Based on the real-time data from the sensor, the real-time vibration frequency data of the flight equipment is determined.

[0011] As an optional implementation, in the first 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.

[0012] The step of determining the real-time vibration frequency data of the flight equipment based on the real-time data from the sensor includes:

[0013] Multiple target real-time data are sequentially acquired from the real-time data of the sensor. The data length of each target real-time data is a first preset data length. Except for the target real-time data acquired for the first time, each of the remaining target real-time data is determined by a sliding window with a preset data step size based on the previous target real-time data. Each target real-time data of the sensor includes the real-time data of the three target axes of the sensor.

[0014] For any target real-time data of any target axis, the real-time vibration frequency data of the target real-time data is determined based on the target real-time data, the second acquisition frequency, and the first preset data length.

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

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

[0017] Perform a Fast Fourier Transform operation on the target real-time data and the second acquisition frequency to obtain multiple first amplitude values ​​corresponding to the target real-time data;

[0018] For any of the first amplitude values, obtain the absolute amplitude value of the first amplitude value, and perform a halving operation on the absolute amplitude value to obtain the second amplitude value of the first amplitude value;

[0019] From all the second values, select a plurality of second values ​​corresponding to the target real-time data that are continuously collected in a portion, and use them as a plurality of third values;

[0020] Based on all the third amplitude values ​​and the first preset data length, the correction amplitude of the corrected target real-time data is determined;

[0021] The frequency distribution data of the target real-time data is determined based on the second acquisition frequency and the first preset data length;

[0022] Based on the frequency distribution data of the target real-time data and the correction amplitude of the target real-time data, a frequency distribution map of the target real-time data is generated, which serves as the real-time vibration frequency data of the target real-time data.

[0023] As an optional implementation, in the first aspect of the present invention, the real-time vibration frequency data of the flight device 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 map of all target real-time data of that target axis;

[0024] The method further includes:

[0025] 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 is selected from the frequency distribution map of the target real-time data.

[0026] Based on the mean amplitude, determine the amplitude multiple corresponding to the target axis;

[0027] Calculate the product between the amplitude multiple and the average amplitude, and use it as the reference amplitude;

[0028] Based on the frequency distribution map of the target real-time data, all amplitudes of the frequency distribution map are compared with the reference amplitude to obtain the 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 map 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 used as the maximum vibration frequency of the target real-time data.

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

[0031] Using the peak position of the maximum vibration frequency as a reference position, determine several target frequencies adjacent to the peak position of the maximum vibration frequency;

[0032] Obtain the amplitude of the maximum dominant vibration frequency and the amplitude of each of the target frequencies;

[0033] The position correction factor of the maximum vibration dominant frequency is determined based on the amplitude of the maximum vibration dominant frequency and the amplitude of each target frequency.

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

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

[0036] The step of determining the position correction factor of the maximum vibration dominant frequency based on the amplitude of the maximum vibration dominant frequency and the amplitude of each target frequency includes:

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

[0038] Based on the amplitude of the maximum vibration dominant frequency and the amplitudes of all target frequencies in the first frequency point position group, a first amplitude ratio is determined, and based on the first amplitude ratio, a first position correction factor is determined.

[0039] Based on the amplitude of the maximum vibration dominant frequency and the amplitudes of all target frequencies in the second frequency point position group, a second amplitude ratio is determined, and based on the second amplitude ratio, a second position correction factor is determined.

[0040] The position correction factor for the maximum vibration dominant frequency is determined based on 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 applied in flight conditions, the device being applied to flight equipment, and the device comprising:

[0042] The data acquisition module is used to perform data acquisition operations based on sensors installed on the flight equipment when the flight equipment is in flight, and to obtain the current status data of the sensors;

[0043] The judgment module is used to determine whether the current state of the flight equipment meets the predetermined vibration frequency extraction trigger condition based on the current state data of the sensor.

[0044] The acquisition module is also used to perform real-time data acquisition operations on the real-time status of the flight equipment based on the sensor when it is determined that the vibration frequency extraction trigger condition is met, so as to obtain the real-time data of the sensor.

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

[0046] As an optional implementation, in a 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 method by which the determining module determines the real-time vibration frequency data of the flight equipment based on the real-time data from the sensor includes:

[0048] Multiple target real-time data are sequentially acquired from the real-time data of the sensor. The data length of each target real-time data is a first preset data length. Except for the target real-time data acquired for the first time, each of the remaining target real-time data is determined by a sliding window with a preset data step size based on the previous target real-time data. Each target real-time data of the sensor includes the real-time data of the three target axes of the sensor.

[0049] For any real-time data of any target axis, the real-time vibration frequency data of the target real-time data is determined based on the target real-time data, the second acquisition frequency, and the first preset data length.

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

[0051] As an optional implementation, in a second aspect of the present invention, the specific method by which the determining module determines the real-time vibration frequency data of the target real-time data based on the target real-time data, the second acquisition frequency, and the first preset data length includes:

[0052] Perform a Fast Fourier Transform operation on the target real-time data and the second acquisition frequency to obtain multiple first amplitude values ​​corresponding to the target real-time data;

[0053] For any of the first amplitude values, obtain the absolute amplitude value of the first amplitude value, and perform a halving operation on the absolute amplitude value to obtain the second amplitude value of the first amplitude value;

[0054] From all the second values, select a plurality of second values ​​corresponding to the target real-time data that are continuously collected in a portion, and use them as a plurality of third values;

[0055] Based on all the third amplitude values ​​and the first preset data length, the correction amplitude of the corrected target real-time data is determined;

[0056] The frequency distribution data of the target real-time data is determined based on the second acquisition frequency and the first preset data length;

[0057] Based on the frequency distribution data of the target real-time data and the correction amplitude of the target real-time data, a frequency distribution map of the target real-time data is generated, which serves as the real-time vibration frequency data of the target real-time data.

[0058] As an optional implementation, in a second aspect of the invention, the real-time vibration frequency data of the flight device 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 map of all target real-time data of that target axis.

[0059] The device further includes:

[0060] The filtering module is used to filter the mean amplitude of all amplitudes corresponding to all frequencies of a first preset frequency length from the frequency distribution map of any real-time data of any target axis for any target axis.

[0061] The determining module is further configured to determine the amplitude multiple corresponding to the target axis based on the mean amplitude.

[0062] The calculation module is used to calculate the product between the amplitude multiple and the average amplitude, as the reference amplitude;

[0063] The comparison module is used to compare all amplitudes of the frequency distribution map of the target real-time data with the reference amplitude to obtain the amplitude comparison result.

[0064] The filtering module is further configured to, when the amplitude comparison result is used to indicate that there are amplitudes greater than or equal to the reference amplitude in the frequency distribution map of the target real-time data, filter out the amplitude with the largest value from all amplitudes greater than or equal to the reference amplitude, and use it as the maximum vibration frequency of the target real-time data.

[0065] As an optional implementation, in a second aspect of the present invention, the determining module is further configured to, after the filtering module filters out the amplitude with the largest value 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, using the peak position of the maximum vibration frequency as the reference position.

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

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

[0068] The device further includes:

[0069] The correction module is used to correct the peak position of the maximum vibration dominant frequency based on the position correction factor to obtain the corrected target peak position.

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

[0071] The determining module determines the position correction factor of the maximum vibration dominant frequency based on the amplitude of the maximum vibration dominant frequency and the amplitude of each target frequency in a specific manner, including:

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

[0073] Based on the amplitude of the maximum vibration dominant frequency and the amplitudes of all target frequencies in the first frequency point position group, a first amplitude ratio is determined, and based on the first amplitude ratio, a first position correction factor is determined.

[0074] Based on the amplitude of the maximum vibration dominant frequency and the amplitudes of all target frequencies in the second frequency point position group, a second amplitude ratio is determined, and based on the second amplitude ratio, a second position correction factor is determined.

[0075] The position correction factor for the maximum vibration dominant frequency is determined based on the first position correction factor and the second position correction factor.

[0076] A third aspect of the present invention discloses a flight device, the flight device integrating sensors, the flight device comprising:

[0077] Memory containing executable program code;

[0078] A processor coupled to the memory;

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

[0080] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute some or all of the steps of any of the vibration frequency determination methods for flight states 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 this embodiment of the invention, based on sensors installed on the flight equipment, data acquisition is performed when the flight equipment is in flight to obtain the current state data of the sensors. Based on the current state data of the sensors, it is determined whether the current state of the flight equipment meets the predetermined vibration frequency extraction trigger condition. When the vibration frequency extraction trigger condition is met, real-time data acquisition is performed on the real-time state of the flight equipment based on the sensors to obtain real-time data from the sensors. Based on the real-time data from the sensors, the real-time vibration frequency data of the flight equipment is determined. Therefore, this invention analyzes the current state data collected by sensors on the flight equipment in flight, and when the vibration frequency extraction trigger condition is met, performs real-time data acquisition on the flight equipment, and analyzes the vibration frequency data based on the real-time acquired data. That is, by analyzing the state of the flight equipment in a real flight environment during a non-full flight process and collecting and analyzing real-time data, the accuracy and reliability of vibration frequency data analysis are improved. This is beneficial for improving the accuracy and reliability of determining the dominant vibration frequency, thereby reflecting the dynamic changes of the flight equipment in real flight and being suitable for real-time on-site use, which is conducive to more stable and precise control of the flight equipment. Attached Figure Description

[0083] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0084] Figure 1 This is a flowchart illustrating a method for determining vibration frequency in flight conditions, as disclosed in an embodiment of the present invention.

[0085] Figure 2 This is a flowchart illustrating another method for determining vibration frequency in flight, as disclosed in an embodiment of the present invention.

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

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

[0088] Figure 5 This is a schematic diagram of the frequency distribution of a gyroscope along the z-axis, as disclosed in an embodiment of the present invention.

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

[0090] Figure 7 This is a schematic diagram of the structure of a vibration frequency determination device applied in flight state, as disclosed in an embodiment of the present invention;

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

[0092] Figure 9 This is a schematic diagram of the structure of a flight device disclosed in an embodiment of the present invention. Detailed Implementation

[0093] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0094] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

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

[0096] This invention discloses a method, apparatus, and flight equipment for determining vibration frequencies in flight. By analyzing the current state data collected by sensors on the flight equipment during flight, and when the analysis indicates that the vibration frequency extraction trigger condition is met, real-time data acquisition is performed on the flight equipment. Based on the real-time acquired data, vibration frequency data analysis is conducted. In other words, by analyzing the state of the flight equipment in a real flight environment during a non-full flight process and by acquiring and analyzing real-time data, the accuracy and reliability of vibration frequency data analysis are improved. This is beneficial for improving the accuracy and reliability of determining the dominant vibration frequency, thereby reflecting the dynamic changes of the flight equipment during actual flight and making it suitable for real-time field use. It facilitates smoother and more precise control of the flight equipment. Detailed descriptions follow.

[0097] Example 1

[0098] Please see Figure 1 , Figure 1 This is a schematic flowchart illustrating a method for determining vibration frequencies during flight, as disclosed in an embodiment of the present invention. Figure 1 The described method can be applied to any scenario requiring vibration frequency analysis of flight equipment. This flight scenario includes, but is not limited to, unmanned operation scenarios, smart city scenarios, border patrol scenarios, power line inspection scenarios, forest fire prevention scenarios, logistics transportation scenarios, and agricultural irrigation scenarios. Furthermore, the scenario involves corresponding flight equipment performing a specific flight mission. For example... Figure 1 As shown, the method may include the following operations:

[0099] 101. Based on the sensors installed on the flight equipment, perform data acquisition operations when the flight equipment is in flight to obtain the current status data of the sensors.

[0100] In this embodiment of the invention, the sensors corresponding to the flight equipment include accelerometers and / or gyroscopes. Optionally, the current state data of the sensors 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. Based on the current state data of the sensor, determine whether the current state of the flight equipment meets the predetermined vibration frequency extraction trigger condition.

[0102] In this embodiment of the invention, optionally, determining whether the current state of the flight equipment meets the 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 velocities collected by the accelerometer within a preset time period, it is determined whether the number of velocities less than or equal to the preset velocity among all the velocities corresponding to the accelerometer is greater than or equal to the preset number of velocities; when the result is yes, it is determined that the current state of the flight equipment 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 is less than or equal to a first preset angle, and whether the angle difference between the first second angle collected and the last second angle collected is less than or equal to a second preset angle. When the determination result is yes, it is determined that the current state of the flight equipment meets the predetermined vibration frequency extraction trigger condition, wherein the first preset angle is less than the second preset angle, the types of all first angles include pitch angle type and / or roll angle type, and the types of all second angles include yaw angle type.

[0105] In a further optional embodiment of the present invention, for the second angle, when the angle abruptly changes 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] In the formula, y e y represents the angle difference between two adjacent points. n This represents the second angle of the gyroscope at the current moment, y. p This indicates the second angle of the gyroscope at the previous moment.

[0108] In this embodiment of the invention, optionally, the current state of the flight equipment is 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 further ensures that the flight equipment is in a hovering state, thereby improving the accuracy of the real-time data collected by the sensors, and thus improving the accuracy of determining the dominant vibration frequency of the flight equipment. Further optionally, the current state data of the flight equipment can be collected at a first sampling frequency, wherein the first sampling frequency can be one of 10Hz, 20Hz, 30Hz, 40Hz, etc., as long as it ensures that the flight equipment is in a low-dynamic environment for a relatively long period of time.

[0109] In this embodiment of the invention, the multiple velocities collected by the accelerometer can optionally be two-axis velocities or three-axis velocities.

[0110] For accelerometers, taking the velocity of three axes as an example, when the flight equipment is in flight, the accelerometer collects data within 2 seconds to obtain the velocity of three axes in three directions (such as north, east, and ground) at 40 consecutive points. If all velocities are less than 0.2 m / s, it means that the current state of the flight equipment in hover (also known as low dynamic) meets the vibration frequency extraction trigger condition.

[0111] For a gyroscope, taking the first angle including roll and pitch angles and the second angle being yaw angle as an example, when the flight equipment is in flight, the gyroscope collects data within 2 seconds to obtain the roll, pitch, and yaw angles at 40 consecutive points. If all roll and pitch angles are less than 2 degrees, and the angle difference between any two adjacent yaw angles is less than or equal to 0.2 degrees, and the angle difference between the first and last yaw angles is less than or equal to 2 degrees, then it means that the flight equipment is in a hovering state (also known as low dynamics), and the current state meets the vibration frequency extraction trigger condition.

[0112] As can be seen, the embodiments of the present invention can also analyze the multi-axis velocities continuously collected by the accelerometer over a period of time and / or the roll angle and / or pitch angle and yaw angle collected by the gyroscope within the corresponding time period, providing multiple ways to determine that the flight equipment is in a hovering state, improving the efficiency and accuracy of determining that the flight equipment is in a hovering state, thereby helping to improve the efficiency and accuracy of determining that the current state of the flight equipment meets the vibration frequency extraction trigger conditions.

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

[0114] In this embodiment of the 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, such as the first acquisition frequency being 20 Hz and the second acquisition frequency being 200 Hz.

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

[0116] In this embodiment of the invention, optionally, when it is determined that the vibration frequency extraction trigger condition is not met, the flight speed of the flight equipment 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 from the sensors.

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

[0119] It is evident that implementation Figure 1 The described method analyzes the current state data collected by sensors on the flight equipment in flight, and when the analysis finds that the vibration frequency extraction trigger condition is met, it performs real-time data acquisition on the flight equipment and analyzes the vibration frequency data based on the real-time acquired data. That is, by analyzing the state of the flight equipment in a real flight environment during a non-full flight process and collecting and analyzing real-time data, the accuracy and reliability of vibration frequency data analysis are improved. This is conducive to improving the accuracy and reliability of determining the dominant vibration frequency, thereby reflecting the dynamic changes of the flight equipment in real flight and being suitable for real-time field use, which is conducive to more stable and precise control of the flight equipment.

[0120] In this embodiment of the invention, optionally, determining the real-time vibration frequency data of the flight equipment based on real-time data from the sensors includes:

[0121] Multiple target real-time data are sequentially acquired from the real-time data of the sensor. 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 a sliding window with a preset data step size based on the previous target real-time data.

[0122] For any target real-time data of any target axis, the real-time vibration frequency data of the target real-time data is determined based on 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 targets on the three target axes of the sensor.

[0124] In this embodiment of the invention, optionally, the real-time data of each target of the sensor includes the real-time data of the three target axes of the sensor, namely the real-time acceleration of the three target axes of the accelerometer and / or the real-time angular velocity of the three target axes of the gyroscope.

[0125] For example, when the 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 length of the real-time data cached in the storage unit is 712, the second real-time vibration frequency data analysis is performed. In this second analysis, 312 data points from the previous analysis and 200 newly arrived data points are combined to form a new set of 512 data points for real-time vibration frequency analysis. This process continues, with a sliding window of 200 data points used each time, and 512 data points are selected for each analysis. In other words, the real-time data acquisition process of the sensor and the vibration frequency data analysis based on the acquired real-time data are performed simultaneously.

[0126] As can be seen, the embodiments of the present invention can also perform vibration frequency analysis while collecting real-time data, without having to wait until all data is collected before performing vibration frequency analysis. This reduces the amount of data to be analyzed per cycle, improves the efficiency of vibration frequency analysis while ensuring the accuracy of vibration frequency analysis, and reduces CPU consumption, thereby improving CPU operating efficiency.

[0127] In this embodiment of the invention, optionally, determining the real-time vibration frequency data of the target real-time data based on the target real-time data, the second acquisition frequency, and the first preset data length includes:

[0128] Perform a fast Fourier transform operation on the target real-time data and the second acquisition frequency to obtain multiple first amplitude values ​​corresponding to the target real-time data;

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

[0130] From all the second values, select multiple second values ​​corresponding to the target real-time data collected continuously in some batches, and use them as multiple third values;

[0131] Based on all third amplitude values ​​and the first preset data length, determine the correction amplitude of the corrected target real-time data;

[0132] The frequency distribution data of the target real-time data is determined based on the second acquisition frequency and the first preset data length.

[0133] Based on the frequency distribution data and the corrected amplitude of the target real-time data, a frequency distribution map of the target real-time data is generated, which serves as the real-time vibration frequency data of the target real-time data.

[0134] In this embodiment of the invention, optionally, for any first amplitude, the first amplitude is converted from radians to angles to obtain the phase of the first amplitude, and the phase is halved to obtain the phase value corresponding to the corrected amplitude.

[0135] In this embodiment of the invention, optionally, the first amplitude can be calculated using the following Fast Fourier Transform formula:

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

[0137] In the formula, 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 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; and y_img represents the imaginary part of each first amplitude.

[0138] In this embodiment of the invention, optionally, multiple third amplitude values ​​can be understood as a portion of the second amplitude values ​​that are consecutive among all second amplitude values. Specifically, there are three cases: ① All the remaining second amplitude values ​​excluding all the second amplitude values ​​in the first part and all the second amplitude values ​​in the second part, wherein the data acquisition time corresponding to all the second amplitude values ​​in the first part is later than the acquisition time corresponding to all the second amplitude values ​​in the second part, and the data acquisition time corresponding to all the remaining second amplitude values ​​is between the data acquisition times of the two mentioned above; or ② All the remaining second amplitude values ​​excluding all the second amplitude values ​​in the first part, wherein the data acquisition time corresponding to all the second amplitude values ​​in the first part is earlier than the acquisition time corresponding to all the remaining second amplitude values; or ③ All the remaining second amplitude values ​​excluding all the second amplitude values ​​in the second part, wherein the data acquisition time corresponding to all the second amplitude values ​​in the second part is later than the acquisition time corresponding to all the remaining second amplitude values. For example, if the target real-time data is D1-D9, and the data acquisition times are T1-T9, with T1-T9 increasing sequentially, the multiple third amplitudes corresponding to the aforementioned situations ①, ②, and ③ can be the amplitudes corresponding to D2-D8, D4-D9, and D1-D6, respectively.

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

[0140] In this embodiment of the invention, optionally, the frequency distribution data of the target real-time data is determined according to 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] As can be seen, the embodiments 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 combine the corresponding data length to jointly determine the amplitude and frequency distribution data of the partial data, thereby determining the corresponding real-time vibration frequency data. This improves the accuracy and reliability of the analysis 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] During the real-time data acquisition process of the flight equipment, the current status of the flight equipment is monitored to obtain the monitoring results of the flight equipment;

[0144] When the monitoring results of the flight equipment indicate that the current state of the flight equipment does not meet the vibration frequency extraction trigger condition, the real-time data acquisition operation of the current state of the flight equipment is stopped, and a corresponding acquisition identifier is set for the real-time data of the sensor currently acquired.

[0145] When the current state of the flight equipment is detected to meet the vibration frequency extraction trigger condition again, the above-mentioned operation of real-time data acquisition based on the sensor is re-executed according to the acquisition identifier to obtain the real-time data of the sensor until the data length of the acquired sensor real-time data is greater than or equal to the second preset data length, such as 3000 data points.

[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 stops, if the storage unit still contains real-time data that meets the criteria for forming the target real-time data, the window will continue to slide to acquire real-time data to form the target real-time data for vibration frequency analysis, until no more target real-time data can be acquired, at which point the vibration frequency analysis will be paused. Optionally, real-time data that does not meet the criteria for acquiring the target real-time data can be deleted, and corresponding acquisition identifiers can be set. Optionally, the acquisition identifier can be any identifier that serves a distinguishing function, such as acquisition time, code, Δ, etc.

[0148] As can be seen, this optional embodiment performs real-time vibration frequency analysis on the real-time data collected by the sensor, while simultaneously monitoring the flight status of the flight equipment. This reduces the possibility of dynamic abrupt changes in the flight equipment that may prevent the extraction of the main frequency, ensuring that the real-time data used for the real-time vibration frequency analysis is collected when the flight equipment is hovering. This further improves the accuracy and reliability of the real-time data acquisition, thereby further improving the accuracy and reliability of the real-time vibration frequency analysis.

[0149] Example 2

[0150] Please see Figure 2 , Figure 2 This is a schematic flowchart illustrating a method for determining vibration frequencies during flight, as disclosed in an embodiment of the present invention. Figure 2 The described method can be applied to any scenario requiring vibration frequency analysis of flight equipment. This flight scenario includes, but is not limited to, unmanned operation scenarios, smart city scenarios, border patrol scenarios, power line inspection scenarios, forest fire prevention scenarios, logistics transportation scenarios, and agricultural irrigation scenarios. Furthermore, the scenario involves corresponding flight equipment performing a specific flight mission. For example... Figure 2 As shown, the method may include the following operations:

[0151] 201. Based on the sensors installed on the flight equipment, perform data acquisition operations when the flight equipment is in flight to obtain the current status data of the sensors.

[0152] In this embodiment of the invention, the sensors corresponding to the flight equipment include accelerometers and / or gyroscopes.

[0153] 202. Based on the current state data of the sensor, determine whether the current state of the flight equipment meets the predetermined vibration frequency extraction trigger condition.

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

[0155] In this embodiment of the 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. Based on the real-time data from the sensors, determine the real-time vibration frequency data of the flight equipment. The real-time vibration frequency data of the flight equipment includes the real-time vibration frequency data of the three target axes of the sensors. The real-time vibration frequency data of each target axis includes the frequency distribution map of all real-time data of the target axis.

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

[0158] In this embodiment of the invention, optionally, generally speaking, the first 5 Hz in the spectrum 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. Based on the mean amplitude, determine the amplitude multiple corresponding to the target axis, and calculate the product between the amplitude multiple and the mean amplitude as the reference amplitude.

[0160] In this embodiment of the invention, optionally, if the average amplitude is greater than a preset average amplitude, the amplitude multiple is a first amplitude multiple; if the average amplitude is less than or equal to the preset average amplitude, the amplitude multiple is a second amplitude multiple, wherein the first amplitude multiple is less than the second amplitude multiple. For example, if the preset average amplitude is 0.3, and the average amplitude is 0.25, then the amplitude multiple is 4; if the average amplitude is 0.5, then the amplitude multiple is 3.

[0161] 207. Based on the frequency distribution map of the target real-time data, compare all the amplitudes of the frequency distribution map with the reference amplitude to obtain the amplitude comparison results.

[0162] 208. When the amplitude comparison result is used to represent the frequency distribution map of the target real-time data, if there are amplitudes greater than or equal to the reference amplitude, select the amplitude with the largest value from all amplitudes greater than or equal to the reference amplitude as the maximum vibration frequency of the target real-time data.

[0163] In this embodiment of the 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 dominant frequency of the target real-time data collected this time for that axis is not extracted.

[0164] For other related descriptions of steps 201-204 in this embodiment of the invention, please refer to the detailed description of steps 101-104 in Embodiment 1. These descriptions will not be repeated in this embodiment of the invention.

[0165] It is evident that implementation Figure 2 The described method analyzes the current state data collected by sensors on a flight device in flight. When the analysis determines that the vibration frequency extraction trigger condition is met, real-time data acquisition is performed on the flight device, and vibration frequency data analysis is conducted based on the real-time acquired data. This method improves the accuracy and reliability of vibration frequency data analysis by analyzing the state of the flight device in a real flight environment during a non-full flight process and by collecting and analyzing real-time data. This improves the accuracy and reliability of determining the dominant vibration frequency, reflecting the dynamic changes of the flight device during actual flight and making it suitable for real-time field use. This facilitates smoother and more precise control of the flight device. Furthermore, after obtaining the corresponding real-time vibration frequency data (frequency distribution map) for each set of data collected from any axis of the sensor, a threshold analysis is performed on all amplitudes and their corresponding average amplitudes in the frequency distribution map to determine if any amplitude meets the amplitude requirements. This determines the maximum dominant vibration frequency, reducing the occurrence of localized maximum dominant vibration frequencies that may occur when only the maximum value of all amplitudes is taken, thus improving the accuracy of determining the maximum dominant vibration frequency and further enhancing the accuracy and reliability of the analysis of the maximum dominant vibration frequency of the flight device.

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

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

[0168] Perform mode analysis on all integer vibration dominant frequencies corresponding to the target axis to obtain the dominant frequency mode analysis results;

[0169] Based on the mode analysis of the dominant frequency, the maximum dominant vibration frequency of the target axis is determined.

[0170] In this optional embodiment, the target maximum vibration dominant frequency of the target axis may be determined based on the dominant frequency mode analysis results, including:

[0171] When the mode analysis results of the dominant frequency are used to represent the dominant frequency of integer vibrations that does not have a mode among all the dominant frequencies of integer vibrations, the object that is at the median among all the maximum dominant frequencies of vibrations or all the dominant frequencies of integer vibrations is determined as the target maximum dominant frequency of vibration of the target axis.

[0172] When the mode analysis results of the dominant frequency are used to represent the dominant frequencies of all integer vibrations that have a mode, the mode of all integer vibrations is determined.

[0173] Based on the mode, determine the target axis's maximum dominant vibration frequency.

[0174] In this optional embodiment, further optionally, determining the target maximum vibration dominant frequency of the target axis based on the mode includes:

[0175] When the mode case is applied to all integer oscillation frequencies, and there is only one integer oscillation frequency with a mode, the mean oscillation frequency corresponding to all maximum oscillation frequencies is determined as the target maximum oscillation frequency of the target axis.

[0176] When the mode case is applied to all integer vibration frequencies, and there are two integer vibration frequencies with different modes, for any integer vibration frequency with a different mode, the number of frequencies of all maximum vibration frequencies within the second preset frequency length (e.g., 3 Hz) is obtained, starting from that integer vibration frequency.

[0177] By comparing the number of dominant frequencies corresponding to the integer oscillation dominant frequencies of each mode, the dominant frequency comparison results are obtained;

[0178] Based on the comparison results of the main frequencies, the target maximum vibration main frequency of the target axis is determined.

[0179] In this optional embodiment, it is further optional to determine the target maximum vibration dominant frequency of the target axis based on the dominant frequency comparison result, including:

[0180] When the frequency comparison result is used to represent the number of frequencies corresponding to the integer vibration frequencies of all modes, and there is a single maximum value among the number of frequencies of frequencies with the largest value, the integer vibration frequency corresponding to the number of frequencies with the largest value and the average value of the frequencies of all the maximum vibration frequencies within the second preset frequency length corresponding to the integer vibration frequency are calculated as the target maximum vibration 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 frequencies with equal maximum values, the average value of the main frequencies corresponding to the integer vibration main frequencies to which the two main frequencies with equal maximum values ​​belong 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 the following: round up, round down, round to the nearest integer, and truncate.

[0183] To help those skilled in the art better understand this embodiment, an example of rounding down (e.g., floor) is provided: For any target axis of the sensor, after rounding down all the maximum dominant vibration frequencies of that target axis, if the resulting integer dominant vibration frequencies are 5Hz, 6Hz, 9Hz, 11Hz, or 14Hz, there is no mode, and the total maximum dominant vibration frequencies are 5.2Hz, 6.0Hz, 9.5Hz, 11.2Hz, or 14.0Hz, then the median of 9.5Hz is taken as the maximum dominant vibration frequency of that target axis; if the resulting integer dominant vibration frequencies are 5Hz, 6Hz, 9Hz, 9Hz, or 11Hz, there is a mode of 9Hz, and the total maximum dominant vibration frequencies are 5.2Hz, 6.0Hz, 9.5Hz, 11.2Hz, or 14.0Hz, then the median of 9.5Hz is taken as the maximum dominant vibration frequency of that target axis. If the frequencies are 5.2 Hz, 6.0 Hz, 9.5 Hz, 9.8 Hz, and 11.3 Hz, then the average of these frequencies (5 Hz, 6 Hz, 9 Hz, 9 Hz, 11 Hz) can be taken as 8 Hz, or the average of these frequencies (5.2 Hz, 6.0 Hz, 9.5 Hz, 9.8 Hz, 11.3 Hz) can be taken as 8.36 Hz, or the average of the averages (8.36 Hz and 8 Hz) can be taken as 8.18 Hz as the target maximum vibration dominant frequency for the target axis. If the obtained integer vibration dominant 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 maximum vibration dominant frequencies are 5.2 Hz, 5.8 Hz, 9.5 Hz, 9.8 Hz, and 11.3 Hz. If the maximum dominant vibration frequencies within ±3 Hz of 5 Hz are 5.2 Hz and 5.8 Hz, and within ±3 Hz of 9 Hz are 9.5 Hz, 9.8 Hz, and 11.3 Hz, then the average of 9.5 Hz, 9.8 Hz, 11.3 Hz, and 9 Hz can be taken as 9.9 Hz, or the average of 9.5 Hz, 9.8 Hz, and 11.3 Hz as 10.2 Hz, or the average of the averages of 9.9 Hz and 10.2 Hz as 10.05 Hz, then the target maximum dominant vibration frequency of the target axis is taken as 5 Hz, 5 Hz, 9 Hz, 9 Hz, and 11 Hz. If the obtained integer dominant 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 the... The maximum dominant vibration frequencies are 5.2 Hz, 5.8 Hz, 9.5 Hz, 9.8 Hz, and 16.3 Hz. Within ±3 Hz of 5 Hz, the maximum dominant vibration frequencies are 5.2 Hz and 5.8 Hz. Within ±3 Hz of 9 Hz, the maximum dominant vibration frequencies are 9.5 Hz and 9.8 Hz. Therefore, the average of 5.2 Hz, 5.8 Hz, 9.5 Hz, and 9.8 Hz is 7.575 Hz; or the average of 5.2 Hz, 5.8 Hz, 9.5 Hz, 9.8 Hz, 5 Hz, and 9 Hz is 7.383 Hz; or the average of the averages 7.575 Hz and 7.383 Hz is 7.479 Hz, representing the target maximum dominant vibration frequency of the target axis. It should be noted that for the analysis process of three modes, four modes, and other numbers of modes, please refer to the analysis process of two modes mentioned above, which will not be repeated here.

[0184] In this optional embodiment, a gyroscope is used as an example, such as Figure 3-5 As shown, Figure 3 This is a schematic diagram of the frequency distribution of a gyroscope along the x-axis, as disclosed in an embodiment of the present invention. Figure 4 This is a schematic diagram of the frequency distribution of the y-axis of a gyroscope disclosed in an embodiment of the present invention. Figure 5 This is a schematic diagram of the frequency distribution of a gyroscope along the z-axis, as disclosed in an embodiment of the present invention. Wherein, as... Figure 3-5 As shown, the horizontal axis represents frequency, and the vertical axis represents amplitude. 3111 data points were collected for each of the x, y, and z axes, totaling 14 sets of data. The maximum vibration frequency was determined for each of the 14 sets of data. (Specific details are as follows...) Figure 3-5 As shown. Figure 3-5 As shown, 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] As can be seen, this optional embodiment analyzes all the maximum vibration frequencies obtained from each axis of the sensor using the mode composite method. It is particularly suitable for scenarios where the accuracy of the maximum vibration frequency may be reduced due to interference data caused by factors such as operator habits and wind resistance when analyzing the results of multiple flight data offline. This further improves the accuracy and reliability of the analysis of the maximum vibration frequency of each axis, thereby further improving the accuracy and reliability of obtaining the maximum vibration frequency of the flight equipment.

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

[0187] Using the peak position of the maximum vibration frequency as the reference position, determine several target frequencies adjacent to the peak position of the maximum vibration frequency;

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

[0189] The position correction factor for the maximum vibration dominant frequency is determined based on the amplitude of the maximum vibration dominant frequency and the amplitude of each target frequency.

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

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

[0192] In this optional embodiment, optionally, the position correction factor for the maximum vibration dominant frequency is determined based on the amplitude of the maximum vibration dominant frequency and the amplitude of each target frequency, including:

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

[0194] Based on the amplitude of the maximum dominant vibration frequency and the amplitudes of all target frequencies in the first frequency point position group, determine the first amplitude ratio, and based on the first amplitude ratio, determine the first position correction factor;

[0195] Based on the amplitude of the maximum vibration dominant frequency and the amplitudes of all target frequencies in the second frequency point position group, determine the second amplitude ratio, and based on the second amplitude ratio, determine the second position correction factor;

[0196] The position correction factor for the maximum vibration dominant frequency is determined based on 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 dominant frequency can be understood as multiple adjacent target frequencies to the left and right of the peak position. For example, if there are multiple vibration frequencies f1-f8, and the position of the maximum vibration dominant frequency is f5, then the multiple adjacent target frequencies to the left and right can be f4 and f6. In this 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 this case, the first frequency point position group is f3 and f4, and the second frequency point position group is f6 and f7.

[0198] In this optional embodiment, the location of the maximum vibration dominant frequency is optionally defined as f5, the first frequency point position group is defined as f4, and the second frequency point position group is defined as f6. The first position correction factor, the second position correction factor, and the position correction factor of the maximum vibration dominant frequency are illustrated by the following calculation formulas.

[0199]

[0200] k c =k p +ld;

[0201] f = k c *Δf;

[0202] In the formula, a p This is the first amplitude ratio; a m The second amplitude ratio; d p The first position correction factor; d mR is the second position correction factor; k-1 and I k-1 These are the real and imaginary parts of the magnitude of f4, respectively; R k and I k These are the real and imaginary parts of the f5 amplitude, respectively; R k+1 and I k+1 These represent the real and imaginary parts of the amplitude of f6, respectively; d is the position correction factor for f5; k p The peak position of f5; k c f5 represents the target peak position; Δf represents the maximum dominant vibration frequency; f represents the corrected maximum dominant vibration frequency; g here represents d. p or d m m, a, b, c, e, j, and l are all non-constant coefficients, such as 1 / 4, 3, 6, 1, and 1 respectively. 2.

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

[0204] As can be seen, this optional embodiment determines the position correction factor corresponding to the maximum vibration frequency by interpolating and estimating the amplitude of the maximum vibration frequency and the amplitude of the frequency points adjacent to the peak position of the maximum vibration frequency. Then, it combines the position correction factor with the peak position of the maximum vibration frequency to correct the maximum vibration frequency, thus obtaining the corrected maximum vibration frequency. This reduces the occurrence of errors in the output maximum vibration frequency (such as an error of 0.2 Hz) caused by the actual maximum vibration frequency appearing between small squares on the frequency distribution map. This further improves the accuracy and reliability of the maximum vibration frequency analysis, so as to more realistically reflect the dynamic changes of the flight equipment in actual flight and is suitable for real-time use on site.

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

[0206] For any target axis, obtain the number of the main frequencies of all the 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 real-time data of 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%. If it is determined that it is greater than or equal to the preset ratio threshold, perform the above-mentioned operation of rounding down each maximum vibration frequency of the target axis for any target axis to obtain the integer vibration frequency of each maximum vibration frequency.

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

[0209] As can be seen, this optional embodiment analyzes the maximum vibration frequency of any axis of the sensor using the group number determination method. If the proportion of the number of groups from which the maximum vibration frequency can be obtained for that axis is relatively large compared to the total number of groups used for maximum vibration frequency analysis, then the reliability analysis of the maximum vibration frequency of that axis is performed using the mode composite method. This is particularly suitable for situations where invalid maximum vibration frequencies are obtained from real-time data collected when the flight equipment may be in an unstable state. This increases the probability that the maximum vibration frequency obtained for each axis is a valid maximum vibration frequency, further improving the accuracy and reliability of obtaining the maximum vibration frequency of the flight equipment.

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

[0211] The maximum vibration frequency of the target on all target axes is subtracted pairwise to obtain all frequency difference values;

[0212] Each clock frequency difference is compared with the preset clock frequency to obtain the comparison result of each clock frequency difference;

[0213] Based on the comparison results of all clock frequency differences, determine whether the number of clock frequency differences with values ​​less than or equal to the preset clock frequency (e.g., 3Hz) is greater than or equal to the preset number, such as 5.

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

[0215] In this optional embodiment, if 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 frequency, and step 201 is executed again.

[0216] In this optional embodiment, 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, the preset quantity can be determined by the number of all target axes of the sensor. For example, if the number of all target axes is 3, the preset quantity can be 3; if the number of all target axes is 6, the preset quantity can be 5 or 6.

[0218] As can be seen, this optional embodiment uses multi-axis data difference analysis to re-analyze the reliability of the maximum vibration frequency obtained by each axis of the sensor. Only when the difference between the effective maximum vibration frequencies of the axes is relatively small is the effective maximum vibration frequency of the flight equipment determined. This further improves the accuracy and reliability of obtaining the effective maximum vibration 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 frequency of the target axis based on a preset notch filter to obtain the filtered target maximum vibration frequency.

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

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

[0223]

[0224] In the formula, G(s) represents the maximum vibration frequency of the target on each target axis after filtering; s is the s-domain; d is the notch depth corresponding to each target axis, and the value of d ranges from [-d1, d1], where d1 is a constant coefficient, such as... h represents the damping ratio; w0 represents the target maximum vibration frequency for each target axis; w c Indicates 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 dominant frequency disclosed in an embodiment of the present invention, such as... Figure 6 As shown, the horizontal axis represents frequency, and the vertical axis represents amplitude. Blue represents the frequency distribution before filtering, and orange represents the frequency distribution after filtering. The graph shows that the noise at the maximum vibration frequency and amplitude is significantly reduced after filtering. And as... Figure 3-5 As shown, the maximum vibration frequencies of the x-axis, y-axis, and z-axis obtained are 22.365 Hz, 22.365 Hz, and 22.365 Hz, respectively.

[0226] As can be seen, this optional embodiment filters out the noise of the effective maximum vibration frequency caused by the vibration of the flight equipment by notch filtering the effective maximum vibration frequency obtained above, thereby further improving the quality of the effective maximum vibration frequency of the flight equipment, which is conducive to improving the control stability of the flight equipment and making it suitable for flight equipment with various configurations and load conditions.

[0227] Example 3

[0228] Please see Figure 7 , Figure 7 This is a schematic diagram of a vibration frequency determination device for flight conditions, disclosed in an embodiment of the present invention. The device can be applied to any scenario requiring vibration frequency analysis of flight equipment, including, but not limited to, unattended scenarios, smart city scenarios, border patrol scenarios, power line inspection scenarios, forest fire prevention scenarios, logistics transportation scenarios, and agricultural irrigation scenarios. Furthermore, in such scenarios, there is corresponding flight equipment performing a corresponding flight mission. Figure 7 As shown, the device includes:

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

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

[0231] The acquisition module 301 is also used to perform real-time data acquisition operations on the real-time status of the flight equipment based on the sensor when it is determined that the vibration frequency extraction trigger condition is met, so as to obtain the real-time data of the sensor.

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

[0233] It is evident that implementation Figure 3 The described device analyzes the current state data collected by sensors on the flight equipment in flight, and when the analysis finds that the vibration frequency extraction trigger condition is met, it performs real-time data acquisition on the flight equipment and analyzes the vibration frequency data based on the real-time acquired data. That is, by analyzing the state of the flight equipment in a real flight environment during a non-full flight process and collecting and analyzing real-time data, the accuracy and reliability of vibration frequency data analysis are improved. This is conducive to improving the accuracy and reliability of determining the dominant vibration frequency, thereby reflecting the dynamic changes of the flight equipment in real flight and being suitable for real-time field use, which is conducive to more stable and precise control of the flight equipment.

[0234] In this embodiment of the invention, optionally, the sensors corresponding to the flight equipment include accelerometers and / or gyroscopes; wherein, the determination module 302 determines whether the current state of the flight equipment meets the predetermined vibration frequency extraction trigger condition based on the current state data of the sensors, including:

[0235] When the current state data of the sensor includes multiple velocities collected by the accelerometer within a preset time period, it is determined whether the number of velocities less than or equal to the preset velocity among all the velocities corresponding to the accelerometer is greater than or equal to the preset number of velocities; when the result is yes, it is determined that the current state of the flight equipment 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 is less than or equal to a first preset angle, and whether the angle difference between the first second angle collected and the last second angle collected is less than or equal to a second preset angle. When the determination result is yes, it is determined that the current state of the flight equipment meets the predetermined vibration frequency extraction trigger condition, wherein the first preset angle is less than the second preset angle, the types of all first angles include pitch angle type and / or roll angle type, and the types of all second angles include yaw angle type.

[0237] As can be seen, the embodiments of the present invention can also analyze the multi-axis velocities continuously collected by the accelerometer over a period of time and / or the roll angle and / or pitch angle and yaw angle collected by the gyroscope within the corresponding time period, providing multiple ways to determine that the flight equipment is in a hovering state, improving the efficiency and accuracy of determining that the flight equipment is in a hovering state, thereby helping to improve the efficiency and accuracy of determining that the current state of the flight equipment meets the vibration frequency extraction trigger conditions.

[0238] In this embodiment of the invention, optionally, 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, the specific method by which the determining module 303 determines the real-time vibration frequency data of the flight equipment based on the real-time data of the sensor includes:

[0239] Multiple target real-time data are sequentially acquired from the real-time data of the sensor. 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 a sliding window with a preset data step size based on the previous target real-time data. Each target real-time data of the sensor contains the real-time data of the three target axes of the sensor.

[0240] For any target real-time data of any target axis, the real-time vibration frequency data of the target real-time data is determined based on 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 targets on the three target axes of the sensor.

[0242] As can be seen, the embodiments of the present invention can also perform vibration frequency analysis while collecting real-time data, without having to wait until all data is collected before performing vibration frequency analysis. This reduces the amount of data to be analyzed per cycle, improves the efficiency of vibration frequency analysis while ensuring the accuracy of vibration frequency analysis, and reduces CPU consumption, thereby improving CPU operating efficiency.

[0243] In this embodiment of the invention, optionally, the determining module 303 determines the specific method of determining the real-time vibration frequency data of the target real-time data based on the target real-time data, the second acquisition frequency, and the first preset data length, including:

[0244] Perform a fast Fourier transform operation on the target real-time data and the second acquisition frequency to obtain multiple first amplitude values ​​corresponding to the target real-time data;

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

[0246] From all the second values, select multiple second values ​​corresponding to the target real-time data collected continuously in some batches, and use them as multiple third values;

[0247] Based on all third amplitude values ​​and the first preset data length, determine the correction amplitude of the corrected target real-time data;

[0248] The frequency distribution data of the target real-time data is determined based on the second acquisition frequency and the first preset data length.

[0249] Based on the frequency distribution data and the corrected amplitude of the target real-time data, a frequency distribution map of the target real-time data is generated, which serves as the real-time vibration frequency data of the target real-time data.

[0250] As can be seen, the embodiments 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 combine the corresponding data length to jointly determine the amplitude and frequency distribution data of the partial data, thereby determining the corresponding real-time vibration frequency data. This improves the accuracy and reliability of the analysis 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.

[0251] In an optional embodiment, the real-time vibration frequency data of the flight equipment includes 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 map of all target real-time data of that target axis. Figure 8 This is a schematic diagram of another vibration frequency determination device for flight conditions disclosed in an embodiment of the present invention, as shown below. Figure 8 As shown, the device may further include:

[0252] The filtering module 304 is used to filter the mean amplitude of all amplitudes corresponding to all frequencies of a first preset frequency length from the frequency distribution map of any real-time data of any target axis for any target axis.

[0253] The determination module 303 is also used to determine the amplitude multiple corresponding to the target axis based on the mean amplitude.

[0254] Calculation module 305 is used to calculate the product between the amplitude multiple and the average amplitude, which is used as the reference amplitude;

[0255] The comparison module 306 is used to compare all amplitudes of the frequency distribution map of the target real-time data with the reference amplitude to obtain the amplitude comparison result.

[0256] The filtering module 304 is also used to filter the largest amplitude from all amplitudes greater than or equal to the reference amplitude when the amplitude comparison result is used to represent the frequency distribution map of the target real-time data and there are amplitudes greater than or equal to the reference amplitude, and use the largest amplitude as the maximum vibration frequency of the target real-time data.

[0257] It is evident that implementation Figure 8The described device obtains the corresponding real-time vibration frequency data, i.e., the frequency distribution map, for each set of data collected from any axis of the sensor. By performing a multiple threshold analysis on all amplitudes and the corresponding average amplitudes of the frequency distribution map, it determines whether there are amplitudes in the frequency distribution map that meet the amplitude requirements, thereby determining the maximum vibration dominant frequency. This reduces the occurrence of local maximum vibration dominant frequencies that may occur when only the maximum value of all amplitudes is taken, and improves the accuracy of determining the maximum vibration dominant frequency. This is beneficial to further improving the accuracy and reliability of the analysis of the maximum vibration dominant frequency of flight equipment.

[0258] In yet another alternative embodiment, such as Figure 8 As shown, the determining module 303 is also used to, after the filtering module 304 filters out the largest amplitude from all amplitudes greater than or equal to the reference amplitude as the maximum vibration frequency of the target real-time data, determine several target frequencies adjacent to the peak position of the maximum vibration frequency using the peak position of the maximum vibration frequency as the reference position.

[0259] The determination module 303 is also used to obtain the amplitude of the maximum vibration dominant frequency and the amplitude of each target frequency;

[0260] The determining module 303 is also used to determine the position correction factor of the maximum vibration dominant frequency based on the amplitude of the maximum vibration dominant frequency and the amplitude of each target frequency;

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

[0262] The correction module 307 is used to correct the peak position of the maximum vibration frequency based on the position correction factor to obtain the corrected target peak position.

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

[0264] The determining module 303 determines the position correction factor of the maximum vibration dominant frequency based on the amplitude of the maximum vibration dominant frequency and the amplitude of each target frequency in a specific manner, including:

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

[0266] Based on the amplitude of the maximum dominant vibration frequency and the amplitudes of all target frequencies in the first frequency point position group, determine the first amplitude ratio, and based on the first amplitude ratio, determine the first position correction factor;

[0267] Based on the amplitude of the maximum vibration dominant frequency and the amplitudes of all target frequencies in the second frequency point position group, determine the second amplitude ratio, and based on the second amplitude ratio, determine the second position correction factor;

[0268] The position correction factor for the maximum vibration dominant frequency is determined based on the first position correction factor and the second position correction factor.

[0269] It is evident that implementation Figure 8 The described device can also determine the position correction factor corresponding to the maximum vibration frequency by interpolating and estimating the amplitude of the maximum vibration frequency with the amplitude of the frequency points adjacent to the peak position of the maximum vibration frequency. Then, it can be combined with the peak position of the maximum vibration frequency to correct the maximum vibration frequency and obtain the corrected maximum vibration frequency. This reduces the occurrence of errors in the output maximum vibration frequency (such as an error of 0.2 Hz) caused by the actual maximum vibration frequency appearing between small grids on the frequency distribution map. This further improves the accuracy and reliability of the maximum vibration frequency analysis, so as to more realistically reflect the dynamic changes of the flight equipment in actual flight and is suitable for real-time field use.

[0270] In yet another alternative embodiment, such as Figure 8 As shown, the device may further include:

[0271] The rounding module 308 is used to perform a rounding operation on each maximum vibration frequency of any target axis to obtain the integer vibration frequency of each maximum vibration frequency.

[0272] Analysis module 309 is used to perform mode analysis on all integer vibration dominant frequencies corresponding to the target axis to obtain the dominant frequency mode analysis results;

[0273] The determination module 303 is also used to determine the target maximum vibration dominant frequency of the target axis based on the dominant frequency mode analysis results;

[0274] The determination module 303 determines the specific method for determining the target maximum vibration dominant frequency of the target axis based on the dominant frequency mode analysis results, including:

[0275] When the mode analysis results of the dominant frequency are used to represent the dominant frequency of integer vibrations that does not have a mode among all the dominant frequencies of integer vibrations, the object that is at the median among all the maximum dominant frequencies of vibrations or all the dominant frequencies of integer vibrations is determined as the target maximum dominant frequency of vibration of the target axis.

[0276] When the mode analysis results of the dominant frequency are used to represent the dominant frequencies of all integer vibrations that have a mode, the mode of all integer vibrations is determined.

[0277] Based on the mode, determine the target axis's maximum dominant vibration frequency.

[0278] The specific method by which the determining module 303 determines the target maximum vibration frequency of the target axis based on the mode includes:

[0279] When the mode case is applied to all integer oscillation frequencies, and there is only one integer oscillation frequency with a mode, the mean oscillation frequency corresponding to all maximum oscillation frequencies is determined as the target maximum oscillation frequency of the target axis.

[0280] When the mode case is applied to all integer vibration frequencies, and there are two integer vibration frequencies with different modes, for any integer vibration frequency with a different mode, the number of frequencies of all maximum vibration frequencies within the second preset frequency length (e.g., 3 Hz) is obtained, starting from that integer vibration frequency.

[0281] By comparing the number of dominant frequencies corresponding to the integer oscillation dominant frequencies of each mode, the dominant frequency comparison results are obtained;

[0282] Based on the comparison results of the main frequencies, the target maximum vibration main frequency of the target axis is determined.

[0283] The determination module 303 determines the specific method for determining the target maximum vibration dominant frequency of the target axis based on the dominant frequency comparison results, including:

[0284] When the frequency comparison result is used to represent the number of frequencies corresponding to the integer vibration frequencies of all modes, and there is a single maximum value among the number of frequencies of frequencies with the largest value, the integer vibration frequency corresponding to the number of frequencies with the largest value and the average value of the frequencies of all the maximum vibration frequencies within the second preset frequency length corresponding to the integer vibration frequency are calculated as the target maximum vibration 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 frequencies with equal maximum values, the average value of the main frequencies corresponding to the integer vibration main frequencies to which the two main frequencies with equal maximum values ​​belong is calculated as the target maximum vibration main frequency of the target axis.

[0286] It is evident that implementation Figure 8 The described device can also perform mode composite analysis on all the maximum vibration frequencies obtained from each axis of the sensor. It is particularly suitable for offline analysis of the results of multiple flight data, where the accuracy of the maximum vibration frequency may be reduced due to interference data caused by factors such as operator habits and wind resistance. This further improves the accuracy and reliability of the analysis of the maximum vibration frequency of each axis, thereby further improving the accuracy and reliability of the acquisition of the maximum vibration frequency of the flight equipment.

[0287] In yet another alternative embodiment, such as Figure 8 As shown, the device may further include:

[0288] The acquisition module 310 is used to acquire the number of major frequencies of all maximum vibration major frequencies of any target axis.

[0289] The calculation module 305 is also used to calculate the ratio between the number of main frequencies corresponding to the target axis and the number of all real-time data of 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 it is greater than or equal to the preset ratio threshold, the rounding module 308 is triggered to perform the above-mentioned rounding operation on each maximum vibration frequency of the target axis for any target axis, so as to obtain the integer vibration frequency of each maximum vibration frequency.

[0291] It is evident that implementation Figure 8 The described device can also analyze the maximum vibration frequency of any axis of the sensor using a group number determination method. If the proportion of the number of groups that can obtain the maximum vibration frequency of the axis is relatively large compared with the total number of groups for maximum vibration frequency analysis, then a reliability analysis of the maximum vibration frequency of the axis is performed using the mode composite method. This is especially suitable for situations where invalid maximum vibration frequencies are obtained from real-time data collected when the flight equipment may be in an unstable state. This increases the probability that the maximum vibration frequency obtained for each axis is a valid maximum vibration frequency, further improving the accuracy and reliability of obtaining the maximum vibration frequency of the flight equipment.

[0292] In yet another alternative embodiment, such as Figure 8 As shown, the calculation module 305 is also used to subtract the maximum vibration frequencies of all target axes pairwise to obtain all frequency difference values.

[0293] The comparison module 306 is also used to compare each clock frequency difference with a preset clock frequency to obtain a comparison result for each clock frequency difference;

[0294] The judgment module 302 is also used to determine, based on the comparison results of all frequency differences, whether the number of frequency differences with a value less than or equal to a preset frequency (e.g., 3Hz) is greater than or equal to a preset number, such as 5.

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

[0296] It is evident that implementation Figure 8The described device can also perform a reliability analysis on the maximum vibration frequency obtained by each axis of the sensor through multi-axis data differential analysis. Only when the difference between the effective maximum vibration frequencies between axes is relatively small can the effective maximum vibration frequency of the flight equipment be determined. This further improves the accuracy and reliability of obtaining the effective maximum vibration frequency of the flight equipment, more realistically reflects the dynamic changes of the flight equipment in actual flight, and is suitable for real-time field use.

[0297] In yet another alternative embodiment, such as Figure 8 As shown, the device may further include:

[0298] The monitoring module 311 is used to monitor the current status of the flight equipment and obtain the monitoring results of the flight equipment during the real-time data acquisition operation of the flight equipment.

[0299] The acquisition module 301 is also used to stop performing real-time data acquisition operations on the current state of the flight equipment when the monitoring results of the flight equipment indicate that the current state of the flight equipment does not meet the vibration frequency extraction triggering conditions.

[0300] The setting module 312 is used to set the corresponding acquisition identifier for the real-time data of the currently acquired sensor.

[0301] The acquisition module 301 is also used to, when the current state of the flight equipment is detected to meet the vibration frequency extraction trigger condition again, re-execute the above-mentioned operation of real-time data acquisition based on the sensor to obtain the real-time data of the sensor, until the data length of the acquired real-time data of the sensor 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 is evident that implementation Figure 8 The described device can also perform real-time vibration frequency analysis on real-time data collected by sensors, while simultaneously monitoring the flight status of the flight equipment. This reduces the occurrence of dynamic abrupt changes in the flight equipment that may prevent the extraction of the dominant frequency, ensuring that the real-time data used for real-time vibration frequency analysis is collected when the flight equipment is hovering. This further improves the accuracy and reliability of real-time data acquisition, thereby further enhancing the accuracy and reliability of real-time vibration frequency analysis.

[0304] Example 4

[0305] Please see Figure 9 , Figure 9This is a schematic diagram of the structure of a flight device disclosed in an embodiment of the present invention. This flight device can be applied to any scenario requiring vibration frequency analysis of flight equipment, including but not limited to unattended scenarios, smart city scenarios, border patrol scenarios, power line inspection scenarios, forest fire prevention scenarios, logistics transportation scenarios, and agricultural irrigation scenarios. Furthermore, a corresponding flight device is present in this scenario, performing a corresponding flight mission. For example... Figure 9 As shown, the flight equipment may include:

[0306] Memory 401 storing executable program code;

[0307] Processor 402 coupled to 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 some or all of the steps in the vibration frequency determination method for flight state disclosed in Embodiment 1 or Embodiment 2 of the present invention.

[0310] Example 5

[0311] This invention discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute some or all of the steps in the vibration frequency determination method for flight conditions disclosed in Embodiment 1 or Embodiment 2 of this invention.

[0312] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0313] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0314] Finally, it should be noted that the vibration frequency determination method, apparatus, and flight equipment disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining vibration frequency in flight conditions, characterized in that, The method includes: Based on the sensors installed on the flight equipment, data acquisition operations are performed when the flight equipment is in flight to obtain the current status data of the sensors; Based on the current state data of the sensor, determine whether the current state of the flight equipment meets the predetermined vibration frequency extraction trigger condition; When it is determined that the vibration frequency extraction trigger condition is met, a real-time data acquisition operation is performed on the real-time status of the flight equipment based on the sensor to obtain the real-time data of the sensor. Based on the real-time data from the sensor, the real-time vibration frequency data of the flight equipment is determined; 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 the frequency distribution map of all target real-time data of that target axis; The method further includes: 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 is selected from the frequency distribution map of the target real-time data; the amplitude multiple corresponding to the target axis is determined based on the mean amplitude; the product between the amplitude multiple and the mean amplitude is calculated as the reference amplitude; all amplitudes in the frequency distribution map of the target real-time data are compared with the reference amplitude to obtain an amplitude comparison result; when the amplitude comparison result indicates that there is an amplitude greater than or equal to the reference amplitude in the frequency distribution map 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 as the maximum vibration frequency of the target real-time data; And, after selecting the amplitude with the largest value from all amplitudes greater than or equal to the reference amplitude as the maximum vibrational frequency of the target real-time data, the method further includes: Using the peak position of the maximum vibration frequency as a reference position, determine several target frequencies adjacent to the peak position of the maximum vibration frequency; obtain the amplitude of the maximum vibration frequency and the amplitude of each target frequency; determine the position correction factor of the maximum vibration frequency based on the amplitude of the maximum vibration frequency and the amplitude of each target frequency; correct the peak position of the maximum vibration frequency based on the position correction factor to obtain the corrected target peak position; perform a correction operation on the maximum vibration frequency based on the target peak position to obtain the corrected maximum vibration frequency. The step of determining the position correction factor of the maximum vibration dominant frequency based on the amplitude of the maximum vibration dominant frequency and the amplitude of each target frequency includes: Based on the peak position of the maximum vibration dominant frequency, all target frequencies are divided into a first frequency point position group and a second frequency point position group. All target frequencies in the first frequency point position group and all target frequencies in the second frequency point position group are located on either side of the peak position of the maximum vibration dominant frequency. A first amplitude ratio is determined based on the amplitude of the maximum vibration dominant frequency and the amplitudes of all target frequencies in the first frequency point position group, and a first position correction factor is determined based on the first amplitude ratio. A second amplitude ratio is determined based on the amplitude of the maximum vibration dominant frequency and the amplitudes of all target frequencies in the second frequency point position group, and a second position correction factor is determined based on the second amplitude ratio. Finally, a position correction factor for the maximum vibration dominant frequency is determined based on the first position correction factor and the second position correction factor. The method includes: During the real-time data acquisition operation of the flight equipment, the current status of the flight equipment is monitored to obtain the monitoring results of the flight equipment; When the monitoring result of the flight equipment indicates that the current state of the flight equipment does not meet the vibration frequency extraction trigger condition, the real-time data acquisition operation of the current state of the flight equipment is stopped, and a corresponding acquisition identifier is set for the real-time data of the sensor currently acquired. When the current state of the flight equipment is detected to meet the vibration frequency extraction trigger condition again, the operation of real-time data acquisition based on the sensor to obtain the real-time data of the sensor is re-executed according to the acquisition identifier until the data length of the acquired real-time data of the sensor is greater than or equal to the second preset data length. The sensors corresponding to the flight equipment include accelerometers and / or gyroscopes; The step of determining whether the current state of the flight equipment meets the predetermined vibration frequency extraction trigger condition based on the current state data of the sensor includes: When the current state data of the sensor includes multiple velocities collected by the accelerometer within a preset time period, it is determined whether the number of velocities less than or equal to a preset velocity among all the velocities corresponding to the accelerometer is greater than or equal to the preset number of velocities; when the determination result is yes, it is determined that the current state of the flight equipment 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 is less than or equal to a first preset angle, and whether the angle difference between the first second angle collected and the last second angle collected is less than or equal to a second preset angle. When the determination result is yes, it is determined that the current state of the flight equipment meets the predetermined vibration frequency extraction trigger condition, wherein the first preset angle is less than the second preset angle, the types of all first angles include pitch angle type and / or roll angle type, and the types of all second angles include yaw angle type.

2. The method for determining vibration frequency in flight state according to claim 1, characterized in that, 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 step of determining the real-time vibration frequency data of the flight equipment based on the real-time data from the sensor includes: Multiple target real-time data are sequentially acquired from the real-time data of the sensor. The data length of each target real-time data is a first preset data length. Except for the target real-time data acquired for the first time, each of the remaining target real-time data is determined by a sliding window with a preset data step size based on the previous target real-time data. Each target real-time data of the sensor includes the real-time data of the three target axes of the sensor. For any real-time data of any target axis, the real-time vibration frequency data of the target real-time data is determined based on the target real-time data, the second acquisition frequency, and the first preset data length. The real-time vibration frequency data of the flight equipment includes the real-time vibration frequency data of all the real-time data of the targets on the three target axes of the sensor.

3. The method for determining vibration frequency in flight state according to claim 2, characterized in that, The step of determining the real-time vibration frequency data of the target real-time data based on the target real-time data, the second acquisition frequency, and the first preset data length includes: Perform a Fast Fourier Transform operation on the target real-time data and the second acquisition frequency to obtain multiple first amplitude values ​​corresponding to the target real-time data; For any of the first amplitude values, obtain the absolute amplitude value of the first amplitude value, and perform a halving operation on the absolute amplitude value to obtain the second amplitude value of the first amplitude value; From all the second values, select a plurality of second values ​​corresponding to the target real-time data that are continuously collected in a portion, and use them as a plurality of third values; Based on all the third amplitude values ​​and the first preset data length, the correction amplitude of the corrected target real-time data is determined; The frequency distribution data of the target real-time data is determined based on the second acquisition frequency and the first preset data length; Based on the frequency distribution data of the target real-time data and the correction amplitude of the target real-time data, a frequency distribution map of the target real-time data is generated, which serves as the real-time vibration frequency data of the target real-time data.

4. The method for determining vibration frequency in flight state according to any one of claims 1-3, characterized in that, The method further includes: For any of the target axes, perform a rounding operation on each of the maximum vibration frequencies of the target axis to obtain the integer vibration frequencies of each of the maximum vibration frequencies; Perform mode analysis on all integer vibration dominant frequencies corresponding to the target axis to obtain the dominant frequency mode analysis results; Based on the dominant frequency mode analysis results, the target maximum vibration dominant frequency of the target axis is determined; The step of determining the target maximum vibration dominant frequency of the target axis based on the dominant frequency mode analysis results includes: When the mode analysis result of the dominant frequency indicates that there is no mode among all the integer vibration dominant frequencies, the object that is in the median among all the maximum vibration dominant frequencies or all the integer vibration dominant frequencies is determined as the target maximum vibration dominant frequency of the target axis. When the mode analysis result of the dominant frequency indicates that there is a mode among all the integer vibration dominant frequencies, the mode of all the integer vibration dominant frequencies is determined; Based on the mode, determine the target maximum vibration frequency of the target axis; The step of determining the target maximum vibration frequency of the target axis based on the mode includes: When the mode condition indicates that there is only one mode among all the integer vibration frequencies, the mean vibration frequency corresponding to all the maximum vibration frequencies is determined as the target maximum vibration frequency of the target axis. When the mode condition indicates that there are two modes among all the integer vibration frequencies, for any integer vibration frequency with a mode, the number of frequencies of all the maximum vibration frequencies within the second preset frequency length is obtained, taking the integer vibration frequency as the starting point. By comparing the number of dominant frequencies corresponding to the integer vibration dominant frequencies of each mode, the dominant frequency comparison results are obtained; Based on the comparison results of the main frequencies, the target maximum vibration main frequency of the target axis is determined.

5. The method for determining vibration frequency in flight state according to claim 4, characterized in that, The method further includes: For any of the target axes, obtain the number of the main frequencies of all the 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 real-time data of the target axis; Determine whether the ratio corresponding to the target axis is greater than or equal to a preset ratio threshold. When it is determined that the ratio is greater than or equal to the preset ratio threshold, perform the operation of rounding down each maximum vibration frequency of the target axis for any target axis to obtain the integer vibration frequency of each maximum vibration frequency. The method further includes: The maximum vibration frequency of all the target axes is subtracted pairwise to obtain all frequency difference values. Each of the main frequency differences is compared with a preset main frequency to obtain a comparison result for each of the main frequency differences; Based on the comparison results of all the main frequency differences, determine whether the number of main frequency differences with values ​​less than or equal to the preset main frequency is greater than or equal to the preset number. When it is determined that the number is greater than or equal to the preset number, the target maximum vibration frequency of the flight equipment is output.

6. A vibration frequency determination device applied in flight mode, characterized in that, The device is used to implement the vibration frequency determination method for flight conditions as described in any one of claims 1-5, the device is applied to flight equipment, and the device comprises: The data acquisition module is used to perform data acquisition operations based on sensors installed on the flight equipment when the flight equipment is in flight, and to obtain the current status data of the sensors; The judgment module is used to determine whether the current state of the flight equipment meets the predetermined vibration frequency extraction trigger condition based on the current state data of the sensor. The acquisition module is also used to perform real-time data acquisition operations on the real-time status of the flight equipment based on the sensor when it is determined that the vibration frequency extraction trigger condition is met, so as to obtain the real-time data of the sensor. The determination module is used to determine the real-time vibration frequency data of the flight equipment based on the real-time data from the sensor.

7. A flight device, said flight device integrating sensors, characterized in that, The flight equipment includes: Memory containing 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 for flight conditions as described in any one of claims 1-5.

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