A multi-channel UAV pose perception system and method

Abstract

This invention discloses a multi-channel UAV pose perception system and method. The system includes a pose perception belt, a digital twin UAV attitude visual interface, and a UAV-side pose sensor. The pose perception belt includes a control unit, a wireless communication module, a vibration motor, a power supply module, and a belt frame. The UAV-side pose sensor collects UAV attitude data in real time and establishes an aerial attitude model of the UAV. The attitude data includes at least the angle and direction of UAV tilt. The angle of UAV tilt is defined as the tilt angle, which is the complementary angle γ between the UAV's XY plane and the ground. The direction of UAV tilt is defined as the drift angle, which is the angle α between the projection of gravitational acceleration on the UAV's XY plane and the X-axis. This invention significantly reduces the operator's cognitive load, enables rapid response to abnormal UAV attitudes, greatly shortens the operator's decision-making time, and reduces the risk of UAV loss of control, rollover, or crash.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) flight control technology, and more specifically, to a multi-channel UAV pose perception system and method. Background Technology

[0002] Currently, drones are widely used in many fields, such as agricultural irrigation, patrol and search, disaster relief, aerial surveys, environmental monitoring, and logistics transportation. However, with the rapid development of various industries, traditional drone control and management methods are increasingly unable to meet mission requirements, and the workload of drone operators is also increasing.

[0003] Common drone flight control systems on the market typically have two flight modes: GPS mode and attitude mode.

[0004] GPS mode is a mode in which drones use GPS positioning systems, cameras, and sensors such as ultrasonic radar to adaptively adjust their attitude stability, making it easy to control and providing stability and safety.

[0005] Attitude mode is a mode in which a drone uses only its own IMU (Inertial Measurement Unit), barometer, or optical flow sensor for attitude control and altitude maintenance when GPS signals are lost or malfunctioning. In this mode, the drone is less likely to maintain balance and heading, and will drift when there is no input, requiring manual control of the drone's horizontal attitude. However, GPS mode may fail in enclosed areas such as indoors, parking lots, and tunnels, forcing the drone into attitude mode; in battlefield reconnaissance missions, GPS mode may also reveal the drone's position due to sensor signal loss; attitude mode is also frequently used in aerial photography missions to achieve smooth and fluid visual effects. Therefore, attitude mode is extremely important for drone operators for attitude awareness and adjustment control.

[0006] Furthermore, in extreme environments, due to interference from factors such as wind direction and wind force at the flight site, drones may also experience problems such as tipping over, crashing, loss of control, or rotor breakage, thereby interfering with mission execution and even posing a risk of personnel injury.

[0007] Therefore, studying the pose perception and adjustment control of UAVs to maintain the stability of their attitude has practical significance and application value. Summary of the Invention

[0008] To address the aforementioned technical problems, this invention proposes a multi-channel UAV pose perception system and method. This system and method can meet the timeliness and accuracy requirements of UAV operators in obtaining UAV position and attitude information during flight. By improving the information feedback efficiency of UAV position and attitude, it enhances the UAV operator's ability to perceive the UAV's pose, allowing the UAV operator to adjust and control the UAV more quickly and accurately, thereby achieving the goal of maintaining the UAV's attitude stability when performing tasks under extreme conditions.

[0009] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0010] A multi-channel UAV pose perception system, comprising:

[0011] A drone attitude sensor is used to collect drone attitude data in real time.

[0012] The pose-sensing belt, worn by the drone operator, is used for physical spatial mapping of the drone's attitude information, enabling the drone operator to accurately and intuitively know the drone's current flight attitude. It includes a control unit, a wireless communication module, multi-directionally arranged vibration motors, and a power supply module.

[0013] The drone attitude sensor at the drone end transmits the collected drone attitude data to the control unit in real time through the wireless communication module; the control unit has an embedded drone aerial attitude model, through which the drone tilt angle and drift angle are obtained. The tilt angle is used to control the amplitude of the vibration motor, and the drift angle is used to control the vibration motor in the corresponding direction to vibrate.

[0014] The digital twin drone attitude vision interface displays the drone's position and attitude status in real time on the operator's personal computer, forming a dual-channel visual and tactile perception system with the vibration feedback from the attitude sensing belt.

[0015] Beneficial Effects: This invention improves the operator's perception efficiency by providing multi-channel collaborative feedback of the drone's position and attitude information during flight. By combining a visual interface with tactile vibration feedback, it overcomes the information bottleneck of traditional single-channel visual feedback. The tactile channel directly transmits drone attitude changes (such as tilt and drift angles) with zero-delay, intuitive vibration signals, significantly reducing the operator's cognitive load, especially in complex tasks or distracting environments, enabling rapid response to abnormal drone attitudes. This greatly shortens the operator's decision-making time and reduces the risk of drone loss of control, rollover, or crash.

[0016] In one optional embodiment, the UAV aerial attitude model is:

[0017]

[0018] Wherein, γ is the angle between the UAV's XY plane and the ground, and the tilt angle is the complementary angle of the angle γ between the UAV's XY plane and the ground;

[0019] α is the angle between the projection of gravitational acceleration onto the XY plane of the UAV and the X-axis, i.e., the drift angle;

[0020] θ is the pitch angle, and Φ is the roll angle.

[0021] Beneficial Effects: This invention analyzes the attitude data of a UAV collected by its attitude sensor, calculates its attitude parameters by analyzing the UAV's position and orientation in three-dimensional space, and establishes an aerial attitude model of the UAV based on trigonometry and geometric space models. When a UAV is flying, its attitude is determined by multiple angular parameters. By constructing a mathematical model, the UAV's attitude in three-dimensional space can be accurately described, providing fundamental data for flight control, navigation, and status monitoring. The aerial attitude model accurately describes the UAV's tilt direction and tilt angle, and controls the corresponding flat vibration motors on the attitude sensing belt to vibrate, achieving a precise physical spatial mapping of the UAV's attitude information. This allows the UAV operator to accurately and intuitively understand the UAV's current flight attitude.

[0022] In one optional embodiment, the pose-sensing belt has eight vibration motors evenly spaced along the circumference of the belt in its inner layer, and the vibration motors are flat vibration motors.

[0023] Beneficial effects: Based on the physiological characteristic that the minimum tactile resolution angle of the human waist is 45°, this invention adopts a design of 8 circumferentially evenly distributed vibration motors (45° intervals), 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), which accurately matches the 4 positive / 4 oblique direction mapping requirements of UAV attitude control, ensuring that the operator can accurately identify the vibration direction.

[0024] In an optional embodiment, the pose-sensing belt further includes a calibration module configured to perform wireless channel quality detection and circuit impedance continuity testing via a wireless communication module upon startup, in the event of any of the following abnormal conditions:

[0025] (1) Wireless connection establishment failed or three consecutive handshakes timed out;

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

[0027] (3) The impedance difference between adjacent vibration motors is >20Ω;

[0028] The power supply will be immediately cut off and a three-level initialization process will be executed: 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 attitude self-adjustment capability. The UAV will tilt significantly only when encountering abnormal weather conditions, requiring the operator to manually intervene in attitude adjustment. When the tilt angle of the UAV exceeds 20°, the vibration motor generates obvious vibration with a vertical acceleration peak value ≥1.5G to prompt the operator to intervene.

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

[0039] (3) When the drone 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 both orientation and force dimensions through a patterned hierarchical tactile feedback mechanism (GPS mode 1.5G strong vibration alarm, 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° side roll judgment). This effectively shortens the average response time of drone operators under complex working conditions and significantly improves the control safety and human-machine collaboration efficiency of drones under extreme attitudes.

[0041] In one alternative embodiment of the pose-aware belt's operating method, a 3D drone model is constructed using the Unity engine on the operator's computer, displaying the drone's tilt angle, drift angle, altitude, and environmental simulation data in real time. The colors of the digital twin drone's attitude visual interface change according to the drone's status as follows.

[0042] Green: Normal state, that is, the drone tilt angle is ≤20° in GPS mode or ≤5° in attitude mode, and the drift angle is within ±3° of the dead zone value;

[0043] Yellow: Warning status, that is, the drone tilt angle is between 20° and 45° in GPS mode, or the drone tilt angle is between 5° and 15° in attitude mode, or the drift angle exceeds the dead zone value by ±3°.

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

[0045] The drone synchronizes attitude data to the operator's computer via a wireless communication module, forming a dual-channel collaboration of visual and tactile feedback with the waist belt vibration feedback. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the architecture of the multi-channel UAV pose perception system of the present invention;

[0047] Figure 2 This is a schematic diagram of the workflow of the multi-channel UAV pose perception system of the present invention;

[0048] Figure 3 This is a schematic diagram of the aerial attitude model of the UAV of the present invention;

[0049] Figure 4 This is a schematic diagram of the hardware circuit of the pose-sensing belt of the present invention;

[0050] Figure 5 This is a schematic diagram of the working mode of the posture sensing belt of the present invention;

[0051] Figure 6 This is a schematic diagram of the control logic for the flat vibration motor of the pose sensing belt of the present invention. Detailed Implementation

[0052] 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.

[0053] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0054] Please see Figure 1-6 As shown, the present invention provides a multi-channel UAV pose perception system, including a pose perception belt, a digital twin UAV attitude visual interface, and a UAV-side pose sensor; the pose perception belt 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 belt frame.

[0055] Please see Figure 1-3As shown, the UAV end pose sensor collects UAV attitude data in real time and transmits it to the pose perception belt in real time via data packets; the attitude data includes at least the angle of UAV tilt and the direction of UAV tilt; the angle of UAV tilt is defined as incline, which is the complementary angle γ between the UAV XY plane and the ground (the angle between gravitational acceleration g and the UAV Z axis); the direction of UAV tilt is defined as drift angle, which is the angle α between the projection of gravitational acceleration on the UAV XY plane and the X axis.

[0056] Please see Figure 3 As shown, the incline and drift angles are calculated using the following formulas derived from the UAV's aerial attitude model:

[0057]

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

[0059] Please refer to Figure 3 As shown, this invention constructs an aerial attitude model of the UAV to accurately map changes in the UAV's attitude, thereby ensuring the accuracy of the position and attitude information obtained by the UAV operator during flight.

[0060] Please see Figure 1-6 As shown, the pose sensing belt is connected to the UAV pose sensor via a wireless communication module to obtain the UAV's attitude data. Formulas (1) and (2) derived from the UAV's aerial attitude model can be used to obtain the UAV's tilt angle and drift angle. The obtained tilt angle is used to control the amplitude of the flat vibration motor, while the drift angle is used to control the flat motor in the corresponding direction to vibrate. The wireless communication module is an NRF24L01 module. The control unit connects to the NRF24L01 module via the SPI interface to receive data packets, and outputs a PWM signal to the vibration motor drive circuit after parsing.

[0061] This invention defines and analyzes the drone attitude data collected by the drone's pose sensor, establishing an aerial attitude model for the drone. Thanks to the formula derived from this aerial attitude model, the drone's tilt direction and angle are accurately described, and the corresponding flat vibration motors on the pose sensing belt are controlled to vibrate, achieving precise physical spatial mapping of the drone's attitude information. This allows the drone operator to accurately and intuitively understand the drone's current flight attitude.

[0062] Please see Figure 4-6As shown, there are eight flat vibration motors, which are uniformly fixed in a ring to the inner layer of the waist belt frame by sewing fabric together. This divides the 360° circle into eight directions, configured to generate vibration feedback with corresponding direction and amplitude based on the drone's tilt and drift angles. Based on the physiological characteristic that the human waist's minimum tactile resolution angle is 45°, this invention employs eight circumferentially evenly distributed vibration motors at 45° intervals. Each vibration unit corresponds to four positive directions (front / back / left / right) and four oblique directions (front-left / front-right / back-left / back-right), precisely matching the four positive / four oblique direction mapping requirements of drone attitude control, ensuring the operator can accurately identify the vibration direction.

[0063] Please see Figure 4 As shown, the control unit is implemented based on an STM32 microcontroller, with built-in attitude analysis algorithm and vibration control logic, and further includes a flat vibration motor drive circuit. It mainly performs two functions: first, it controls the data exchange between the wireless communication module and the UAV terminal; second, it decodes the attitude data transmitted from the UAV terminal and controls the flat vibration motor in the corresponding position on the pose sensing belt to vibrate according to the attitude data.

[0064] Please see Figure 4 As shown, the positive terminal of the flat vibration motor is welded to its respective long wire and finally connected to the corresponding port of the STM32 microcontroller of the control unit, while the negative terminal of the flat vibration motor is grounded.

[0065] Please see Figure 2 As shown, the pose-sensing belt also includes a calibration module, which is configured to perform wireless channel quality detection and circuit impedance continuity testing via a wireless communication module upon startup. The calibration module will detect any of the following abnormal conditions:

[0066] (1) Wireless connection establishment failed or three consecutive handshakes timed out;

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

[0068] (3) The impedance difference between adjacent vibration motors is >20Ω;

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

[0070] The calibration module of the pose-aware belt automatically detects the wireless communication connection status upon startup. 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 case of abnormality, which greatly improves the reliability of system initialization and effectively avoids false vibration feedback caused by communication delay or circuit failure. At the same time, it ensures that the UAV attitude data and the physical mapping of the pose-aware belt are strictly synchronized, reducing the risk of misoperation and significantly enhancing the overall stability and safety of the system.

[0071] Please see Figure 6 As shown, the control logic of the flat vibration motor includes:

[0072] (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;

[0073] (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.

[0074] (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.

[0075] This 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 method effectively improves the operator's orientation recognition accuracy and reduces ineffective vibration power consumption. It works in conjunction with real-time pose data transmission (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.

[0076] Please see Figure 5 As shown, the pose-sensing belt has three working modes:

[0077] (1) In GPS mode, the UAV relies on external sensors and has excellent attitude self-adjustment capability. Only when encountering abnormal weather, such as strong winds, will the UAV tilt significantly, requiring the operator to manually intervene in attitude adjustment. When the UAV tilt angle exceeds 20°, the vibration motor will generate obvious vibration to prompt the operator to intervene.

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

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

[0080] Please see Figure 5 and Figure 6 As shown, this working method achieves precise feedback in both orientation and force dimensions through a patterned hierarchical tactile feedback mechanism (GPS mode 1.5G strong vibration alarm, 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° side roll judgment). This effectively shortens the average response time of the drone operator under complex working conditions and significantly improves the control safety and human-machine collaboration efficiency of the drone under extreme attitudes.

[0081] Please see Figure 1 and Figure 2 As shown, the digital twin drone attitude visual interface displays the drone's pose status in real time on the operator's personal computer, allowing the operator to control the drone in conjunction with the pose-aware belt. On the operator's computer, a 3D drone model is built using the Unity engine, displaying the drone's tilt angle, drift angle, altitude, and environmental simulation data in real time. The colors of the digital twin drone attitude visual interface change according to the drone's status as follows:

[0082] Green: Normal state, that is, the drone tilt angle is ≤20° in GPS mode or ≤5° in attitude mode, and the drift angle is within ±3° of the dead zone value;

[0083] Yellow: Warning status, that is, the drone tilt angle is between 20° and 45° in GPS mode, or the drone tilt angle is between 5° and 15° in attitude mode, or the drift angle exceeds the dead zone value by ±3°.

[0084] Red: Emergency state, i.e., the drone tilt angle is >45° in GPS mode or >15° or >70° in attitude mode;

[0085] The drone synchronizes attitude data to the operator's computer via a wireless communication module, forming a dual-channel collaboration of visual and tactile feedback with the waist belt vibration feedback.

[0086] This invention collects drone attitude data in real time through a drone attitude sensor and transmits it to an attitude perception belt in real time via data packets. Combined with a digital twin drone attitude visual interface, the drone's attitude status is displayed in real time on the operator's personal computer, allowing the drone operator to know the drone's current flight attitude quickly and promptly.

[0087] In summary, this invention improves the operator's perception efficiency by providing multi-channel collaborative feedback of the drone's position and attitude information during flight. The combination of a visual interface and tactile vibration feedback overcomes the information bottleneck of traditional single-channel visual feedback. The tactile channel directly transmits drone attitude changes, such as tilt and drift angles, with zero-delay, intuitive vibration signals, significantly reducing the operator's cognitive load, especially in complex tasks or distracted environments, enabling rapid response to abnormal drone attitudes. Compared to existing technologies that rely on manual observation or single-sensor alarms, this invention significantly shortens the operator's decision-making time and reduces the risk of drone loss of control, rollover, or crash.

[0088] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multi-channel UAV pose perception system, characterized in that, include: A drone attitude sensor is used to collect drone attitude data in real time. The pose-sensing belt, worn by the drone operator, is used for physical spatial mapping of the drone's attitude information, enabling the drone operator to accurately and intuitively know the drone's current flight attitude. It includes a control unit, a wireless communication module, multi-directionally arranged vibration motors, and a power supply module. The drone attitude sensor at the drone end transmits the collected drone attitude data to the control unit in real time through the wireless communication module; the control unit has an embedded drone aerial attitude model, through which the drone tilt angle and drift angle are obtained. The tilt angle is used to control the amplitude of the vibration motor, and the drift angle is used to control the vibration motor in the corresponding direction to vibrate. The digital twin drone attitude visual interface displays the drone's position and attitude status in real time on the operator's computer, forming a visual and tactile dual-channel system with the vibration feedback of the attitude sensing belt for the operator to perceive. The aerial attitude model of the UAV is: ； ； Wherein, γ is the angle between the UAV's XY plane and the ground, and the tilt angle is the complementary angle of the angle γ between the UAV's XY plane and the ground; α is the angle between the projection of the gravitational acceleration onto the XY plane of the UAV and the X-axis, i.e., the drift angle; θ is the pitch angle of the UAV, and Φ is the roll angle of the UAV; The pose-sensing belt also includes a calibration module, which is configured to perform wireless channel quality detection and circuit impedance continuity testing via a wireless communication module upon startup. The calibration module will detect any of the following abnormalities: (1) Wireless connection establishment failed or three consecutive handshakes timed out; (2) The power supply voltage fluctuation exceeds the range of 4.2V±5%; (3) The impedance difference between adjacent vibration motors is >20Ω; The power supply will be immediately cut off and a three-level initialization process will be executed: hardware register reset, firmware checksum comparison, and sensor reference value recalibration.

2. The multi-channel UAV pose perception system according to claim 1, characterized in that, The pose sensing belt has eight vibration motors evenly spaced along the circumference of the belt in its inner layer. The vibration motors are flat vibration motors.

3. The multi-channel UAV pose perception system according to claim 1, characterized in that, The wireless communication module is an NRF24L01 module.

4. A control method for a vibration motor on a pose-sensing belt, applied to a multi-channel UAV pose-sensing system as described in any one of claims 1 to 3, characterized in that, (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; (2) When the drift angle is within ±25° of the boundary between the positive and oblique directions, the two adjacent vibration motors are activated in concert and vibrate together to provide feedback on the tilt direction. (3) When the drone is stationary, the tilt angle and drift angle of the drone will fluctuate due to hardware measurement errors and algorithm reasons. The dead zone value is set to 3°. When the drone tilt angle is less than the dead zone value, all vibration motors will not vibrate.

5. A method for operating a pose-sensing belt, based on the control method for the vibration motor on the pose-sensing belt as described in claim 4, characterized in that, (1) In GPS mode, the UAV relies on external sensors and has attitude self-adjustment capability. The UAV will tilt significantly only when encountering abnormal weather conditions, requiring the operator to manually intervene in attitude adjustment. When the tilt angle of the UAV exceeds 20°, the vibration motor generates obvious vibration with a vertical acceleration peak value ≥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, barometer or optical flow sensor for attitude control and altitude maintenance. At this time, the UAV will drift without external input. When the tilt angle exceeds the dead zone value, that is, when the tilt angle exceeds 3°, the vibration motor generates vibration intensity proportionally in the range of 0-1.5G according to the tilt angle deviation value, so that the operator can make fine adjustments. (3) When the drone rolls over, i.e., the tilt angle exceeds 70°, all vibration motors vibrate synchronously for 1 second and then stop.

6. The working method of the pose-sensing belt according to claim 5, characterized in that, On the operator's computer, a 3D drone model is built using the Unity engine, displaying the drone's tilt angle, drift angle, altitude, and environmental simulation data in real time. The colors of the digital twin drone's attitude visual interface change according to the drone's status as follows. Green: Normal state, that is, the drone tilt angle is ≤20° in GPS mode or ≤5° in attitude mode, and the drift angle is within ±3° of the dead zone value; Yellow: Warning status, that is, the drone tilt angle is between 20° and 45° in GPS mode, or the drone tilt angle is between 5° and 15° in attitude mode, or the drift angle exceeds the dead zone value by ±3°. Red: Emergency state, i.e., the drone tilt angle is >45° in GPS mode or >15° or >70° in attitude mode; The drone synchronizes attitude data to the operator's computer via a wireless communication module, forming a dual-channel collaboration of visual and tactile feedback with the waist belt vibration feedback.

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