WO2020113370A1 - Air vehicle, data processing system, and data processing method for air vehicle - Google Patents

Abstract

Disclosed are an air vehicle (200), a data processing system, and a data processing method for the air vehicle (200). The air vehicle (200) comprises a data collecting device (203) and a data processing device (204); the data collecting device (203) is used for generating a synchronization pulse signal when target data are collected and transmitting the synchronization pulse signal and the target data to the data processing device (204); the data processing device (204) is used for receiving the synchronization pulse signal transmitted by the data collecting device (203) and determining a target time for receiving the synchronization pulse signal; the data processing device (204) is further used for determining the target data transmitted by the data collecting device (203) among data received from a data interface and using the target time as the receiving time of the target data, so as to process the target data according to the receiving time for obtaining the accurate time corresponding to data, thereby achieving high data synchronization precision between modules.

Description

Aircraft, data processing system and data processing method for aircraft Technical field

The invention relates to the technical field of data processing, in particular to an aircraft, a data processing system and a data processing method for the aircraft.

Background technique

With the rapid development and wide application of Unmanned Aerial (UAV) technology, the demand for high-precision collaboration capabilities among UAV modules has become increasingly prominent. In some application scenarios that require high control accuracy, for example, real-time dynamic carrier differential positioning (Real-time Kinematic, RTK) equipment is used to achieve UAV centimeter-level control operations and other application scenarios, which often synchronize the data accurately between each module. Degree requirements are very high.

At present, the communication protocols between UAV modules usually include UART, SPI, IIC, etc. Due to the protocol characteristics of the communication protocols such as UART, SPI, IIC, etc., data transmission between the modules will be delayed, and the real-time performance will be reduced. In addition, most of the modules take the time point after the unpacking of the received data as the time point corresponding to the message; because the software receiving and unpacking and receiving processing also takes a long time, it will further lead to data transmission Lag and real-time performance are reduced. Due to the above reasons, the accuracy of data synchronization between the modules will be low, and the high accuracy requirements will not be met. Therefore, how to achieve high accuracy of data synchronization between modules is a problem to be solved.

Summary of the invention

Embodiments of the present invention disclose an aircraft, a data processing system, and a data processing method for the aircraft, which can obtain the precise time corresponding to the data, thereby achieving high accuracy of data synchronization between modules.

A first aspect of an embodiment of the present invention discloses an aircraft. The aircraft includes a data collection device and a data processing device, where:

The data collection device is configured to generate a synchronization pulse signal when target data is collected, and send the synchronization pulse signal and the target data to the data processing device;

The data processing device is configured to receive the synchronization pulse signal sent by the data collection device and determine a target time for receiving the synchronization pulse signal;

The data processing device is also used to determine the target data sent by the data collection device from the data received by the data interface, and use the target time as the target data receiving time, so as to facilitate The receiving time processes the target data.

In an embodiment, the data processing device is specifically used for:

The data received after the synchronization pulse signal among the data received by the data interface is determined as the target data sent by the data collection device.

In an embodiment, the data processing device is specifically used for:

The data received first after the synchronization pulse signal among the data received by the data interface is determined as the target data sent by the data collection device.

In one embodiment, the data processing device is also used to:

Determine the first data received after the target data from the data received by the data interface;

The receiving time of the first data is determined according to the target time and a preset time interval, where the preset time interval corresponds to the cycle time of the synchronization pulse signal.

In one embodiment, the data processing device is also used to:

Receiving second data, where the second data carries a calibration timestamp;

Obtain the calibration timestamp from the second data, and adjust the local time to the time corresponding to the calibration timestamp.

In an embodiment, the data processing device is specifically used for:

Detecting whether the second data is data sent by a GPS device;

If the second data is data sent by a GPS device, the calibration timestamp is obtained from the second data.

In an embodiment, the data collection device is any one of a GPS device, an IMU device, a compass device, and a visual sensor device; the data processing device is a flight control device or a shooting device.

A second aspect of an embodiment of the present invention discloses a data processing system. The data processing system includes an aircraft and a data processing device, where:

The aircraft is configured to generate a synchronization pulse signal when target data is collected, and send the synchronization pulse signal and the target data to the data processing device;

The data processing device is configured to receive the synchronization pulse signal sent by the aircraft and determine a target time for receiving the synchronization pulse signal;

The data processing device is further configured to determine the target data sent by the aircraft from the data received by the data interface, and use the target time as the reception time of the target data, so as to facilitate Time to process the target data.

In one embodiment, the data processing device is specifically used to:

The data received after the synchronization pulse signal among the data received by the data interface is determined as the target data sent by the aircraft.

In one embodiment, the data processing device is specifically used to:

The data received first after the synchronization pulse signal among the data received by the data interface is determined as the target data sent by the aircraft.

In an embodiment, the data processing device is also used to:

Determine the first data received after the target data from the data received by the data interface;

The receiving time of the first data is determined according to the target time and a preset time interval, where the preset time interval corresponds to the cycle time of the synchronization pulse signal.

In an embodiment, the data processing device is also used to:

Receiving second data, where the second data carries a calibration timestamp;

Obtain the calibration timestamp from the second data, and adjust the local time to the time corresponding to the calibration timestamp.

In an embodiment, the aircraft includes a GPS device, and the data processing device is specifically used to:

Detecting whether the second data is data sent by the GPS device;

If the second data is data sent by the GPS device, the calibration timestamp is obtained from the second data.

A third aspect of an embodiment of the present invention discloses a data processing method for an aircraft. The aircraft includes a data collection device. The data collection device is used to collect target data and generate a synchronization pulse signal when the target data is collected. , The method includes:

Receiving the synchronization pulse signal sent by the data collection device, and determining the target time for receiving the synchronization pulse signal;

Determining the target data sent by the data collection device from the data received by the data interface;

The target time is used as the reception time of the target data, so that the target data can be processed according to the reception time.

In the embodiment of the present invention, the data collection device generates the synchronization pulse signal when the target data is collected, and sends the synchronization pulse signal and the target data to the data processing device; the data processing device receives the synchronization pulse signal and determines the received synchronization pulse signal Target time; then determine the target data from the received data, and use the target time as the target data receiving time, so that the precise time corresponding to the data can be obtained, and the data synchronization between the modules can be achieved with high precision.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions in the embodiments of the present invention, the drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. Those of ordinary skill in the art can obtain other drawings based on these drawings without paying any creative labor.

1 is a schematic diagram of a data collection time determination method disclosed in an embodiment of the present invention;

2 is a schematic structural diagram of an aircraft disclosed in an embodiment of the present invention;

3 is a schematic diagram of information transmission between devices disclosed in an embodiment of the present invention;

4 is a schematic structural diagram of a data processing system disclosed in an embodiment of the present invention;

5 is a schematic flowchart of a data processing method for an aircraft disclosed in an embodiment of the present invention.

detailed description

An embodiment of the present invention provides an aircraft, which includes functional devices for various purposes, including a data collection device for data collection and a data processing device for processing data. The data collection device, for example, It may be a visual sensor, a motion sensor, a compass, and a position sensor such as a GPS sensor, etc., and the data processing device may be the flight controller of the aircraft. In one embodiment, on the one hand, the data processing device can receive data from the data collection device, on the other hand, it will perform data processing based on the data to facilitate better flight control of the aircraft, for example, based on the VIO algorithm for motion The data of the sensors (accelerometer, gyroscope, etc.) and the data of the visual sensor are calculated to control the aircraft for safer flight, hovering, and landing. In addition, flight users can carry some equipment on the aircraft according to their own needs, in order to achieve certain image shooting, geological monitoring, power inspection and other tasks through the aircraft, these devices can be mounted on the aircraft and can receive Data collected by the data collection device on the aircraft. These devices may be, for example, cameras, various third-party function devices, and so on. Whether it is the data processing device in the aircraft or a third-party device such as a camera, when processing the data collected by the data collection device, it generally requires accurate data collection time, so as to compare the accuracy requirements of the data time in some High algorithms, calculations involving differential/integral algorithms, and application of photo location information accuracy are guaranteed to achieve a certain expected accuracy. Therefore, in an embodiment of the present invention, a schematic diagram of a data collection time determination method is provided. As shown in FIG. 1, a data acquisition device such as a position sensor can respectively send synchronization pulse signals and target data to a data processing device such as a flight control controller through two different interfaces. The data processing device takes the time of receiving the synchronization pulse signal as the reception time of the target data, so that the accurate data collection time of the target data can be obtained. Among them, the data collection device may also be an inertial measurement unit, a compass, a visual sensor, and the like. The data processing device may also be a camera or other third-party equipment external to the aircraft.

2 is a schematic structural diagram of an aircraft according to an embodiment of the present invention. As shown in FIG. 2, the aircraft includes a fuselage 201, a power system 202, a data acquisition device 203 and a data processing device 204. The power system 202 is installed on the fuselage 201 for providing flight power; specifically, the power system 202 may include one or more of a propeller, a motor, and an electric ESC. The data collection device 203 may include a first data collection device 2031 and a second data collection device 2032. The first data collection device 2031 is, for example, an inertial measurement device, and the second data collection device 2032 is, for example, a visual sensor device. The data collection device 203 not only includes a data bus interface, but also includes a synchronization pulse interface. The synchronization pulse interface may be simply referred to as a synchronization SYNC interface. among them:

The data collection device 203 is used to collect target data, and generates a synchronization pulse signal at the synchronization pulse interface of the data collection device 203 when the target data is collected. The synchronization pulse signal may be simply referred to as a SYNC signal, and the SYNC signal may be a falling source pulse signal with a very small delay relative to the actual sampling time of the target data. The delay is usually less than 100 ns. The data acquisition device 203 sends the synchronization pulse signal to the data processing device 204 through the synchronization pulse interface, and sends the target data to the data processing device 204 through the data bus interface. Please also refer to FIG. 3, which is a schematic diagram of information transmission between devices according to an embodiment of the present invention. As shown in FIG. 3, the data collection device 203 sends the synchronization pulse signal and the target data to the data processing device 204 through two different interfaces, respectively. The data collection device 203 may be any one of a global positioning system (Global Positioning System, GPS) device, an inertial measurement (Inertial measurement unit, IMU) device, a compass device, and a visual sensor device.

After the data collection device 203 collects the target data, the target data will be processed accordingly, such as packet compression or packetization; and due to factors such as the characteristics of the communication protocol between the data collection device 203 and the data processing device 204, it will cause the target The transmission of data has a longer delay and will be transmitted to the data processing device 204 more slowly. The synchronization pulse signal transmission delay is very small, and will be quickly transmitted to the data processing device 204. Therefore, the data processing device 204 first receives the synchronization pulse signal sent by the data collection device 203, and then receives the target data sent by the data collection device 203.

After receiving the synchronization pulse signal sent by the data collection device 203, the data processing device 204 determines the target time for receiving the synchronization pulse signal; further, the data processing device 204 determines from the data received by the data interface that the data collection device 203 sends And the target time as the receiving time of the target data, so that the data processing device 204 can process the target data according to the receiving time. The data processing device 204 may be a flight control device; processing the target data includes performing differentiation, integration, three-dimensional mapping, and positioning information time confirmation on the target data. It should be noted that the target data may refer to a data protocol frame containing target data. In the above manner, by using the reception time of the synchronization pulse signal as the reception time of the target data, the precise time when the target data is collected can be obtained, thereby achieving high accuracy of data synchronization between the modules.

In the embodiment of the present invention, the data processing device 204 may determine the data received after the synchronization pulse signal among the data received by the data interface as the target data sent by the data collection device 204. In another embodiment, the data processing device 204 may specifically determine the data received first after the synchronization pulse signal among the data received by the data interface as the target data sent by the data collection device 204. Wherein, the target data corresponds to the synchronization pulse signal.

In one embodiment, the data processing device 204 generates an interrupt when it receives the synchronization pulse signal sent by the data collection device 203, and determines the generation time of the interrupt, and uses the interrupt generation time as the internal time stamp of the data processing device 204. After the data processing device 204 determines the target data sent by the data collection device 203 from the data received by the data interface, the target data is aligned with the internal time stamp, that is, the time corresponding to the internal time stamp is used as the target data Reception time. In the above manner, internal alignment of external data and internal information of the data processing device 204 can be achieved. For example, the above method is used between the flight control device and the IMU device, which can effectively improve the accuracy of IMU data integration and differentiation algorithms.

In the embodiment of the present invention, the data processing device 204 is further configured to receive second data, where the second data carries a calibration time stamp. The calibration timestamp may be a real-time clock (Real-Time Clock, RTC) timestamp, and the calibration timestamp may be sent by the data collection device 203. The data processing device 204 obtains the calibration time stamp from the second data, and adjusts the local time of the data processing device 204 to the time corresponding to the calibration time stamp. In the above manner, the local time of the data processing device 204 can be calibrated, and the accurate time at the time of target data collection can be obtained by the calibrated local time.

In one embodiment, due to the high accuracy of the GPS clock, the data processing device 204 may use only the second data sent by the GPS device as a time calibration. After receiving the second data, the data processing device 204 may detect whether the second data is data sent by the GPS device. Specifically, the data processing device 204 may determine whether the second data is data sent by the GPS device by detecting whether the data receiving pin corresponding to the second data is the data receiving pin corresponding to the GPS device. If it is detected that the second data is data sent by the GPS device, the data processing device 204 obtains the calibration time stamp from the second data, and adjusts the local time of the data processing device 204 to the time corresponding to the calibration time stamp. If it is detected that the second data is not the data sent by the GPS device, the data processing device 204 does not perform local time calibration.

In one embodiment, the synchronization pulse signal has periodicity. The data processing device 204 determines the first data received after the target data from the data received by the data interface of the data processing device 204 after taking the target time of receiving the synchronization pulse signal as the target data receiving time, and based on The target time and a preset time interval determine the receiving time of the first data, and the preset time interval corresponds to the cycle time of the synchronization pulse signal. For example, assuming that the first data is the first data received by the data processing device 204 after the target data, the target time is added to the duration corresponding to the preset time interval as the reception time of the first data. Assuming that the first data is the second data received by the data processing device 204 after the target data, the target time plus two corresponding time intervals of the preset time interval is taken as the reception time of the first data. In the above manner, after the precise time at the target data collection is determined, the precise time at the data collection received after the target data can be known in advance in combination with the cycle time of the synchronization pulse signal. For example, the GPS signal can be used to combine the second pulse signal (Pulse Per Second, PPS) signal in the above manner to accurately confirm the time of the positioning information.

In the embodiment of the present invention, the data collection device generates the synchronization pulse signal when the target data is collected, and sends the synchronization pulse signal and the target data to the data processing device; the data processing device receives the synchronization pulse signal and determines the received synchronization pulse signal Target time; then determine the target data from the received data, and use the target time as the target data receiving time, so that the precise time corresponding to the data can be obtained, and the data synchronization between the modules can be achieved with high precision.

An embodiment of the present invention provides a data processing system. 4 is a schematic structural diagram of a data processing system according to an embodiment of the present invention. As shown in FIG. 4, the data processing system includes an aircraft 200 and a data processing device 300. A communication connection is established between the aircraft 200 and the data processing device 300. The data processing device 300 may be a device external to the aircraft 200, for example, a shooting device external to the aircraft 200. The aircraft 200 includes a fuselage 201, a power system 202, and a data acquisition device 203. The power system 202 is installed on the fuselage 201 for providing flight power; specifically, the power system 202 may include one or more of a propeller, a motor, and an electric ESC. The data collection device 203 may include a first data collection device 2031 and a second data collection device 2032. The first data collection device 2031 is, for example, an inertial measurement device, and the second data collection device 2032 is, for example, a visual sensor device. The data acquisition device 203 includes not only a data bus interface, but also a synchronous pulse interface. among them:

The aircraft 200 is used to collect target data, and generates synchronized pulse signals when the target data is collected. Specifically, the aircraft 200 collects target data through the data collection device 203, and generates a synchronization pulse signal at the synchronization pulse interface of the data collection device 203 when the target data is collected. The synchronization pulse signal may be a falling source pulse signal with a very small delay relative to the actual sampling time of the target data, and the delay is usually less than 100 ns. The aircraft 200 sends the synchronization pulse signal and the target data to the data processing device 300 through two different interfaces. Specifically, the aircraft 200 sends the synchronization pulse signal to the data processing device 300 through the synchronization pulse interface of the data collection device 203, and sends the target data to the data processing device 300 through the data bus interface of the data collection device 203. The data collection device 203 may be any one of a GPS device, an IMU device, a compass device, and a visual sensor device.

After the aircraft 200 collects the target data, the target data will be processed accordingly, such as packetizing or packetizing; and due to factors such as the communication protocol characteristics between the aircraft 200 and the data processing device 300, the transmission of target data will cause The longer the delay, the slower the transmission to the data processing device 300. The transmission delay of the synchronization pulse signal is very small and will be quickly transmitted to the data processing device 300. Therefore, the data processing device 300 receives the synchronization pulse signal sent by the aircraft 200 first, and then receives the target data sent by the aircraft 200.

After receiving the synchronization pulse signal sent by the aircraft 200, the data processing device 300 determines the target time for receiving the synchronization pulse signal; further, the data processing device 300 determines the target data sent by the aircraft 200 from the data received by the data interface, The target time is used as the reception time of the target data, so that the data processing device 300 processes the target data according to the reception time. Wherein, processing the target data includes performing differentiation and integration on the target data. It should be noted that the target data may refer to a data protocol frame containing target data. In the above manner, by using the reception time of the synchronization pulse signal as the reception time of the target data, the precise time when the target data is collected can be obtained, and thus the data synchronization between the aircraft and the data processing device can be achieved with high precision.

In the embodiment of the present invention, the data processing device 300 may determine the data received after the synchronization pulse signal among the data received by the data interface as the target data sent by the aircraft 200. In another embodiment, the data processing device 300 may specifically determine the data received first after the synchronization pulse signal among the data received by the data interface as the target data sent by the aircraft 200. Wherein, the target data corresponds to the synchronization pulse signal.

In one embodiment, the data processing device 300 generates an interruption when receiving the synchronization pulse signal sent by the aircraft 200, and determines the generation time of the interruption, and uses the interruption generation time as the internal time stamp of the data processing device 300. After the data processing device 300 determines the target data sent by the aircraft 200 from the data received by the data interface, the target data is aligned with the internal time stamp, that is, the time corresponding to the internal time stamp is used as the reception of the target data time. In the above manner, internal alignment of external data and internal information of the data processing device 300 can be achieved. The above method can effectively improve the accuracy of algorithms such as data integration and differentiation.

In the embodiment of the present invention, the data processing device 300 is further configured to receive second data, where the second data carries a calibration timestamp. The calibration timestamp may be a real-time clock RTC timestamp, and the calibration timestamp may be sent by the aircraft 200. The data processing device 300 acquires the calibration time stamp from the second data, and adjusts the local time of the data processing device 300 to the time corresponding to the calibration time stamp. In the above manner, the local time of the data processing device 300 can be calibrated, and the accurate time at the time of target data collection can be obtained through the calibrated local time.

In an embodiment, due to the high accuracy of the GPS clock, the data processing device 300 may use only the second data sent by the GPS device as a time calibration. After receiving the second data, the data processing device 300 may detect whether the second data is data sent by the GPS device. Specifically, the data processing device 300 may determine whether the second data is data sent by the GPS device by detecting whether the data receiving pin corresponding to the second data is the data receiving pin corresponding to the GPS device. If it is detected that the second data is data sent by the GPS device, the data processing device 300 obtains a calibration time stamp from the second data, and adjusts the local time of the data processing device 300 to the time corresponding to the calibration time stamp. If it is detected that the second data is not the data sent by the GPS device, the data processing device 300 does not perform local time calibration.

In one embodiment, the synchronization pulse signal has periodicity. The data processing device 300 determines the first data received after the target data from the data received by the data interface of the data processing device 300 after taking the target time of receiving the synchronization pulse signal as the target data receiving time, and based on The target time and a preset time interval determine the receiving time of the first data, and the preset time interval corresponds to the cycle time of the synchronization pulse signal. For example, assuming that the first data is the first data received by the data processing device 300 after the target data, the target time plus the duration corresponding to the preset time interval is taken as the reception time of the first data. Assuming that the first data is the second data received by the data processing device 300 after the target data, the target time plus two durations corresponding to the preset time interval is taken as the reception time of the first data. In the above manner, after the precise time at the target data collection is determined, the precise time at the data collection received after the target data can be known in advance in combination with the cycle time of the synchronization pulse signal.

In the embodiment of the present invention, the aircraft generates a synchronization pulse signal when collecting target data, and sends the synchronization pulse signal and the target data to the data processing device; the data processing device receives the synchronization pulse signal and determines the target time of receiving the synchronization pulse signal ; Then determine the target data from the received data, and use the target time as the target data receiving time, so that the precise time corresponding to the data can be obtained, and the data synchronization between the aircraft and the data processing device can be achieved with high precision.

Please refer to FIG. 5, which is a schematic flowchart of a data processing method for an aircraft according to an embodiment of the present invention. In the embodiment of the present invention, the aircraft includes a data collection device. The data collection device is used to collect target data and generate a synchronization pulse signal when the target data is collected. The data processing method for an aircraft provided by an embodiment of the present invention can be applied not only to the data processing apparatus 204 shown in FIG. 2 but also to the data processing device 300 shown in FIG. 4. Methods can include:

S501. Receive a synchronization pulse signal sent by a data collection device, and determine a target time for receiving the synchronization pulse signal.

In the embodiment of the present invention, the data collection device is used to collect target data, and when the target data is collected, a synchronization pulse signal is generated at a synchronization pulse interface of the data collection device. The synchronization pulse signal may be a falling source pulse signal with a very small delay relative to the actual sampling time of the target data. The data acquisition device sends the synchronization pulse signal to the data processing device through the synchronization pulse interface, and sends the target data to the data processing device through the data bus interface. After the data collection device collects the target data, the target data will be compressed or packaged and processed accordingly; and due to factors such as the characteristics of the communication protocol between the data collection device and the data processing device, the transmission of the target data will be more Long delays will be transmitted to the data processing device more slowly. The delay of the synchronization pulse signal transmission is very small, and it will be quickly transmitted to the data processing device. Therefore, the data processing device first receives the synchronization pulse signal sent by the data collection device, and then receives the target data sent by the data collection device. After receiving the synchronization pulse signal sent by the data collection device, the data processing device determines the target time for receiving the synchronization pulse signal.

S502: Determine target data sent by the data collection device from the data received by the data interface.

In the embodiment of the present invention, the data processing device may determine the data received after the synchronization pulse signal among the data received by the data interface as the target data sent by the data collection device. Specifically, the data received first after the synchronization pulse signal among the data received by the data interface may be determined as the target data sent by the data collection device. It should be noted that the target data may refer to a data protocol frame containing target data.

S503. Use the target time as the reception time of the target data, so as to process the target data according to the reception time.

In the embodiment of the present invention, processing the target data includes performing differentiation, integration, three-dimensional mapping, and positioning information time confirmation on the target data. In the above manner, by using the reception time of the synchronization pulse signal as the reception time of the target data, the precise time when the target data is collected can be obtained, and thus the data synchronization between the data collection device and the data processing device can be achieved with high precision.

In an embodiment, the data processing device determines the first data received after the target data from the data received by the data interface; and determines the reception time of the first data according to the target time and the preset time interval, preset The time interval corresponds to the cycle time of the synchronization pulse signal.

In one embodiment, the data processing device receives the second data, and the second data carries the calibration timestamp; obtains the calibration timestamp from the second data, and adjusts the local time to the time corresponding to the calibration timestamp. In another embodiment, after receiving the second data, the data processing device first detects whether the second data is data sent by the GPS device, and only obtains calibration from the second data if the second data is data sent by the GPS device Time stamp, and use the calibration time stamp to calibrate the local time.

It should be noted that, for the specific implementation manner of the above-mentioned data processing method for an aircraft, reference may be made to the foregoing description, and details are not described herein again.

In the embodiment of the present invention, when the synchronization pulse signal sent by the data collection device is received, the target time for receiving the synchronization pulse signal is determined; then the target data sent by the data collection device is determined from the received data, and the target time is determined As the receiving time of the target data, the precise time corresponding to the data can be obtained, and the data synchronization between the aircraft and the data processing device can be achieved with high precision.

It should be noted that, for the sake of simple description, the foregoing embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the sequence of actions described because According to the present invention, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

A person of ordinary skill in the art may understand that all or part of the steps in the foregoing embodiments may be completed by instructing relevant hardware through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a flash disk, only Read memory (Read-Only Memory, ROM), random access device (Random Access Memory, RAM), magnetic disk or optical disk, etc.

The above describes an aircraft, a data processing system, and a data processing method for the aircraft provided by the embodiments of the present invention. Herein, individual examples are used to explain the principles and implementation modes of the present invention. To help understand the method of the present invention and its core idea. The above disclosure is only part of the embodiments of the present invention. Of course, it cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims (14)

An aircraft, characterized in that the aircraft includes a data collection device and a data processing device, wherein: The data collection device is configured to generate a synchronization pulse signal when target data is collected, and send the synchronization pulse signal and the target data to the data processing device; The data processing device is configured to receive the synchronization pulse signal sent by the data collection device and determine a target time for receiving the synchronization pulse signal; The data processing device is also used to determine the target data sent by the data collection device from the data received by the data interface, and use the target time as the target data receiving time, so as to facilitate The receiving time processes the target data. The aircraft according to claim 1, wherein the data processing device is specifically used for: The data received after the synchronization pulse signal among the data received by the data interface is determined as the target data sent by the data collection device. The aircraft according to claim 1, wherein the data processing device is specifically used for: The data received first after the synchronization pulse signal among the data received by the data interface is determined as the target data sent by the data collection device. The aircraft according to any one of claims 1 to 3, wherein the data processing device is further used to: Determine the first data received after the target data from the data received by the data interface; The receiving time of the first data is determined according to the target time and a preset time interval, where the preset time interval corresponds to the cycle time of the synchronization pulse signal. The aircraft according to any one of claims 1 to 4, wherein the data processing device is further used to: Receiving second data, where the second data carries a calibration timestamp; Obtain the calibration timestamp from the second data, and adjust the local time to the time corresponding to the calibration timestamp. The aircraft according to claim 5, wherein the data processing device is specifically used to: Detecting whether the second data is data sent by a GPS device; If the second data is data sent by a GPS device, the calibration timestamp is obtained from the second data. The aircraft according to any one of claims 1 to 6, wherein the data collection device is any one of a GPS device, an IMU device, a compass device, and a visual sensor device; the data processing device is a flying device Control device or shooting device. A data processing system, characterized in that the data processing system includes an aircraft and data processing equipment, wherein: The aircraft is configured to generate a synchronization pulse signal when target data is collected, and send the synchronization pulse signal and the target data to the data processing device; The data processing device is configured to receive the synchronization pulse signal sent by the aircraft and determine a target time for receiving the synchronization pulse signal; The data processing device is further configured to determine the target data sent by the aircraft from the data received by the data interface, and use the target time as the reception time of the target data to facilitate Time to process the target data. The data processing system according to claim 8, wherein the data processing device is specifically configured to: The data received after the synchronization pulse signal among the data received by the data interface is determined as the target data sent by the aircraft. The data processing system according to claim 8, wherein the data processing device is specifically configured to: The data received first after the synchronization pulse signal among the data received by the data interface is determined as the target data sent by the aircraft. The data processing system according to any one of claims 8 to 10, wherein the data processing device is further used to: Determine the first data received after the target data from the data received by the data interface; The receiving time of the first data is determined according to the target time and a preset time interval, where the preset time interval corresponds to the cycle time of the synchronization pulse signal. The data processing system according to any one of claims 8 to 11, wherein the data processing device is further used to: Receiving second data, where the second data carries a calibration timestamp; Obtain the calibration timestamp from the second data, and adjust the local time to the time corresponding to the calibration timestamp. The data processing system according to claim 12, wherein the aircraft includes a GPS device, and the data processing device is specifically configured to: Detecting whether the second data is data sent by the GPS device; If the second data is data sent by the GPS device, the calibration timestamp is obtained from the second data. A data processing method for an aircraft, the aircraft including a data collection device, characterized in that the data collection device is used to collect target data and generate a synchronization pulse signal when the target data is collected, the method includes : Receiving the synchronization pulse signal sent by the data collection device, and determining the target time for receiving the synchronization pulse signal; Determining the target data sent by the data collection device from the data received by the data interface; The target time is used as the reception time of the target data, so that the target data can be processed according to the reception time.

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