阅读说明：本技术 一种无人机的gnss原始观测数据记录方法和装置 (GNSS original observation data recording method and device of unmanned aerial vehicle ) 是由 李宁 丁永祥 王江林 文述生 闫少霞 周光海 庄所增 于 2020-08-24 设计创作，主要内容包括：本发明公开了一种无人机的GNSS原始观测数据记录方法和装置,应用于无人机的GNSS组件,所述方法包括：实时监控所述无人机的作业状态；当所述无人机处于首次作业状态时,按照当前时刻新建一个原始观测文件,在所述原始观测文件中记录所述无人机的GNSS原始观测数据；当所述无人机处于非首次作业状态时,在所述原始观测文件中记录所述无人机的GNSS原始观测数据；当所述无人机停止作业时,停止记录所述无人机的GNSS原始观测数据,从而解决在无人机多架次的数据记录过程中创建多个原始观测文件的技术问题,从而提高内业结算过程的数据处理效率和数据准确性。(The invention discloses a GNSS original observation data recording method and a GNSS original observation data recording device of an unmanned aerial vehicle, which are applied to a GNSS assembly of the unmanned aerial vehicle, wherein the method comprises the following steps: monitoring the operation state of the unmanned aerial vehicle in real time; when the unmanned aerial vehicle is in a first operation state, an original observation file is newly established according to the current moment, and GNSS original observation data of the unmanned aerial vehicle are recorded in the original observation file; when the unmanned aerial vehicle is in a non-primary operation state, recording GNSS original observation data of the unmanned aerial vehicle in the original observation file; when the unmanned aerial vehicle stops working, GNSS original observation data of the unmanned aerial vehicle stops being recorded, so that the technical problem that a plurality of original observation files are created in the data recording process of the unmanned aerial vehicle in multiple times is solved, and the data processing efficiency and the data accuracy in the internal settlement process are improved.)

1. A GNSS raw observation data recording method of an unmanned aerial vehicle is applied to a GNSS assembly of the unmanned aerial vehicle, and the method comprises the following steps:

monitoring the operation state of the unmanned aerial vehicle in real time;

when the unmanned aerial vehicle is in a first operation state, an original observation file is newly established according to the current moment, and GNSS original observation data of the unmanned aerial vehicle are recorded in the original observation file;

when the unmanned aerial vehicle is in a non-primary operation state, recording GNSS original observation data of the unmanned aerial vehicle in the original observation file;

and when the unmanned aerial vehicle stops working, stopping recording GNSS original observation data of the unmanned aerial vehicle.

2. The method of claim 1, wherein the drone further comprises a flight control assembly, and wherein the GNSS assembly is connected to the flight control assembly via a serial port; the step of real time monitoring unmanned aerial vehicle's operation state includes:

acquiring a feedback signal of the flight control assembly responding to a preset control instruction in real time through the serial port;

and analyzing the feedback signal according to a preset communication protocol of the flight control assembly, and determining the operation state of the unmanned aerial vehicle.

3. The method of claim 1, wherein the step of creating an original observation file according to a current time when the drone is in the first operation state, and recording GNSS original observation data of the drone in the original observation file comprises:

when the unmanned aerial vehicle is in a first operation state, establishing an observation folder according to the current date;

newly building an original observation file in the observation folder according to the current moment;

and recording GNSS original observation data of the unmanned aerial vehicle in the original observation file.

4. The method of claim 3, wherein the step of recording GNSS raw observation data of the drone in the raw observation file while the drone is in a non-first-job state comprises:

when the unmanned aerial vehicle is in a non-primary operation state, detecting whether the original observation file exists in the observation folder or not;

and if the original observation file exists in the observation folder, recording GNSS original observation data of the unmanned aerial vehicle in the original observation file.

5. The method of claim 4, further comprising:

if the original observation file does not exist in the observation folder, an original observation file is newly built in the observation folder according to the current moment, and GNSS original observation data of the unmanned aerial vehicle are recorded in the original observation file.

6. The method of claim 1, wherein the step of stopping the recording of GNSS raw observations of the drone when the drone stops operating comprises:

when the unmanned aerial vehicle stops working, stopping recording GNSS original observation data of the unmanned aerial vehicle, and setting an end mark at the end of the GNSS original observation data of the unmanned aerial vehicle;

the end mark is used for identifying that the GNSS assembly is finished in the recording process of the GNSS raw observation data of the unmanned aerial vehicle on the current frame of the unmanned aerial vehicle, and distinguishing the GNSS raw observation data recorded by the unmanned aerial vehicle on different frames.

7. The utility model provides an unmanned aerial vehicle's GNSS raw observation data recorder which characterized in that, is applied to on unmanned aerial vehicle's the GNSS subassembly, the device includes:

the operation state monitoring module is used for monitoring the operation state of the unmanned aerial vehicle in real time;

the first-time operation processing module is used for creating an original observation file according to the current moment when the unmanned aerial vehicle is in a first-time operation state, and recording GNSS original observation data of the unmanned aerial vehicle in the original observation file;

the non-primary operation processing module is used for recording GNSS original observation data of the unmanned aerial vehicle in the original observation file when the unmanned aerial vehicle is in a non-primary operation state;

and the operation stopping processing module is used for stopping recording the GNSS original observation data of the unmanned aerial vehicle when the unmanned aerial vehicle stops operating.

8. The device of claim 7, wherein the drone further comprises a flight control assembly, and the GNSS assembly is connected to the flight control assembly via a serial port; the operation state monitoring module includes:

the feedback signal acquisition submodule is used for acquiring a feedback signal of the flight control assembly responding to a preset control instruction in real time through the serial port;

and the operation state determining submodule is used for analyzing the feedback signal according to a preset communication protocol of the flight control assembly and determining the operation state of the unmanned aerial vehicle.

9. The apparatus of claim 7, wherein the first-time job processing module comprises:

the observation folder creating submodule is used for creating an observation folder according to the current date when the unmanned aerial vehicle is in a first operation state;

the original observation file creating submodule is used for creating an original observation file in the observation folder according to the current moment;

and the first unmanned GNSS original observation data recording sub-module is used for recording the GNSS original observation data of the unmanned aerial vehicle in the original observation file.

10. The apparatus of claim 9, wherein the non-first-time job processing module comprises:

the original observation file detection submodule is used for detecting whether the original observation file exists in the observation folder or not when the unmanned aerial vehicle is in a non-primary operation state;

and the GNSS original observation data recording submodule of the second unmanned aerial vehicle is used for recording the GNSS original observation data of the unmanned aerial vehicle in the original observation file if the original observation file exists in the observation folder.

Technical Field

The invention relates to the technical field of satellite navigation surveying and mapping, in particular to a method and a device for recording GNSS original observation data of an unmanned aerial vehicle.

Background

With the development of the unmanned aerial vehicle technology and the GNSS (Global Navigation Satellite System) technology, the mapping of the surveying and mapping type unmanned aerial vehicle to the region has started to generally adopt the PPK (post processed technology) technology of the high-precision GNSS, if a common GNSS single-point positioning is adopted, a plurality of image control points need to be laid on the spot, and if the PPK technology of the high-precision GNSS is adopted, a small number of image control points are basically not needed or only needed.

The PPK technology has the working principle that a reference station and a mobile station synchronously observe a satellite, GNSS original observation data are recorded in real time, and then GNSS processing software is used for resolving, so that a centimeter-level POS position is obtained.

Present survey and drawing type unmanned aerial vehicle can the original observation data of real-time recording GNSS through the PPK module of machine-carrying, need fly a plurality of framves usually in the actual operation, for guaranteeing unmanned aerial vehicle's power supply, all need change unmanned aerial vehicle's battery at every frame. However, in the prior art, no matter whether actual flight exists before or after battery replacement, a plurality of original observation data files are generated in a storage unit of the onboard PPK module due to the influence of each battery replacement, so that a plurality of original observation files need to be processed in the field calculation process of the PPK technology, and the data processing efficiency is low; meanwhile, it is necessary to manually distinguish which files are really flying files, and the manual file distinguishing process may also introduce invalid files, thereby causing the data accuracy to be reduced.

Disclosure of Invention

The invention provides a GNSS original observation data recording method and device for an unmanned aerial vehicle, and solves the technical problems that in the prior art, the data processing efficiency in the internal settlement process is low and the data accuracy is reduced because a plurality of original observation data files are generated by replacing each battery of a surveying and mapping type unmanned aerial vehicle.

The invention provides a GNSS original observation data recording method of an unmanned aerial vehicle, which is applied to a GNSS assembly of the unmanned aerial vehicle, and comprises the following steps:

monitoring the operation state of the unmanned aerial vehicle in real time;

when the unmanned aerial vehicle is in a first operation state, an original observation file is newly established according to the current moment, and GNSS original observation data of the unmanned aerial vehicle are recorded in the original observation file;

when the unmanned aerial vehicle is in a non-primary operation state, recording GNSS original observation data of the unmanned aerial vehicle in the original observation file;

and when the unmanned aerial vehicle stops working, stopping recording GNSS original observation data of the unmanned aerial vehicle.

Optionally, the unmanned aerial vehicle further comprises a flight control assembly, and the GNSS assembly is connected with the flight control assembly through a serial port; the step of real time monitoring unmanned aerial vehicle's operation state includes:

acquiring a feedback signal of the flight control assembly responding to a preset control instruction in real time through the serial port;

and analyzing the feedback signal according to a preset communication protocol of the flight control assembly, and determining the operation state of the unmanned aerial vehicle.

Optionally, when the unmanned aerial vehicle is in a first operation state, creating an original observation file at a current time, and recording GNSS original observation data of the unmanned aerial vehicle in the original observation file, includes:

when the unmanned aerial vehicle is in a first operation state, establishing an observation folder according to the current date;

newly building an original observation file in the observation folder according to the current moment;

and recording GNSS original observation data of the unmanned aerial vehicle in the original observation file.

Optionally, the step of recording GNSS raw observation data of the drone in the raw observation file when the drone is in a non-primary operation state includes:

when the unmanned aerial vehicle is in a non-primary operation state, detecting whether the original observation file exists in the observation folder or not;

and if the original observation file exists in the observation folder, recording GNSS original observation data of the unmanned aerial vehicle in the original observation file.

Optionally, the method further comprises:

if the original observation file does not exist in the observation folder, an original observation file is newly built in the observation folder according to the current moment, and GNSS original observation data of the unmanned aerial vehicle are recorded in the original observation file.

Optionally, the step of stopping recording GNSS raw observation data of the drone when the drone stops operating includes:

when the unmanned aerial vehicle stops working, stopping recording GNSS original observation data of the unmanned aerial vehicle, and setting an end mark at the end of the GNSS original observation data of the unmanned aerial vehicle;

the end mark is used for identifying that the GNSS assembly is finished in the recording process of the GNSS raw observation data of the unmanned aerial vehicle on the current frame of the unmanned aerial vehicle, and distinguishing the GNSS raw observation data recorded by the unmanned aerial vehicle on different frames.

The invention also provides a GNSS original observation data recording device of the unmanned aerial vehicle, which is applied to the GNSS assembly of the unmanned aerial vehicle, and the device comprises:

the operation state monitoring module is used for monitoring the operation state of the unmanned aerial vehicle in real time;

the first-time operation processing module is used for creating an original observation file according to the current moment when the unmanned aerial vehicle is in a first-time operation state, and recording GNSS original observation data of the unmanned aerial vehicle in the original observation file;

the non-primary operation processing module is used for recording GNSS original observation data of the unmanned aerial vehicle in the original observation file when the unmanned aerial vehicle is in a non-primary operation state;

and the operation stopping processing module is used for stopping recording the GNSS original observation data of the unmanned aerial vehicle when the unmanned aerial vehicle stops operating.

Optionally, the unmanned aerial vehicle further comprises a flight control assembly, and the GNSS assembly is connected with the flight control assembly through a serial port; the operation state monitoring module includes:

the feedback signal acquisition submodule is used for acquiring a feedback signal of the flight control assembly responding to a preset control instruction in real time through the serial port;

and the operation state determining submodule is used for analyzing the feedback signal according to a preset communication protocol of the flight control assembly and determining the operation state of the unmanned aerial vehicle.

Optionally, the first-time job processing module includes:

the observation folder creating submodule is used for creating an observation folder according to the current date when the unmanned aerial vehicle is in a first operation state;

the original observation file creating submodule is used for creating an original observation file in the observation folder according to the current moment;

and the first unmanned GNSS original observation data recording sub-module is used for recording the GNSS original observation data of the unmanned aerial vehicle in the original observation file.

Optionally, the non-first-time job processing module includes:

the original observation file detection submodule is used for detecting whether the original observation file exists in the observation folder or not when the unmanned aerial vehicle is in a non-primary operation state;

and the GNSS original observation data recording submodule of the second unmanned aerial vehicle is used for recording the GNSS original observation data of the unmanned aerial vehicle in the original observation file if the original observation file exists in the observation folder.

Optionally, the non-first-time job processing module further includes:

and if the original observation file does not exist in the observation folder, a new original observation file is created in the observation folder according to the current moment, and the GNSS original observation data of the unmanned aerial vehicle is recorded in the original observation file.

Optionally, the stop job processing module includes:

the GNSS original observation data recording stopping submodule is used for stopping recording the GNSS original observation data of the unmanned aerial vehicle when the unmanned aerial vehicle stops working, and setting an end mark at the last of the GNSS original observation data of the unmanned aerial vehicle;

the end mark is used for identifying that the GNSS assembly is finished in the recording process of the GNSS raw observation data of the unmanned aerial vehicle on the current frame of the unmanned aerial vehicle, and distinguishing the GNSS raw observation data recorded by the unmanned aerial vehicle on different frames.

According to the technical scheme, the invention has the following advantages:

in the embodiment of the invention, the operation state of the unmanned aerial vehicle is monitored in real time through a GNSS assembly of the unmanned aerial vehicle, when the unmanned aerial vehicle is in the first operation state, an original observation file is newly established according to the current moment, and GNSS original observation data of the unmanned aerial vehicle is written in the original observation file; if the unmanned aerial vehicle is in a non-primary operation state, directly writing GNSS original observation data in the created original observation file; and when the unmanned aerial vehicle changes from the operation state to the operation stopping state, stopping recording GNSS original observation data of the unmanned aerial vehicle so as to terminate the data recording process of the unmanned aerial vehicle on the same frame. A plurality of original observation files cannot be created in the data recording process of multiple unmanned aerial vehicles, so that the data processing efficiency and the data accuracy in the internal settlement process are improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a flowchart illustrating steps of a GNSS raw observation data recording method for an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is a flowchart illustrating steps of a GNSS raw observation data recording method for an unmanned aerial vehicle according to an alternative embodiment of the present invention;

fig. 3 is a block diagram of a GNSS original observation data recording apparatus of an unmanned aerial vehicle according to an embodiment of the present invention.

Detailed Description

The embodiment of the invention provides a GNSS original observation data recording method and device for an unmanned aerial vehicle, which are used for solving the technical problems of low data processing efficiency and low data accuracy in an internal settlement process in the prior art because a plurality of original observation data files are generated by replacing each battery of a surveying and mapping type unmanned aerial vehicle.

GNSS refers to global navigation satellite system that provides all-weather 3-dimensional coordinates and velocity and time information to users at any location on the surface of the earth or in the near-earth space, using observations of pseudoranges, ephemeris, satellite launch times, etc. from a set of satellites, such as the GPS in the united states, Glonass in russia, Galileo in europe, the beidou satellite navigation system in china, and related augmentation systems.

In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, fig. 1 is a flowchart illustrating steps of a GNSS raw observation data recording method for an unmanned aerial vehicle according to an embodiment of the present invention.

The invention provides a GNSS original observation data recording method of an unmanned aerial vehicle, which is applied to a GNSS assembly of the unmanned aerial vehicle, and comprises the following steps:

step 101, monitoring the operation state of the unmanned aerial vehicle in real time;

in the embodiment of the present invention, the operation state of the drone relates to whether the GNSS component records GNSS original observation data at the current time, and therefore, the operation state of the drone needs to be monitored in real time.

102, when the unmanned aerial vehicle is in a first operation state, creating an original observation file according to the current moment, and recording GNSS original observation data of the unmanned aerial vehicle in the original observation file;

in the embodiment of the invention, when the unmanned aerial vehicle is started for the first time and is in the first operation state, the unmanned aerial vehicle does not have an original observation file, if the original observation file is directly written into GNSS original observation data, the data is disordered, and the efficiency is low in the subsequent internal work processing process of the PPK technology. Therefore, an original observation file can be newly created according to the current moment, and the GNSS original observation data of the unmanned aerial vehicle is recorded in the original observation file

103, when the unmanned aerial vehicle is in a non-primary operation state, recording GNSS original observation data of the unmanned aerial vehicle in the original observation file;

in specific implementation, when the operation state of the unmanned aerial vehicle is not the first operation state, that is, the unmanned aerial vehicle changes the battery, after repeated power-on, it is described that an original observation file has been created in the GNSS assembly of the unmanned aerial vehicle at this time, and in order to improve the data processing efficiency and data accuracy in the subsequent internal work processing process, the GNSS original observation data of the unmanned aerial vehicle can be directly recorded in the created original observation file.

And 104, stopping recording GNSS original observation data of the unmanned aerial vehicle when the unmanned aerial vehicle stops working.

In the embodiment of the invention, the operation state of the unmanned aerial vehicle is monitored in real time through a GNSS assembly of the unmanned aerial vehicle, when the unmanned aerial vehicle is in the first operation state, an original observation file is newly established according to the current moment, and GNSS original observation data of the unmanned aerial vehicle is written in the original observation file; if the unmanned aerial vehicle is in a non-primary operation state, directly writing GNSS original observation data in the created original observation file; and when the unmanned aerial vehicle changes from the operation state to the operation stopping state, stopping recording GNSS original observation data of the unmanned aerial vehicle so as to terminate the data recording process of the unmanned aerial vehicle on the same frame. A plurality of original observation files cannot be created in the data recording process of multiple unmanned aerial vehicles, so that the data processing efficiency and the data accuracy in the internal settlement process are improved.

Referring to fig. 2, fig. 2 is a flowchart illustrating steps of a method for recording GNSS raw observation data of an unmanned aerial vehicle according to an alternative embodiment of the present invention.

The invention provides a GNSS original observation data recording method of an unmanned aerial vehicle, which is applied to a GNSS assembly of the unmanned aerial vehicle, and comprises the following steps:

step 201, monitoring the operation state of the unmanned aerial vehicle in real time;

optionally, the drone further includes a flight control assembly, the GNSS assembly is connected to the flight control assembly through a serial port, and step 201 may include the following sub-steps:

acquiring a feedback signal of the flight control assembly responding to a preset control instruction in real time through the serial port;

and analyzing the feedback signal according to a preset communication protocol of the flight control assembly, and determining the operation state of the unmanned aerial vehicle.

In concrete realization, unmanned aerial vehicle's control is realized through the instruction that the data transmission radio station sent based on the ground station usually, because the GNSS subassembly also can carry out the receiving and dispatching of data, if directly pass through the GNSS subassembly with the control command of data transmission unit connection receipt ground station judges that unmanned aerial vehicle's operation state may influence unmanned aerial vehicle's normal operating.

Therefore, the aim of acquiring the operation state of the unmanned aerial vehicle in real time through the GNSS component without influencing the normal work of the unmanned aerial vehicle is achieved. The sending pin of the serial port used for communicating with the data radio station in the flight control assembly of the unmanned aerial vehicle can be connected to the GNSS assembly, the characteristic that the flight control assembly receives the ground station signal and returns the feedback signal is utilized, the feedback signal is analyzed by using the preset communication protocol of the flight control assembly, and therefore the current operation state of the unmanned aerial vehicle is determined.

Optionally, the GNSS component may be a high-precision GNSS component, the preset communication protocol may be a Mavlink protocol, and in actual operation, the flight STATE of the unmanned aerial vehicle may be determined according to MAV _ STATE and MAV _ LANDED _ STATE STATEs in the Mavlink protocol, which is not limited in this embodiment of the present invention.

In one example of the present invention, the above step 102 can be replaced by the following steps 202-204:

step 202, when the unmanned aerial vehicle is in a first operation state, creating an observation folder according to the current date;

in the embodiment of the invention, the STATE of MAV _ STATE in the Mavlink protocol is changed into MAV _ STATE _ ACTIVE as an identifier, and the unmanned aerial vehicle is determined to be in the first-time operation STATE, at this time, an observation folder is newly built in a storage unit of the unmanned aerial vehicle, such as an SD memory card, through a data recording module in a GNSS component according to the current date, so as to place an original observation file generated by the unmanned aerial vehicle executing the surveying and mapping plan of the day.

In particular implementations, for ease of identification, the observation folders may be named in the form of "year, month, and day," such as 20200812, which is not limited by embodiments of the present invention.

Step 203, creating an original observation file in the observation folder according to the current moment;

after the current observation folder is created, in order to record the starting time of the current surveying and mapping plan, an original observation file can be created at the current moment, and GNSS original observation data acquired by the unmanned aerial vehicle is recorded in the original observation file.

The original observation file may be named in the form of "four digits after the machine number + yearly + hours + minutes", for example, 0123+111+09+ 20. The naming can be performed in other unique forms, which is not limited in the embodiment of the present invention.

And 204, recording GNSS original observation data of the unmanned aerial vehicle in the original observation file.

Due to the influence of the electric quantity of the unmanned aerial vehicle, the unmanned aerial vehicle may be required to fly for multiple times in the operation process, and in order to ensure that a plurality of original observation files cannot be generated in the same mapping plan, the acquired GNSS original observation data is recorded in the original observation files in real time.

Step 205, when the unmanned aerial vehicle is in a non-primary operation state, recording GNSS original observation data of the unmanned aerial vehicle in the original observation file;

in an alternative embodiment of the present invention, the step 205 may comprise the following sub-steps:

when the unmanned aerial vehicle is in a non-primary operation state, detecting whether the original observation file exists in the observation folder or not;

and if the original observation file exists in the observation folder, recording GNSS original observation data of the unmanned aerial vehicle in the original observation file.

In a specific implementation, the original observation file may be lost in the observation folder due to user needs or misoperation, so that whether the original observation file exists in the observation folder is detected when the unmanned aerial vehicle is in a non-primary operation state, that is, the unmanned aerial vehicle is powered on again after a battery is replaced; if the original observation file exists, directly recording GNSS original observation data of the unmanned aerial vehicle in the original observation file after the unmanned aerial vehicle is started, thereby realizing the technical purpose of recording a plurality of pieces of GNSS original observation data of the same surveying and mapping plan in the same original observation file.

Further, if the original observation file does not exist in the observation folder, an original observation file is newly built in the observation folder according to the current moment, and the GNSS original observation data of the unmanned aerial vehicle is recorded in the original observation file.

In the embodiment of the invention, if the original observation file in the observation folder is lost, the GNSS component creates the original observation file again in the observation folder according to the current moment, so as to record the GNSS original observation data of the unmanned aerial vehicle.

And step 206, stopping recording the GNSS original observation data of the unmanned aerial vehicle when the unmanned aerial vehicle stops working.

In another example of the present invention, the step 206 may include the following sub-steps:

when the unmanned aerial vehicle stops working, the GNSS original observation data of the unmanned aerial vehicle is stopped to be recorded, and an end mark is set at the last of the GNSS original observation data of the unmanned aerial vehicle.

In a specific implementation, if the drone is in a working-stopped state, for example, the drone lands or the working-stopped state set by the user, the GNSS component stops recording GNSS raw observation data of the drone, and in order to represent the end of the current shelf, an end flag is set at the end of the GNSS raw observation data after the GNSS raw observation data of the drone are stopped to be recorded.

For example, after the unmanned aerial vehicle is operated for the first time, the unmanned aerial vehicle lands to replace a battery, which indicates that the current frame is finished, and the end mark is finally set on the GNSS original observation data recorded in the created original observation file; and when the battery of the unmanned aerial vehicle is replaced and the unmanned aerial vehicle is restarted, the unmanned aerial vehicle enters a non-first-time operation state, new GNSS original observation data of the next rack are continuously recorded in the created original observation file, and when the unmanned aerial vehicle falls down again, an end mark is set at the last of the recorded GNSS original observation data.

It is worth mentioning that the end mark is used for identifying that the GNSS assembly has ended in the GNSS raw observation data recording process of the drone on the current rack of the drone, and for distinguishing the GNSS raw observation data recorded by the drone on different racks.

For example, the end MARK may include a data header, an identifier, and data check bits, where the data header may be of a type $ PSIC, the identifier may be a MARK identifier, and the data check bits may be CRC check bits, which may be specifically as follows:

data head

Identifier

Data check bit

In the embodiment of the invention, the GNSS assembly of the unmanned aerial vehicle is connected with the flight control assembly through a serial port, and the feedback signal of the unmanned aerial vehicle is analyzed according to a preset communication protocol so as to monitor the operation state of the unmanned aerial vehicle in real time; when the unmanned aerial vehicle is in a first operation state, an observation folder is newly built according to the current date, an original observation file is newly built under the observation folder according to the current moment, and GNSS original observation data of the unmanned aerial vehicle are written in the original observation file; if the unmanned aerial vehicle is in a non-primary operation state, in order to ensure smooth writing of data, detecting whether an original observation file exists under the observation folder, and if so, directly writing GNSS original observation data in the created original observation file; if not, an original observation file is newly created and the GNSS original observation data is rewritten; and when the unmanned aerial vehicle is in a work stopping state, stopping recording GNSS original observation data of the unmanned aerial vehicle, and setting an end mark at the last of the GNSS original observation data so as to terminate the data recording process of the unmanned aerial vehicle on the same shelf. Therefore, the technical problems that in the prior art, due to the fact that a plurality of original observation data files are generated when each battery of the surveying and mapping type unmanned aerial vehicle is replaced, data processing efficiency in the internal settlement process is low and data accuracy is reduced are solved.

Referring to fig. 3, fig. 3 is a block diagram illustrating a GNSS raw observation data recording apparatus of an unmanned aerial vehicle according to an embodiment of the present invention.

The embodiment of the invention also provides a GNSS original observation data recording device of the unmanned aerial vehicle, which is applied to the GNSS assembly of the unmanned aerial vehicle, and the device comprises:

the operation state monitoring module 301 is configured to monitor an operation state of the unmanned aerial vehicle in real time;

a first operation processing module 302, configured to create an original observation file at a current time when the unmanned aerial vehicle is in a first operation state, and record GNSS original observation data of the unmanned aerial vehicle in the original observation file;

a non-primary operation processing module 303, configured to record, when the unmanned aerial vehicle is in a non-primary operation state, GNSS original observation data of the unmanned aerial vehicle in the original observation file;

a stop operation processing module 304, configured to stop recording GNSS raw observation data of the drone when the drone stops operating.

Optionally, the unmanned aerial vehicle further comprises a flight control assembly, and the GNSS assembly is connected with the flight control assembly through a serial port; the job status monitoring module 301 includes:

the feedback signal acquisition submodule is used for acquiring a feedback signal of the flight control assembly responding to a preset control instruction in real time through the serial port;

and the operation state determining submodule is used for analyzing the feedback signal according to a preset communication protocol of the flight control assembly and determining the operation state of the unmanned aerial vehicle.

Optionally, the first job processing module 302 includes:

the observation folder creating submodule is used for creating an observation folder according to the current date when the unmanned aerial vehicle is in a first operation state;

the original observation file creating submodule is used for creating an original observation file in the observation folder according to the current moment;

and the first unmanned GNSS original observation data recording sub-module is used for recording the GNSS original observation data of the unmanned aerial vehicle in the original observation file.

Optionally, the non-first-time job processing module 303 includes:

the original observation file detection submodule is used for detecting whether the original observation file exists in the observation folder or not when the unmanned aerial vehicle is in a non-primary operation state;

and the GNSS original observation data recording submodule of the second unmanned aerial vehicle is used for recording the GNSS original observation data of the unmanned aerial vehicle in the original observation file if the original observation file exists in the observation folder.

Optionally, the non-first-time job processing module 303 further includes:

and if the original observation file does not exist in the observation folder, a new original observation file is created in the observation folder according to the current moment, and the GNSS original observation data of the unmanned aerial vehicle is recorded in the original observation file.

Optionally, the stop job processing module 304 includes:

the GNSS original observation data recording stopping submodule is used for stopping recording the GNSS original observation data of the unmanned aerial vehicle when the unmanned aerial vehicle stops working, and setting an end mark at the last of the GNSS original observation data of the unmanned aerial vehicle;

the end mark is used for identifying that the GNSS assembly is finished in the recording process of the GNSS raw observation data of the unmanned aerial vehicle on the current frame of the unmanned aerial vehicle, and distinguishing the GNSS raw observation data recorded by the unmanned aerial vehicle on different frames.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.