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CN-122009570-A - Unmanned aerial vehicle residual flight duration calculation system and method

CN122009570ACN 122009570 ACN122009570 ACN 122009570ACN-122009570-A

Abstract

The invention discloses a system and a method for calculating the remaining flight time of an unmanned aerial vehicle, wherein the system comprises the steps of carrying out temperature compensation on the current nominal battery capacity of the unmanned aerial vehicle according to the current temperature of a battery of the unmanned aerial vehicle to obtain the actual effective battery capacity of the unmanned aerial vehicle, carrying out current integration and voltage correction on the actual effective battery capacity of the unmanned aerial vehicle to obtain the remaining available electric quantity of the battery of the unmanned aerial vehicle, calculating the equivalent wind speed of the unmanned aerial vehicle according to the wind speed and wind direction data of the unmanned aerial vehicle in the current flight state, calculating the flight power consumption of the unmanned aerial vehicle in the current flight state through an aerodynamic model based on the airspeed, the equivalent wind speed and the environmental temperature of the unmanned aerial vehicle, calculating the comprehensive remaining time of the unmanned aerial vehicle based on the remaining available electric quantity of the unmanned aerial vehicle and the flight power consumption of the unmanned aerial vehicle in the current flight state by adopting a rolling time domain estimation method, and carrying out monotonically decreasing smoothing on the comprehensive remaining time to obtain the current display remaining time of the unmanned aerial vehicle.

Inventors

  • ZHU CHANGJIAN
  • ZHANG JIAN
  • YANG LONG

Assignees

  • 东风汽车集团股份有限公司

Dates

Publication Date
20260512
Application Date
20260320

Claims (19)

  1. 1. A system for calculating the remaining flight time of an unmanned aerial vehicle, comprising: The residual electric quantity calculation module is used for carrying out temperature compensation on the current nominal battery capacity of the unmanned aerial vehicle according to the current temperature of the unmanned aerial vehicle battery to obtain the actual effective battery capacity of the unmanned aerial vehicle, and carrying out current integration and voltage correction on the actual effective battery capacity of the unmanned aerial vehicle to obtain the residual available electric quantity of the unmanned aerial vehicle battery; the environment resistance and power consumption calculation module is used for calculating the equivalent wind speed of the unmanned aerial vehicle according to the wind speed and wind direction data of the unmanned aerial vehicle in the current flight state, and calculating the flight power consumption of the unmanned aerial vehicle in the current flight state through an aerodynamic model based on the airspeed, the equivalent wind speed and the environment temperature of the unmanned aerial vehicle; the remaining duration calculation module is used for calculating the comprehensive remaining duration of the unmanned aerial vehicle based on the remaining available electric quantity of the unmanned aerial vehicle and the flight power consumption of the unmanned aerial vehicle in the current flight state by adopting a rolling time domain estimation method, and performing monotonically decreasing smoothing on the comprehensive remaining duration to obtain the current display remaining duration of the unmanned aerial vehicle.
  2. 2. The system for calculating the remaining flight time of the unmanned aerial vehicle according to claim 1, wherein the method for obtaining the actual effective battery capacity of the unmanned aerial vehicle by performing temperature compensation on the current nominal battery capacity of the unmanned aerial vehicle according to the current temperature of the battery of the unmanned aerial vehicle comprises the steps of calculating the actual effective battery capacity of the unmanned aerial vehicle according to the current nominal battery capacity of the unmanned aerial vehicle, a temperature compensation coefficient, the current temperature of the battery and a reference temperature by adopting a temperature compensation model based on the influence of the battery temperature on the battery capacity.
  3. 3. The system for calculating the remaining flight time of the unmanned aerial vehicle according to claim 2, wherein the formula for calculating the actual effective battery capacity of the unmanned aerial vehicle is as follows: ; Wherein, the Is the actual effective battery capacity of the drone battery at the current temperature, For the current nominal battery capacity of the drone, For the temperature compensation coefficient to be a function of the temperature, For the current temperature of the battery, Is the reference temperature.
  4. 4. The system for calculating the remaining flight time of the unmanned aerial vehicle according to claim 3, wherein the method for obtaining the remaining available electric quantity of the unmanned aerial vehicle battery by carrying out current integration and voltage correction on the actual effective battery capacity of the unmanned aerial vehicle comprises the steps of calculating the remaining available electric quantity of the unmanned aerial vehicle battery according to the remaining electric quantity of the unmanned aerial vehicle battery based on time integration, a current integration weight coefficient, and a battery power based on the remaining electric quantity of the voltage, and a voltage correction weight coefficient.
  5. 5. The system for calculating the remaining flight time of the unmanned aerial vehicle according to claim 1 or 4, wherein the formula for calculating the remaining available power of the unmanned aerial vehicle battery is as follows: , ; Wherein, the Is the remaining available power of the unmanned aerial vehicle battery, The remaining power integrated for the unmanned aerial vehicle battery based on time, As the current integration weight coefficient, The weight coefficient is modified for the voltage and, The voltage-based residual charge for the unmanned aerial vehicle battery.
  6. 6. The system for calculating the remaining flight time of the unmanned aerial vehicle according to claim 5, wherein the remaining power of the unmanned aerial vehicle battery based on time integration is calculated according to the actual effective battery capacity of the unmanned aerial vehicle battery and the consumed power consumption of the unmanned aerial vehicle battery at the current temperature.
  7. 7. The system for calculating the remaining flight time of the unmanned aerial vehicle according to claim 6, wherein the calculation formula for obtaining the remaining power of the unmanned aerial vehicle battery based on time integration is as follows: ; Wherein, the The remaining power integrated for the unmanned aerial vehicle battery based on time, Is the actual effective battery capacity of the drone battery at the current temperature, The battery has consumed power for the unmanned aerial vehicle.
  8. 8. The system for calculating the remaining flight time of the unmanned aerial vehicle according to claim 7, wherein the method for obtaining the consumed electric quantity of the unmanned aerial vehicle battery comprises the steps of integrating the real-time current of the unmanned aerial vehicle battery with time to obtain the consumed electric quantity of the unmanned aerial vehicle battery: ; Wherein, the The battery has consumed power for the unmanned aerial vehicle, For the starting moment of the use of the unmanned aerial vehicle battery, For the total time the drone battery is used, Is that Real-time current of the unmanned aerial vehicle battery at any time.
  9. 9. The unmanned aerial vehicle remaining flight duration calculation system of claim 5, wherein the method for obtaining the voltage-based remaining capacity of the unmanned aerial vehicle battery comprises the steps of inquiring a preset battery and electric quantity characteristic curve according to the estimated open-circuit voltage of the unmanned aerial vehicle battery to obtain a voltage-based unmanned aerial vehicle battery state-of-charge value, and calculating according to the unmanned aerial vehicle battery state-of-charge value and the actual effective battery capacity of the unmanned aerial vehicle battery at the current temperature to obtain the voltage-based remaining capacity of the unmanned aerial vehicle battery.
  10. 10. The system for calculating the remaining flight time of the unmanned aerial vehicle according to claim 9, wherein the formula for calculating the remaining power of the unmanned aerial vehicle battery based on the voltage is as follows: ; Wherein, the For the remaining amount of voltage-based power of the unmanned aerial vehicle battery, For a voltage-based drone battery state of charge value, Is the actual effective battery capacity of the unmanned aerial vehicle battery at the current temperature.
  11. 11. The system for calculating the remaining flight time of the unmanned aerial vehicle according to claim 10, wherein the method for obtaining the open circuit voltage of the unmanned aerial vehicle battery comprises the step of calculating the open circuit voltage of the unmanned aerial vehicle battery according to the terminal voltage of the unmanned aerial vehicle battery, the working current of the unmanned aerial vehicle battery and the internal resistance of the unmanned aerial vehicle battery.
  12. 12. The system for calculating the remaining length of flight of the unmanned aerial vehicle of claim 11, wherein the formula for calculating the open circuit voltage of the unmanned aerial vehicle battery is as follows: ; Wherein, the Is the open circuit voltage of the unmanned aerial vehicle battery, Is the terminal voltage of the unmanned aerial vehicle battery, Is the working current of the unmanned aerial vehicle battery, Is the internal resistance of the unmanned aerial vehicle battery.
  13. 13. The system for calculating the residual flight time of the unmanned aerial vehicle according to claim 1, wherein the method for calculating the equivalent wind speed of the unmanned aerial vehicle according to the wind speed and wind direction data of the unmanned aerial vehicle in the current flight state comprises the following steps: calculating an included angle between a speed vector of the unmanned aerial vehicle relative to air and a wind speed vector : ; According to the included angle Calculating equivalent wind speed of unmanned aerial vehicle : ; Wherein, the Is the course angle of the unmanned aerial vehicle, In the form of a wind direction angle, For the ambient wind speed, when unmanned aerial vehicle goes downwind, unmanned aerial vehicle equivalent wind speed is positive value, and when unmanned aerial vehicle goes against wind, unmanned aerial vehicle equivalent wind speed is negative value.
  14. 14. The system for calculating the remaining flight time of the unmanned aerial vehicle according to claim 1 or 13, wherein the method for calculating the flight power consumption of the unmanned aerial vehicle in the current flight state through the aerodynamic model based on the airspeed, the equivalent wind speed and the ambient temperature of the unmanned aerial vehicle comprises the following steps: ; Wherein, the Is the flight power consumption of the unmanned aerial vehicle in the current flight state, Based on the airspeed of unmanned aerial vehicle Is used for looking up the table value of the basic power consumption curve, In order to be the wind resistance influence coefficient, As a temperature influence coefficient of the temperature, Is the air temperature of the environment where the unmanned aerial vehicle is located, As a reference to the temperature of the liquid, Is the square of the equivalent wind speed of the unmanned aerial vehicle.
  15. 15. The system for calculating the residual flight time of the unmanned aerial vehicle according to claim 14, wherein the basic power consumption curve based on the airspeed of the unmanned aerial vehicle is obtained by running the unmanned aerial vehicle at different airspeed of the unmanned aerial vehicle under the virtual environment of no wind, constant temperature and standard atmospheric pressure set in flight dynamics simulation software and recording the basic power consumption of the unmanned aerial vehicle running at different airspeed.
  16. 16. The system for calculating the remaining flight time of the unmanned aerial vehicle according to claim 14, wherein the method for calculating the comprehensive remaining flight time of the unmanned aerial vehicle based on the remaining available electric quantity of the unmanned aerial vehicle and the flight power consumption of the unmanned aerial vehicle in the current flight state by adopting a rolling time domain estimation method comprises the following steps: under an ideal continuous time model, the residual time length is synthesized The method comprises the following steps: ; Under the discrete time model, the residual duration is synthesized The method comprises the following steps: ; Wherein, the For the comprehensive remaining duration of the unmanned aerial vehicle flight, In order to take the function of the maximum value, For the maximum flight duration of the unmanned aerial vehicle, Is that The flight power consumption of the unmanned aerial vehicle battery at the moment, Is the remaining available power of the unmanned aerial vehicle battery, For the critical period of time of flight of the unmanned aerial vehicle, To be in critical time period The predicted flight power consumption within the range, To at the first The predicted flight power consumption of the unmanned aerial vehicle within a period of time, Is the first The length of the individual time periods.
  17. 17. The system for calculating the remaining flight time of the unmanned aerial vehicle according to claim 16, wherein the method for obtaining the current display remaining time of the unmanned aerial vehicle by performing monotonically decreasing smoothing on the comprehensive remaining time comprises the following steps: Designing a monotonically decreasing filter: ; Wherein, the Is that The unmanned aerial vehicle predicted at the moment currently displays the remaining time length, Is that The unmanned aerial vehicle predicted at the moment displays the remaining time, Is that The unmanned aerial vehicle flight comprehensive remaining duration predicted at the moment, To take the minimum value sign; When the time period is within the set time period, Unmanned aerial vehicle current display residual duration predicted at moment With a single maximum turndown value greater than the remaining time of flight in a predicted period Is continuously lower than Unmanned aerial vehicle display residual duration of time prediction Based on Initiating a descent rate limit: ; Wherein, the Is that The unmanned aerial vehicle predicted at the moment currently displays the remaining time length, Is that The unmanned aerial vehicle predicted at the moment displays the remaining time, Is that The unmanned aerial vehicle flight comprehensive remaining duration predicted at the moment, In order to take the sign of the maximum value, Is a single maximum down-regulation value of the remaining time of flight in one prediction period.
  18. 18. A method for calculating the remaining flight time of an unmanned aerial vehicle based on the system of claim 1, comprising: Performing temperature compensation on the current nominal battery capacity of the unmanned aerial vehicle according to the current temperature of the unmanned aerial vehicle battery to obtain the actual effective battery capacity of the unmanned aerial vehicle, and performing current integration and voltage correction on the actual effective battery capacity of the unmanned aerial vehicle to obtain the residual available electric quantity of the unmanned aerial vehicle battery; Calculating an equivalent wind speed of the unmanned aerial vehicle according to the wind speed and wind direction data of the unmanned aerial vehicle in the current flight state, and calculating flight power consumption of the unmanned aerial vehicle in the current flight state through an aerodynamic model based on the airspeed, the equivalent wind speed and the environmental temperature of the unmanned aerial vehicle; And calculating to obtain comprehensive remaining duration of unmanned aerial vehicle flight based on the remaining available electric quantity of the unmanned aerial vehicle and flight power consumption of the unmanned aerial vehicle in the current flight state by adopting a rolling time domain estimation method, and performing monotonically decreasing smoothing on the comprehensive remaining duration to obtain the current display remaining duration of the unmanned aerial vehicle.
  19. 19. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method as claimed in claim 18 when being executed by a processor.

Description

Unmanned aerial vehicle residual flight duration calculation system and method Technical Field The invention relates to the field of unmanned aerial vehicle flight duration calculation, in particular to a system and a method for calculating the remaining flight duration of an unmanned aerial vehicle. Background Currently, a vehicle-mounted unmanned aerial vehicle system plays an increasingly important role in low-altitude economic scenes such as emergency rescue, line inspection, logistics distribution and the like, and the safe and efficient execution of a flight task is highly dependent on accurate prediction of the remaining flight duration. However, most existing systems have significant defects in realizing the key functions, namely, the existing systems generally estimate the remaining flight time of the unmanned aerial vehicle only by performing simple division operation according to the remaining electric quantity of the unmanned aerial vehicle battery, and the static model completely ignores the influence of the dynamic change of the environment on the flight time of the unmanned aerial vehicle in the flight process. In practice, the remaining flying duration is a complex variable affected by multiple physical field coupling, the fluctuation of the ambient temperature can directly affect the internal resistance and the discharge efficiency of the battery, the wind speed and the wind direction (specifically, the included angle between the flying direction and the wind speed) can obviously change the aerodynamic resistance and the required propulsion power of the unmanned aerial vehicle, and these factors jointly determine the real-time flying power consumption, so that the real endurance time is dynamically affected. The prior art fails to fuse the key environment parameters, so that the estimation result and the actual endurance are seriously disjointed, when the wind direction mutation or the temperature shock occurs, the display residual duration can be unreasonably jumped or even reversely increased, the display not only seriously damages the user experience, but also misleads the operator to make dangerous flight or task planning decisions, such as misjudging the return opportunity, thereby endangering the safety and the task success rate of the unmanned plane platform. Therefore, an intelligent prediction method capable of integrating multi-source environmental information, realizing accurate and smooth residual flight duration and conforming to decreasing display of physical laws is needed in the industry. Disclosure of Invention The invention aims to provide a system for calculating the remaining flight time of an unmanned aerial vehicle on one hand and a method for calculating the remaining flight time of the unmanned aerial vehicle on the other hand, and the system and the method aim to thoroughly solve the remarkable defect of the traditional vehicle-mounted unmanned aerial vehicle system in the prediction of the endurance. The traditional scheme is generally based on division calculation of the electric residual capacity (SOC) of the unmanned aerial vehicle and a fixed or empirical average power consumption value, so that the residual flight duration is obtained, and the dynamics and complexity of the flight environment are ignored. Therefore, when the unmanned aerial vehicle suddenly encounters strong upwind or severe temperature change, its actual power consumption may deviate from the preset average value instantaneously, resulting in a sudden and discontinuous jump of the remaining duration calculated based on the remaining power of the unmanned aerial vehicle, for example, from the remaining 30 minutes to the remaining 10 minutes. Such instability and unreliability in display makes it difficult for operators to make accurate knowledge of the unmanned aerial vehicle's mission capabilities and safety boundaries. More dangerous, it may seriously mislead the critical decisions of the operator, for example, in case of already intense electricity, the error shows that the unmanned aerial vehicle has sufficient remaining time to induce the operator to continue to perform tasks, eventually leading to forced drop or crash due to the exhaustion of electricity. According to the invention, by introducing an aerodynamic power consumption model integrating airspeed, equivalent wind speed and ambient temperature and adopting a rolling time domain estimation algorithm to dynamically integrate real-time flight state and predicted data, accurate and smooth prediction of the residual duration is realized. The display end of the remaining flight time of the unmanned aerial vehicle is further added with monotonically decreasing filtering and descending speed limiting processing, and stability and predictability of information output are ensured. In order to achieve the purpose, the invention provides a system for calculating the residual flight time of an unmanned aerial vehicle, which comprises the fol