Conversion system, method, electronic device and storage medium for unmanned aerial vehicle control signals
By demodulating the drone's remote control signal, capturing edge information, processing environmental data, and compensating for flight vectors, stable flight control of the drone under adverse weather conditions was achieved, solving the problem of reduced self-control capability caused by decreased motor speed.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HUIZHOU GAOSHENGDA OPTOELECTRONIC TECH CO LTD
- Filing Date
- 2026-03-06
- Publication Date
- 2026-07-21
AI Technical Summary
In adverse weather conditions such as rain and snow, the motor speed of drones decreases, leading to a decline in self-control and an inability to maintain a balanced flight state.
By acquiring external remote control signals for demodulation and protocol conversion, capturing edge information and time period, collecting environmental data for conversion and processing, compensating and filtering the flight vector for noise, fusing the control vector, and adjusting the pulse width modulation electrical signal to output a stable flight control signal.
It enhances the drone's flight self-control capability in harsh environments, ensuring stable flight.
Smart Images
Figure CN122431324A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV control signal conversion system, method, electronic device, and storage medium. Background Technology
[0002] Drones are widely used in various fields such as surveying, aerial photography, and other applications. However, in adverse weather conditions such as rain and snow, the performance of the drone's motors drops significantly, leading to a decrease in the drone system's self-control capabilities and making it unable to maintain a balanced flight. Summary of the Invention
[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a system, method, electronic device and storage medium for converting control signals of unmanned aerial vehicles (UAVs), which can enhance the autonomous control capability of UAVs and ensure stable flight.
[0004] The objective of this invention is achieved through the following technical solution: The first aspect of this application provides a method for converting control signals for an unmanned aerial vehicle (UAV), comprising: acquiring an external remote control signal; demodulating the remote control signal to output a modulated signal; capturing the edge information and time period of the modulated signal to obtain acquisition data; storing the acquisition data; analyzing the acquisition data to obtain a control vector; acquiring environmental data; converting and processing the environmental data to output a current flight vector; compensating the current flight vector to obtain an optimized flight vector; fusing the control vector and the optimized flight vector to output a pulse width modulation (PWM) electrical signal; reading the acquisition data; adjusting the PWM electrical signal according to the acquisition data to obtain a flight control signal.
[0005] The step of demodulating the remote control signal and outputting a modulated signal includes: performing multi-layer nested decoding and demodulation on the remote control signal, and then using protocol conversion to output the modulated signal.
[0006] The step of compensating the current flight vector to obtain an optimized flight vector includes: performing error compensation and dynamic compensation on the current flight vector to obtain a preprocessed flight vector; performing noise filtering on the preprocessed flight vector to output the optimized flight vector.
[0007] The step of adjusting the pulse width modulation electrical signal according to the captured data includes: adjusting the dynamic duty cycle timing of the pulse width modulation electrical signal according to the captured data to obtain the flight control signal.
[0008] A second aspect of this application provides a method for converting control signals for an unmanned aerial vehicle (UAV), comprising: a first acquisition module for acquiring an external remote control signal, demodulating the remote control signal, and outputting a modulated signal; a capture module for capturing the edge information and time period of the modulated signal to obtain capture data, and storing the capture data; an analysis module for analyzing the capture data to obtain a control vector; a second acquisition module for acquiring environmental data, converting and processing the environmental data, and outputting a current flight vector; a compensation module for compensating the current flight vector to obtain an optimized flight vector; an optimization module for fusing the control vector and the optimized flight vector to output a pulse width modulation (PWM) electrical signal; and an adjustment module for reading the capture data and adjusting the PWM electrical signal according to the capture data to obtain a flight control signal.
[0009] The first acquisition module is also used to perform multi-layer nested decoding and demodulation of the remote control signal, and then output the modulated signal by protocol conversion.
[0010] The compensation module is further used to perform error compensation and dynamic compensation on the current flight vector to obtain a preprocessed flight vector; and to perform noise filtering on the preprocessed flight vector to output the optimized flight vector.
[0011] The adjustment module is also used to adjust the dynamic duty cycle timing of the pulse width modulation electrical signal according to the captured data to obtain the flight control signal.
[0012] A third aspect of this application provides an electronic device, comprising: Processor; and A memory that stores executable code, which, when executed by the processor, causes the processor to perform the method described above.
[0013] A fourth aspect of this application provides a computer-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to perform the method described above.
[0014] Compared with the prior art, the present invention has at least the following advantages: This application obtains a stable flight control signal by compensating for the current flight vector and adjusting the pulse width modulation electrical signal in real time based on the captured data, thereby helping to improve the flight self-control capability of the UAV in harsh environments and maintain stable flight. Attached Figure Description
[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below.
[0016] Figure 1 This is a flowchart of a method for converting UAV control signals according to an embodiment of the present invention; Figure 2 This is a functional block diagram of a UAV control signal conversion system according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation
[0017] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.
[0018] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0019] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0020] Drones are widely used in various fields such as surveying, aerial photography, and other applications. However, in adverse weather conditions such as rain and snow, the performance of the drone's motors drops significantly, leading to a decrease in the drone system's self-control capabilities and making it unable to maintain a balanced flight.
[0021] To address the aforementioned issues, this application provides a method, system, electronic device, and storage medium for converting UAV control signals, which enhances the autonomous control capabilities of UAVs and ensures stable flight.
[0022] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.
[0023] Figure 1 This is a flowchart illustrating a method for converting control signals for a drone, as shown in an embodiment of this application.
[0024] See Figure 1 A method for converting control signals for unmanned aerial vehicles (UAVs), comprising: Step S101: Acquire the external remote control signal, demodulate the remote control signal, and output the modulated signal.
[0025] Specifically, the remote control signal is demodulated and a modulated signal is output, including: after the remote control signal is decoded and demodulated through multiple nested layers, a modulated signal is output using protocol conversion.
[0026] It should be noted that the flight controller receives 2.4GHz remote control signals sent by the base station or remote control device. The remote control signals are transmitted to the flight controller via radio frequency protocol, and then radio frequency demodulation, digital decoding and channel mapping are performed. The remote control signals are then demodulated by multi-layer nested decoding and closed-loop control system, and output through protocol conversion.
[0027] Step S102: Capture the edge information and time period of the modulation signal to obtain the captured data, and store the captured data.
[0028] Step S103: Analyze the captured data to obtain the control vector.
[0029] It should be noted that edge information is generally a rising edge or a falling edge, and there is a time period between each edge. Further, the flight controller receives the modulation signal through its GPIO pins, configures the capture mode, and then captures the rising or falling edge of the modulation signal using its internal timer function, calculating the time period. In addition, whenever a modulation signal is captured, the flight controller triggers an interrupt response and records the data in memory. A quantitative method, set by a standardized program, is used to determine the flight controller's control vector, thereby mapping the UAV's channel data transmission.
[0030] Step S104: Collect environmental data, transform and process the environmental data, and output the current flight vector.
[0031] It should be noted that the IMU sensor on the flight control board collects environmental data such as barometer, GPS, and magnetometer data, which will be converted into the current flight vector.
[0032] Step S105: Compensate the current flight vector to obtain the optimized flight vector.
[0033] Specifically, the current flight vector is subjected to error compensation and dynamic compensation to obtain a preprocessed flight vector; the preprocessed flight vector is then subjected to noise filtering to output an optimized flight vector.
[0034] It should be noted that the flight control board performs error compensation and dynamic compensation on the flight vectors, effectively eliminating problems caused by hardware deviations and temperature drift. At the same time, it performs noise filtering on the flight vectors to suppress high-frequency vibrations and electromagnetic interference, ensuring the stability of the flight vector data.
[0035] Step S106: The control vector and the optimized flight vector are fused together to output a pulse width modulated electrical signal.
[0036] It should be noted that the flight control board integrates the control vector and optimized flight vector using core algorithms, fuses the IMU angular velocity with the vector of motion feature points, constructs a visual inertial odometry, and outputs a pulse width modulation electrical signal.
[0037] Step S107: Read the captured data, adjust the pulse width modulation electrical signal according to the captured data, and obtain the flight control signal.
[0038] Specifically, adjusting the pulse width modulation electrical signal based on the acquired data includes: adjusting the dynamic duty cycle timing of the pulse width modulation electrical signal based on the acquired data to obtain the flight control signal.
[0039] It should be noted that the captured data is read, set as the flight control reference value, and compared and adjusted with the pulse width modulation electrical signal. By adjusting the dynamic duty cycle timing of the electrical signal, the flight vector of the UAV flight control board is kept consistent with the control vector data, thereby realizing the automatic adjustment of the UAV flight control signal.
[0040] Furthermore, in another embodiment, the flight control signal is optimized and processed to output a control signal.
[0041] It should be noted that the flight control port transmits flight control signals to the ESC board. After receiving the flight control signals, the ESC board's GPIO pins process the signals through the interface circuit. First, an RC low-pass filter suppresses high-frequency noise to ensure the integrity of the data signal. Second, a Schmitt trigger performs level conversion to eliminate jitter and output a TTL level signal. An isolator is used to prevent high-current crosstalk, achieving electrical isolation between weak and strong currents and blocking interference from ground loops. Subsequently, DMA processing technology is used to acquire the periodic signal captured by the timer module at high speed, measuring the pulse width of the digital signal with microsecond-level precision, restoring the binary sequence, and converting it into 16-bit digital frame data by the DShot digital protocol. A dedicated DShot decoder performs cyclic redundancy check on the 16-bit data frame, continuously detecting the 16-bit pulse sequence to confirm the frame start. The value of each parameter is determined based on the signal pulse width, and the 16-bit data is reconstructed. The 11-bit throttle data is linearly mapped to the motor's operating speed percentage and stored in a buffer for the drive module to access. Finally, the drive module checks the CRC signal to restore the 16-bit data packet of the command signal, ensuring the correctness of data transmission. Next, a gate driver chip amplifies the weak control signal and transmits it to the MOSFETs of the three-phase full-bridge circuit to provide the turn-on voltage and enable them to conduct. The phase lines of the three-phase full-bridge circuit are formed by two N-channel high- and low-voltage MOSFETs forming a half-bridge circuit. Six sets of MOSFET half-bridge circuits constitute the three-phase full-bridge circuit, enabling the drive signal to be transmitted to the motor output. The flight control board's timer generates six complementary PWM signals, which are synchronously transmitted to the brushless motor. These signals include dead time between alternations to prevent short circuits caused by simultaneous conduction of the three-phase full-bridge circuit. The amplified control signal is then sent to the brushless motor, causing it to start working. The motor core switches the conducting phase line every 60 degrees, conducting two phases per rotation angle, while the other phase is left floating in a high-resistance state. Through Clarke & Park transformation, the three-phase current is converted into direct-axis and quadrature-axis components. A dual-loop PI control method is used, with the outer loop controlling speed and the inner loop controlling torque and flux. When the brushless motor receives control signals, the port-to-port delay can be less than 1ms, achieving millisecond-level conversion response, micron-level conversion accuracy, and strong anti-interference self-control capability for the UAV's output control signals. Furthermore, the three-phase ports of the brushless motor transmit real-time data to the central control system via a communication protocol, and the flight control board collects the brushless motor's RPM value. The flight control board uses built-in circuitry and program instructions to make judgments; when the detected value is lower than the set standard, the flight control board automatically outputs a compensation control signal, which is then fused with the flight control signal and transmitted to the electronic speed controller (ESC) for control. This enables the UAV's flight control board to perform signal conversion self-control during flight.
[0042] Corresponding to the aforementioned application function implementation method embodiments, this application also provides a method for converting UAV control signals, an electronic device, and corresponding embodiments.
[0043] Figure 2 This is a functional block diagram of the UAV control signal conversion system shown in the embodiments of this application.
[0044] See Figure 2 A UAV control signal conversion system includes a first acquisition module 100, a capture module 200, an analysis module 300, a second acquisition module 400, a compensation module 500, an optimization module 600, and an adjustment module 700. The first acquisition module 100 acquires external remote control signals, demodulates the remote control signals, and outputs a modulated signal. The capture module 200 captures the edge information and time period of the modulated signal to obtain capture data, which is then stored. The analysis module 300 analyzes the capture data to obtain a control vector. The second acquisition module 400 acquires environmental data, converts and processes the environmental data, and outputs the current flight vector. The compensation module 500 compensates the current flight vector to obtain an optimized flight vector. The optimization module 600 fuses the control vector and the optimized flight vector to output a pulse width modulation (PWM) electrical signal. The adjustment module 700 reads the captured data and adjusts the PWM electrical signal according to the captured data to obtain a flight control signal.
[0045] See Figure 2 In one embodiment, the first acquisition module 100 is further configured to perform multi-layer nested decoding and demodulation of the remote control signal, and then output the modulated signal by protocol conversion.
[0046] See Figure 2 In one embodiment, the compensation module 500 is further used to perform error compensation and dynamic compensation on the current flight vector to obtain a preprocessed flight vector; and to perform noise filtering on the preprocessed flight vector to output an optimized flight vector.
[0047] See Figure 2 In one embodiment, the adjustment module 700 is further configured to adjust the dynamic duty cycle timing of the pulse width modulation electrical signal according to the captured data to obtain the flight control signal.
[0048] Regarding the system in the above embodiments, the specific ways in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated further here.
[0049] Figure 3 This is a schematic diagram of the structure of an electronic device shown in an embodiment of this application.
[0050] See Figure 3The electronic device 1000 includes a memory 1010 and a processor 1020.
[0051] The processor 1020 can be a central processing unit (CPU), or it can be an integrated circuit composed of other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be any conventional processor that can run the Linux kernel.
[0052] Memory 1010 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. ROM may store static data or instructions required by processor 1020 or other modules of the computer. Permanent storage devices may be read-write storage devices. Permanent storage devices may be non-volatile storage devices that retain stored instructions and data even when the computer is powered off. In some embodiments, permanent storage devices use mass storage devices (e.g., magnetic or optical disks, flash memory) as permanent storage devices. In other embodiments, permanent storage devices may be removable storage devices (e.g., floppy disks, optical drives). System memory may be a read-write storage device or a volatile read-write storage device, such as dynamic random access memory. System memory may store some or all of the instructions and data required by the processor during operation. Furthermore, memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 1010 may include a removable storage device that is readable and / or writable, such as a laser disc (CD), a read-only digital multifunction optical disc (e.g., DVD-ROM, dual-layer DVD-ROM), a read-only Blu-ray disc, an ultra-high density optical disc, a flash memory card (e.g., SD card, mini SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. Computer-readable storage media do not contain carrier waves or transient electronic signals transmitted wirelessly or via wired connections.
[0053] The memory 1010 stores executable code, which, when processed by the processor 1020, can cause the processor 1020 to execute part or all of the methods described above.
[0054] Furthermore, the method according to this application can also be implemented as a computer program or computer program product, which includes computer program code instructions for performing some or all of the steps in the method described above.
[0055] Alternatively, this application may be implemented as a computer-readable storage medium (or a non-transitory machine-readable storage medium or a machine-readable storage medium) storing executable code (or computer program or computer instruction code) thereon, which, when executed by a processor of an electronic device (or server, etc.), causes the processor to perform part or all of the steps of the methods described above according to this application.
[0056] The solution of this application has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of each embodiment have different focuses; for parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. Those skilled in the art should also understand that the actions and modules involved in the specification are not necessarily essential to this application. Furthermore, it is understood that the steps in the method of this application embodiment can be adjusted, combined, and deleted according to actual needs, and the modules in the device of this application embodiment can be combined, divided, and deleted according to actual needs.
[0057] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.
Claims
1. A method for converting control signals for unmanned aerial vehicles (UAVs), characterized in that, include: Acquire external remote control signals, demodulate the remote control signals, and output modulated signals; The edge information and time period of the modulated signal are captured to obtain captured data, which is then stored. The captured data is analyzed to obtain the control vector; Collect environmental data, transform and process the environmental data, and output the current flight vector; The current flight vector is compensated to obtain an optimized flight vector; The control vector and the optimized flight vector are fused together to output a pulse width modulation electrical signal; The captured data is read, and the pulse width modulation electrical signal is adjusted according to the captured data to obtain the flight control signal.
2. The method for converting UAV control signals according to claim 1, characterized in that, The step of demodulating the remote control signal and outputting a modulated signal includes: After the remote control signal is decoded and demodulated through multiple nested layers, the modulated signal is output using protocol conversion.
3. The method for converting UAV control signals according to claim 1, characterized in that, The step of compensating the current flight vector to obtain an optimized flight vector includes: The current flight vector is subjected to error compensation and dynamic compensation to obtain a preprocessed flight vector; The preprocessed flight vector is subjected to noise filtering to output the optimized flight vector.
4. The method for converting UAV control signals according to claim 1, characterized in that, The step of adjusting the pulse width modulation electrical signal based on the captured data includes: Based on the captured data, the dynamic duty cycle timing of the pulse width modulation electrical signal is adjusted to obtain the flight control signal.
5. A system for converting control signals for unmanned aerial vehicles (UAVs), characterized in that, include: The first acquisition module is used to acquire external remote control signals, demodulate the remote control signals, and output modulated signals; The capture module is used to capture the edge information and time period of the modulation signal, obtain the capture data, and store the capture data; The analysis module is used to analyze the captured data to obtain the control vector; The second acquisition module is used to acquire environmental data, transform and process the environmental data, and output the current flight vector. The compensation module is used to compensate the current flight vector to obtain an optimized flight vector; The optimization module is used to fuse the control vector and the optimized flight vector and output a pulse width modulation electrical signal. An adjustment module is used to read the captured data and adjust the pulse width modulation electrical signal according to the captured data to obtain a flight control signal.
6. The UAV control signal conversion system according to claim 5, characterized in that, The first acquisition module is also used to perform multi-layer nested decoding and demodulation of the remote control signal, and then output the modulated signal by protocol conversion.
7. The UAV control signal conversion system according to claim 5, characterized in that, The compensation module is also used to perform error compensation and dynamic compensation on the current flight vector to obtain a preprocessed flight vector; The preprocessed flight vector is subjected to noise filtering to output the optimized flight vector.
8. The UAV control signal conversion system according to claim 5, characterized in that, The adjustment module is also used to adjust the dynamic duty cycle timing of the pulse width modulation electrical signal according to the captured data to obtain the flight control signal.
9. An electronic device, characterized in that, include: processor; as well as A memory having executable code stored thereon, which, when executed by the processor, causes the processor to perform the method as described in any one of claims 1-4.
10. A computer-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to perform the method as described in any one of claims 1-4.