Multi-channel unmanned aerial vehicle pose sensing system and method

Abstract

The invention discloses a multi-channel unmanned aerial vehicle pose sensing system and method. The system comprises a pose sensing waistband, a digital twin unmanned aerial vehicle pose visual interface and an unmanned aerial vehicle end pose sensor. The pose sensing waistband comprises a control unit, a wireless communication module, a vibration motor, a power supply module and a waistband frame; the unmanned aerial vehicle end pose sensor collects unmanned aerial vehicle attitude data in real time and establishes an unmanned aerial vehicle air attitude model, and the attitude data at least comprises an unmanned aerial vehicle inclination angle and an unmanned aerial vehicle inclination direction; the inclination angle of the unmanned aerial vehicle is defined as an inclination angle, namely the complementary angle of an included angle gamma between the XY plane of the unmanned aerial vehicle and the ground; the inclination direction of the unmanned aerial vehicle is defined as a drift angle, namely an included angle alpha between the projection of the gravitational acceleration on the XY plane of the unmanned aerial vehicle and the X axis. The cognitive load of an operator is remarkably reduced, the abnormal attitude of the unmanned aerial vehicle can be quickly responded, the decision time of the operator is greatly shortened, and the risk of out-of-control, rollover or crash of the unmanned aerial vehicle is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle flight control, more particularly, it relates to a multi-channel unmanned aerial vehicle pose perception system and method. BACKGROUND

[0002] At present, unmanned aerial vehicles have been popularized and applied in many fields, such as agricultural irrigation, patrol search, rescue and relief, disaster relief tasks, aerial investigation, environmental monitoring and logistics transportation, etc. In the case of rapid development of various industries, the traditional unmanned aerial vehicle control and management method is more and more difficult to meet the task requirements, and the work load of the unmanned aerial vehicle operator is also increasing.

[0003] The common unmanned aerial vehicle flight control system on the market usually has two flight modes, GPS mode and attitude mode.

[0004] The GPS mode is a mode in which the unmanned aerial vehicle uses a GPS positioning system, a camera and ultrasonic radar sensors and other sensors for adaptive attitude stabilization adjustment, which is easy to control and stable and safe.

[0005] The attitude mode is a mode in which the unmanned aerial vehicle uses only its IMU (inertial measurement unit) or barometer or optical flow sensor for attitude control and height maintenance when the GPS signal is lost or fails. In this mode, the unmanned aerial vehicle is not easy to maintain balance and heading, and will drift when there is no input, requiring manual control of the unmanned aerial vehicle horizontal attitude. However, the GPS mode may fail in closed areas such as indoors, parking lots and tunnels, thereby forcing the unmanned aerial vehicle to enter the attitude mode; in battlefield reconnaissance tasks, the GPS mode may also expose its own position due to sensor signals; in aerial photography tasks, the attitude mode is often used for aerial photography to achieve a smooth visual effect. Therefore, it is extremely important for the unmanned aerial vehicle operator to perceive and adjust the pose of the unmanned aerial vehicle in the attitude mode.

[0006] In addition, in extreme environments, due to the interference of factors such as wind direction and wind force of the flight site, the unmanned aerial vehicle may also have problems such as tilting, falling, losing control, and propeller breaking, thereby interfering with the execution of the task, and even causing the risk of personnel injury.

[0007] Therefore, it is of practical significance and application value to study the pose perception and adjustment control of the unmanned aerial vehicle and maintain the stability of the unmanned aerial vehicle attitude. SUMMARY

[0008] In view of the above technical problems, the present application provides a multi-channel unmanned aerial vehicle pose perception system and method, which can meet the timeliness and accuracy requirements of the unmanned aerial vehicle operator to obtain the position and attitude information of the unmanned aerial vehicle during flight, improve the information feedback efficiency of the unmanned aerial vehicle position and attitude, enhance the unmanned aerial vehicle operator's pose perception ability, and enable the unmanned aerial vehicle operator to more quickly and accurately adjust the unmanned aerial vehicle, so as to keep the unmanned aerial vehicle stable in extreme conditions during task execution.

[0009] In order to achieve the above technical purpose, the present application adopts the following technical scheme:

[0010] A multi-channel unmanned aerial vehicle pose perception system comprises:

[0011] An unmanned aerial vehicle end pose sensor is used to collect unmanned aerial vehicle attitude data in real time;

[0012] A pose perception waistband is worn on the body of the unmanned aerial vehicle operator and is used for physical space mapping of unmanned aerial vehicle attitude information, so that the unmanned aerial vehicle operator can accurately and intuitively know the flight attitude of the unmanned aerial vehicle at this time, and the pose perception waistband comprises a control unit, a wireless communication module, multi-directionally arranged vibration motors and a power supply module;

[0013] The unmanned aerial vehicle end pose sensor transmits the collected unmanned aerial vehicle attitude data to the control unit in real time through the wireless communication module; the control unit is embedded with an unmanned aerial vehicle air attitude model, and the inclination angle and the drift angle of the unmanned aerial vehicle are obtained through the unmanned aerial vehicle air attitude model, the inclination angle is used to control the amplitude of the vibration of the vibration motor, and the drift angle is used to control the vibration of the vibration motor in the corresponding direction;

[0014] A digital twin unmanned aerial vehicle attitude visual interface is used to display the unmanned aerial vehicle pose condition on the personal computer of the operator in real time, and forms a visual and tactile dual-channel cooperation for the operator to perceive together with the vibration feedback of the pose perception waistband.

[0015] Beneficial effects: The present application feeds back the position and attitude information of the unmanned aerial vehicle during flight through multi-channel cooperation, and improves the perception efficiency of the unmanned aerial vehicle operator. Through the combination of the visual interface and the tactile vibration feedback of the dual channel, the information bottleneck of the traditional single visual feedback is broken. The tactile channel directly transmits the unmanned aerial vehicle attitude changes (such as inclination angle and drift angle) through zero-delay and intuitive vibration signals, significantly reduces the cognitive load of the operator, and can quickly respond to the abnormal attitude of the unmanned aerial vehicle, especially in complex tasks or distracting environments. The operator's decision-making time is greatly shortened, and the risk of unmanned aerial vehicle out-of-control, rollover or crash is reduced.

[0016] In an alternative embodiment, the unmanned aerial vehicle air attitude model is:

[0017]

[0018] wherein, gamma is the angle between the unmanned aerial vehicle XY plane and the ground, the tilt angle is the complementary angle of the angle gamma between the unmanned aerial vehicle XY plane and the ground;

[0019] alpha is the angle between the projection of the gravity acceleration on the unmanned aerial vehicle XY plane and the X axis, that is, the drift angle;

[0020] theta is the pitch angle, and phi is the roll angle.

[0021] Beneficial effects: The unmanned aerial vehicle attitude data collected by the unmanned aerial vehicle end pose sensor is analyzed, the position and direction of the unmanned aerial vehicle in the three-dimensional space are analyzed, the attitude parameters are calculated, and the unmanned aerial vehicle air attitude model is established based on trigonometry and geometric space model. The attitude of the unmanned aerial vehicle in the air is determined by multiple angle parameters. By constructing a mathematical model, the attitude of the unmanned aerial vehicle in the three-dimensional space can be accurately described, which provides basic data for flight control, navigation and state monitoring. The unmanned aerial vehicle air attitude model accurately describes the tilt direction and tilt angle of the unmanned aerial vehicle, and controls the flat vibration motor in the corresponding direction of the pose perception waistband to vibrate, realizes the accurate mapping of the unmanned aerial vehicle attitude information in the physical space, and enables the unmanned aerial vehicle operator to accurately and intuitively know the flight attitude of the unmanned aerial vehicle at this time.

[0022] In an alternative embodiment, 8 vibration motors are uniformly arranged in the circumferential direction of the waistband in the inner layer of the pose perception waistband, and the vibration motor is a flat vibration motor.

[0023] Beneficial effects: Based on the physiological characteristics of the minimum resolution angle 45° of human waist tactile sensation, the design of 8 circumferentially uniformly distributed vibration motors (45° interval) is adopted, so that each vibration unit corresponds to 4 positive directions (front / back / left / right) and 4 oblique directions (front left / front right / back left / back right), accurately matches the 4 positive / 4 oblique direction mapping requirements of unmanned aerial vehicle attitude control, and ensures that the operator can accurately distinguish the vibration direction.

[0024] In an alternative embodiment, the pose perception waistband further comprises a calibration module, which is configured to perform wireless channel quality detection and circuit impedance continuity test through the wireless communication module when starting, and when any of the following abnormal conditions occurs:

[0025] (1) wireless connection establishment fails or continuous 3 handshakes timeout;

[0026] (2) the power supply voltage fluctuation exceeds the range of 4.2V±5%;

[0027] (3) the impedance difference between adjacent vibration motors is greater than 20Ω;

[0028] then immediately cut off the power supply and perform a three-level initialization process: hardware register reset, firmware checksum comparison and sensor reference value recalibration.

[0029] Beneficial effects: The calibration module of the pose-sensing belt in this invention automatically detects the wireless communication connection status (based on CRC check of the NRF24L01 module) and circuit impedance continuity upon startup. In case of abnormality, it executes a three-level reset strategy (power off - hardware reload - firmware check), which greatly improves the reliability of system initialization, effectively avoids false vibration feedback caused by communication delay or circuit failure, and ensures that the UAV attitude data and the physical mapping of the pose-sensing belt are strictly synchronized, reducing the risk of misoperation and significantly enhancing the overall stability and safety of the system.

[0030] In one optional embodiment, the wireless communication module is an NRF24L01 module.

[0031] This invention further discloses a control method for a vibration motor on a pose-sensing belt, applied to the aforementioned multi-channel UAV pose-sensing system.

[0032] (1) When the drift angle is within ±20° of the four positive directions or the four oblique directions, the single vibration motor in the corresponding direction is activated;

[0033] (2) When the drift angle is within ±25° of the boundary between the positive and oblique directions, two adjacent vibration motors are activated in tandem and vibrate together to provide feedback on the tilt direction.

[0034] (3) When the drone is stationary, the tilt angle and drift angle will fluctuate due to hardware measurement errors and algorithm reasons. The dead zone value is set to 3°. When the tilt angle is less than the dead zone value, all vibration motors will not vibrate.

[0035] Beneficial effects: The present invention discloses a control method for a vibration motor on a pose-sensing belt. By dividing a single vibration region with a drift angle of ±20° and a dual-motor collaborative region of ±25°, combined with a 3° dead zone threshold, the accuracy of operator orientation recognition is effectively improved, while reducing ineffective vibration power consumption. It works in conjunction with real-time transmission of pose data (NRF24L01 module <2ms delay) to ensure that the spatiotemporal error between tactile feedback and the actual posture of the UAV is <0.1 seconds, significantly improving control accuracy and system energy efficiency.

[0036] This invention further discloses a method for operating a pose-aware belt, applied to the aforementioned multi-channel UAV pose-aware system.

[0037] (1) In GPS mode, the UAV relies on external sensors and has the ability to adjust its attitude. Only when it encounters abnormal weather conditions will the UAV tilt to a large extent, requiring the operator to manually intervene in attitude adjustment. When the tilt angle exceeds 20°, the vibration motor generates a clear vibration with a vertical acceleration peak of ≥1.5G to prompt the operator to intervene.

[0038] (2) In attitude mode, the UAV is in a sensory closed state, using only its gyroscope or barometer or optical flow sensor for attitude control and height maintenance. At this time, the UAV will drift without external input. When the tilt angle exceeds the dead zone value of 3° to 5°, the vibration motor generates vibration intensity in proportion to the tilt angle deviation within the range of 0-1.5G, allowing the operator to make fine adjustments.

[0039] (3) When the UAV rolls over, i.e., the tilt angle exceeds 70°, all vibration motors vibrate synchronously for 1 second and then stop.

[0040] Beneficial effects: This working method achieves precise feedback in two dimensions of orientation and intensity through a mode-based hierarchical tactile feedback mechanism (GPS mode 1.5G strong vibration warning, attitude mode 0-1.5G proportional vibration fine-tuning, and side flip full-motor synchronous warning) combined with precise threshold control (20° emergency intervention / 3-5° dead zone filtering / 70° side flip determination), effectively shortening the average response time of UAV operators in complex working conditions and significantly improving the safety and efficiency of human-machine collaboration in extreme UAV attitude.

[0041] As an optional embodiment of the working method of the waistband for pose perception, on the operator's computer, a three-dimensional UAV model is built through the Unity engine to display the tilt angle, drift angle, height, and environment simulation data of the UAV in real time. The color of the digital twin UAV attitude visual interface changes according to the UAV state as follows,

[0042] Green: normal state, i.e., in GPS mode, the UAV tilt angle ≤20° or in attitude mode, the UAV tilt angle ≤5°, and the drift angle is within the dead zone value ±3°;

[0043] Yellow: warning state, i.e., in GPS mode, the UAV tilt angle is between 20° and 45°, or in attitude mode, the UAV tilt angle is between 5° and 15°, or the drift angle exceeds the dead zone value ±3°;

[0044] Red: emergency state, i.e., in GPS mode, the UAV tilt angle >45° or in attitude mode, the UAV tilt angle >15°, or the tilt angle >70°;

[0045] The UAV end synchronizes the attitude data to the operator's computer end through the wireless communication module, forming a visual and tactile dual-channel collaboration with the waistband vibration feedback. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 is a schematic diagram of a multi-channel unmanned aerial vehicle pose perception system architecture of the present application;

[0047] Figure 2 is a schematic diagram of a multi-channel unmanned aerial vehicle pose perception system workflow of the present application;

[0048] Figure 3 is a schematic diagram of an unmanned aerial vehicle air attitude model of the present application;

[0049] Figure 4 is a schematic diagram of a pose perception waistband hardware circuit of the present application;

[0050] Figure 5 is a schematic diagram of a pose perception waistband operating mode of the present application;

[0051] Figure 6 is a schematic diagram of a pose perception waistband flat vibration motor control logic of the present application. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments.

[0053] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0054] Referring to Figures 1-6 The multi-channel unmanned aerial vehicle pose perception system of the present application includes a pose perception waistband, a digital twin unmanned aerial vehicle attitude visual interface, and an unmanned aerial vehicle end pose sensor. The pose perception waistband includes a control unit, a wireless communication module, a calibration module, a flat vibration motor, a lithium battery power supply module (3.7V), and a waistband frame.

[0055] Referring to Figures 1-3The UAV end pose sensor collects UAV attitude data in real time and transmits the data to the pose perception waistband in real time through a data packet.

[0056] As shown in Figure 3 As shown in the formula, the inclination and drift angle are calculated by the UAV air attitude model.

[0057]

[0058] Wherein, θ is the pitch angle, and Φ is the roll angle.

[0059] As shown in Figure 3 The present application can accurately map the attitude change of the UAV by constructing the UAV air attitude model, so that the accuracy of the position and attitude information obtained by the UAV operator during the flight of the UAV is guaranteed.

[0060] As shown in Figures 1-6 The pose perception waistband is coupled with the UAV end pose sensor through a wireless communication module to obtain the attitude data of the UAV. The inclination and drift angle of the UAV can be obtained through the formula (1) and (2) established by the UAV air attitude model. The inclination is used to control the amplitude of the vibration of the flat vibration motor, and the drift angle is used to control the vibration of the flat motor in the corresponding direction. The wireless communication module is an NRF24L01 module, and the control unit connects the NRF24L01 module through an SPI interface to receive data packets and output PWM signals to the vibration motor driving circuit after analysis.

[0061] The present application defines and analyzes the UAV attitude data collected by the UAV end pose sensor, and establishes a UAV air attitude model. Thanks to the formula established by the UAV air attitude model, the inclination direction and inclination angle of the UAV are accurately described, and the flat vibration motor in the corresponding direction on the pose perception waistband is controlled to vibrate, realizing the physical space accurate mapping of the UAV attitude information, so that the UAV operator can accurately and intuitively know the flight attitude of the UAV at this time.

[0062] As shown in Figures 4-6As shown, the flat vibration motor is 8, which is evenly fixed in the waistband frame inner layer by the way of cloth sewing, and divides a circle of 360° into 8 directions, and is configured to generate vibration feedback of corresponding direction and amplitude according to the inclination and drift angle of the unmanned aerial vehicle. Based on the physiological characteristics of the minimum resolution angle 45° of the human waist tactile, the application adopts 8 vibration motors which are evenly distributed in the circumferential direction, and the design of 45° interval makes each vibration unit correspond to 4 positive directions, front, back, left and right, and 4 oblique directions, front left, front right, back left and back right, which accurately matches the 4 positive / 4 oblique direction mapping requirements of the unmanned aerial vehicle attitude control, and ensures that the operator can accurately distinguish the vibration direction.

[0063] Please refer to Figure 4 As shown, the control unit is realized based on STM32 single-chip microcomputer, and the built-in attitude analysis algorithm and vibration control logic further include a flat vibration motor driving circuit, which mainly completes two functions: one is to control the data exchange between the wireless communication module and the unmanned aerial vehicle end; the other is to decode the attitude data transmitted by the unmanned aerial vehicle end and control the flat vibration motor in the corresponding direction of the posture sensing waistband to vibrate according to the attitude data.

[0064] Please refer to Figure 4 As shown, the positive electrode of the flat vibration motor is welded with the respective long wire, and finally connected with the corresponding port of the STM32 single-chip microcomputer of the control unit, and the negative electrode of the flat vibration motor is grounded.

[0065] Please refer to Figure 2 As shown, the posture sensing waistband further includes a calibration module, which is configured to perform wireless channel quality detection and circuit impedance continuity test through the wireless communication module when starting, and when any of the following abnormal conditions occurs:

[0066] (1) wireless connection establishment fails or continuous 3 times handshake timeout;

[0067] (2) the power supply voltage fluctuation exceeds the range of 4.2V±5%;

[0068] (3) the impedance difference between adjacent vibration motors is greater than 20Ω;

[0069] then immediately cut off the power supply and execute a three-level initialization process: hardware register reset, firmware checksum comparison and sensor reference value recalibration.

[0070] The calibration module of the pose perception waistband automatically detects the wireless communication connection state when starting, preferably, based on the CRC check and circuit impedance continuity of the NRF24L01 module, a three-level reset strategy (power off-hardware reload-firmware check) is executed in an abnormal state, so that the system initialization reliability is greatly improved, the false vibration feedback caused by communication delay or circuit failure is effectively avoided, at the same time, the physical mapping of the unmanned aerial vehicle attitude data and the pose perception waistband is kept strictly synchronized, the risk of misoperation is reduced, and the overall stability and safety of the system are significantly enhanced.

[0071] Referring to Figure 6 As shown in the figure, the control logic of the flat vibration motor includes:

[0072] (1) When the drift angle is within the range of ±20° of the four positive directions or the four oblique directions, a single vibration motor in the corresponding direction is activated;

[0073] (2) When the drift angle is within the range of ±25° of the boundary line between the positive direction and the oblique direction, two adjacent vibration motors are activated in cooperation to feedback the oblique direction;

[0074] (3) When the unmanned aerial vehicle is stationary, the inclination angle and the drift angle will have a certain jitter due to hardware measurement error and algorithm, and the dead zone value is set to 3°, when the inclination angle is less than the dead zone value, all vibration motors do not vibrate.

[0075] The control method of the vibration motor on the pose perception waistband disclosed in the application divides the single vibration area of the drift angle ±20° and the double motor cooperation area of ±25°, and combines a 3° dead zone threshold, so that the operator direction recognition accuracy is effectively improved, the invalid vibration power consumption is reduced, and the real-time transmission of the pose data (NRF24L01 module <2ms delay) is formed in cooperation, so that the space-time error between the tactile feedback and the actual attitude of the unmanned aerial vehicle is less than 0.1 second, and the control precision and system energy efficiency are significantly improved.

[0076] Referring to Figure 5 As shown in the figure, the pose perception waistband has three working modes:

[0077] (1) In the GPS mode, the unmanned aerial vehicle relies on external sensors, has excellent attitude self-adjusting ability, and only when it encounters abnormal weather such as strong wind, the unmanned aerial vehicle will produce large amplitude inclination, and the operator needs to manually operate to intervene in the attitude adjustment, when the inclination angle of the unmanned aerial vehicle is more than 20°, the vibration motor produces obvious vibration to prompt the operator to intervene;

[0078] (2) In the attitude mode, the UAV is in a "sensory closed" state, only using its own gyroscope or barometer or optical flow sensor for attitude control and height maintenance. At this time, the UAV will drift without external input. When the inclination exceeds a certain dead zone value (data jitter range), the vibration motor vibrates in the corresponding direction according to the inclination of the UAV, so that the operator can make fine adjustments.

[0079] (3) When the UAV rolls over, i.e. the inclination exceeds 70°, all vibration motors vibrate synchronously for 1 second and then stop.

[0080] Please refer to Figure 5 and Figure 6 The working method realizes precise feedback in two dimensions of direction and intensity through mode classification tactile feedback mechanism (GPS mode 1.5G strong vibration warning, attitude mode 0-1.5G proportional vibration fine adjustment, and side roll full motor synchronous warning), combined with precise threshold control (20° emergency intervention / 3-5° dead zone filtering / 70° roll determination), which effectively shortens the average response time of the UAV operator in complex working conditions, and significantly improves the control safety and human-machine cooperation efficiency of the UAV in extreme attitude.

[0081] Please refer to Figure 1 and Figure 2 The digital twin UAV attitude visual interface displays the UAV pose condition in real time on the operator's personal computer, which is used by the operator to adjust the UAV in combination with the pose sensing waistband. On the operator's computer, a three-dimensional UAV model is built through the Unity engine to display the inclination, drift angle, height and environment simulation data of the UAV in real time. The color of the digital twin UAV attitude visual interface changes according to the UAV state as follows,

[0082] Green: normal state, i.e. the inclination of the UAV in the GPS mode is ≤20° or the inclination of the UAV in the attitude mode is ≤5°, and the drift angle is within the dead zone value ±3°;

[0083] Yellow: warning state, i.e. the inclination of the UAV in the GPS mode is between 20° and 45°, or the inclination of the UAV in the attitude mode is between 5° and 15°, or the drift angle exceeds the dead zone value ±3°;

[0084] Red: emergency state, i.e. the inclination of the UAV in the GPS mode is >45° or the inclination of the UAV in the attitude mode is >15°, or the inclination is >70°;

[0085] The UAV end synchronizes the attitude data to the operator's computer end through the wireless communication module, forming a visual and tactile dual-channel cooperation with the waistband vibration feedback.

[0086] Among them, the unmanned aerial vehicle end pose sensor real-time collection unmanned aerial vehicle attitude data and through the data packet real-time transmission to the pose perception waistband, and combines the digital twin unmanned aerial vehicle attitude visual interface on the operator personal computer real-time display unmanned aerial vehicle pose condition, let unmanned aerial vehicle operator can promptly know the unmanned aerial vehicle flight attitude at this time.

[0087] To sum up, the present application through multi-channel coordinated feedback unmanned aerial vehicle flight position and attitude information, improve the operator's perception efficiency. Through the visual interface and tactile vibration feedback of double channel combination, break through the traditional single visual feedback information bottleneck. Tactile channel with zero delay, intuitive vibration signal directly transfer unmanned aerial vehicle attitude changes, such as roll angle and drift angle, significantly reduce the cognitive load of the operator, especially in complex tasks or distracted environment, can quickly respond to the abnormal attitude of unmanned aerial vehicle. Compared with the prior art depends on artificial observation or single sensor alarm, the present application greatly shortens the operator decision time, reduces the risk of unmanned aerial vehicle out of control, rollover or crash.

[0088] The above description is only the preferred embodiment of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art within the technical range disclosed by the present application, according to the technical scheme and the inventive concept of the present application, equivalent replacement or change, should be covered in the protection scope of the present application.

Claims

1. A multi-channel unmanned aerial vehicle pose perception system, comprising: The unmanned aerial vehicle end pose sensor is used for collecting unmanned aerial vehicle attitude data in real time. The pose perception waistband is worn on the body of the unmanned aerial vehicle operator and is used for physical space mapping of unmanned aerial vehicle attitude information, so that the unmanned aerial vehicle operator can accurately and intuitively know the flight attitude of the unmanned aerial vehicle at the moment, and the pose perception waistband comprises a control unit, a wireless communication module, a plurality of vibration motors arranged in multiple directions and a power supply module. The unmanned aerial vehicle end pose sensor transmits the collected unmanned aerial vehicle attitude data to the control unit in real time through the wireless communication module; the control unit is embedded with an unmanned aerial vehicle air attitude model, and the inclination angle and the drift angle of the unmanned aerial vehicle are obtained through the unmanned aerial vehicle air attitude model, the inclination angle is used to control the amplitude of vibration of the vibration motor, and the drift angle is used to control the vibration motor in the corresponding direction to vibrate. The digital twin unmanned aerial vehicle attitude visual interface displays the unmanned aerial vehicle pose condition on the computer of the operator in real time, and forms a visual and tactile double-channel cooperation for the operator to perceive together with the vibration feedback of the pose perception waistband. The unmanned aerial vehicle air attitude model is as follows:

2. The multi-lane drone pose perception system of claim 1, wherein, wherein γ is the angle between the XY plane of the unmanned aerial vehicle and the ground, the inclination angle is the complementary angle of the angle γ between the XY plane of the unmanned aerial vehicle and the ground; α is the angle between the projection of the gravity acceleration on the XY plane of the unmanned aerial vehicle and the X axis, that is, the drift angle; θ is the pitch angle of the unmanned aerial vehicle, and Φ is the roll angle of the unmanned aerial vehicle. Eight vibration motors are arranged on the inner layer of the pose perception waistband along the circumference of the waistband.

3. The multi-pass drone pose perception system of claim 1, wherein, The pose perception waistband further comprises a calibration module, which is configured to perform wireless channel quality detection and circuit impedance continuity test through the wireless communication module when starting, and when any of the following abnormal conditions occurs:

4. The multi-pass drone pose perception system of claim 1, wherein, (1) wireless connection establishment fails or continuous three handshakes timeout; (2) the power supply voltage fluctuation exceeds the range of 4.2V±5%; (3) the impedance difference between adjacent vibration motors is greater than 20Ω; then the power supply is immediately cut off and a three-level initialization process is performed: hardware register reset, firmware checksum comparison and sensor reference value recalibration. The wireless communication module is an NRF24L01 module.

5. The multi-pass drone pose perception system of claim 1, wherein, 6. A control method of vibration motors on a pose perception waistband, applied to the multi-channel unmanned aerial vehicle pose perception system of any one of claims 1-5, characterized in that: (1) when the drift angle is within ±20° of the four positive directions or the four oblique directions, a single vibration motor in the corresponding direction is activated; (2) when the drift angle is within ±25° of the boundary line between the positive direction and the oblique direction, two adjacent vibration motors are activated together to vibrate and feedback the inclined direction; (3) when the unmanned aerial vehicle is stationary, the inclination angle and the drift angle of the unmanned aerial vehicle will vibrate due to hardware measurement errors and algorithm reasons, and the dead zone value is set to 3°, and when the inclination angle of the unmanned aerial vehicle is less than the dead zone value, all vibration motors do not vibrate.

7. A working method of a pose perception waistband, based on the control method of vibration motors on the pose perception waistband of claim 6, characterized in that: ​ (1) In GPS mode, the UAV relies on external sensors and has the ability of attitude self-adjustment. When and only when the UAV encounters abnormal weather conditions, the UAV will produce a large amplitude tilt, and the operator needs to manually operate to intervene in the attitude adjustment. When the tilt angle of the UAV exceeds 20°, the vibration motor produces obvious vibration with vertical acceleration peak ≥1.5G to prompt the operator to intervene; (2) In attitude mode, the UAV is in a sensory closed state, and only uses its own gyroscope or barometer or optical flow sensor for attitude control and height maintenance. At this time, the UAV will drift without external input. When the tilt angle exceeds the dead zone value, i.e. the tilt angle exceeds 3°, the vibration motor generates vibration intensity in proportion to the tilt angle deviation value in the range of 0-1.5G, so that the operator can make fine adjustment; (3) When the UAV rolls over, i.e. the tilt angle exceeds 70°, all vibration motors vibrate synchronously for 1 second and then stop.

8. The method of operating a pose-aware waistband of claim 7, wherein, On the operator's computer, a three-dimensional UAV model is built through the Unity engine to display the tilt angle, drift angle, height and environment simulation data of the UAV in real time; the color of the digital twin UAV attitude visual interface changes according to the UAV state as follows, Green: normal state, i.e. the tilt angle of the UAV in GPS mode is ≤20° or the tilt angle of the UAV in attitude mode is ≤5°, and the drift angle is within the dead zone value ±3°; Yellow: warning state, i.e. the tilt angle of the UAV in GPS mode is between 20°-45°, or the tilt angle of the UAV in attitude mode is between 5°-15°, or the drift angle exceeds the dead zone value ±3°; Red: emergency state, i.e. the tilt angle of the UAV in GPS mode is >45° or the tilt angle of the UAV in attitude mode is >15°, or the tilt angle is >70°; The UAV end synchronizes the attitude data to the operator's computer through the wireless communication module, and forms a visual and tactile dual-channel cooperation with the waistband vibration feedback.

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