| Unmanned equipment has become an important means of future confrontation,and the ensuing demand for testing is increasing;and the civil-military integration strategy allows all types of companies to participate,with a wide range of test subjects of varying quality,often with anomalies.The consequences of anomalies in targets can be serious;not only can they affect the accuracy of the test,but they can even cause casualties and significant property damage.Therefore,it is of great importance to monitor and control the abnormal behaviour of targets.This paper takes the target(UAV)as the research object,studies the abnormal state law of the target for possible abnormal states such as loss of control and crossing the boundary,establishes the judgement standard of abnormal behaviour of the target,designs a set of behaviour monitoring and abnormal control system attached to the UAV,monitors the behaviour of the target in real time,and adopts a graded control method to warn of possible abnormal behaviour and carry out control measures such as forced landing and self-destruction.The specific work is as follows:1)Aiming at the problem of the abnormal state law of the target,research on the definition and modelling techniques of the abnormal behaviour of the target,classify and summarise the possible abnormal behaviour of the target,and establish the corresponding judgement criteria for each abnormal behaviour.2)To address the problem of embedded implementation of the judgment criterion of anomalous behaviour,the loading method of the judgment criterion of anomalous behaviour of the target is studied,the loading protocol of the judgment criterion is established,the loading interaction process is designed,and the embedded loading function of the judgment criterion is realised.3)To address the problem of behaviour monitoring,an attachment measurement and control device with STM32F407VCT6 chip as the main control and JY901 B attitude module,GNSS positioning module and relay control module as the main components was designed and developed to realize the function of real-time monitoring of target behaviour and detection of loaded abnormal behaviour.4)To address the problem of early warning of abnormal behaviour,the research is based on embedded track prediction technology,using the Kalman filter method,designing an algorithm determination and verification environment,making track prediction for in-flight targets,and combining the abnormal behaviour judgement criteria to warn of the emergence of abnormal behaviour and give the probability of occurrence of abnormal behaviour,realising the function of early warning of abnormal behaviour.The system has been tested and verified to be able to pre-set the communication boundary,No-fly zones,safety channel and safety attitude of the target;it is able to detect abnormal behaviour that deviates from the preset flight range by 3 metres and from the preset safety attitude by 0.2 degrees;it has achieved the expected technical specifications. |
