Article(id=1325194148332045104, tenantId=1146029695717560320, journalId=1319690209941618849, issueId=1325194116245619276, articleNumber=null, orderNo=null, doi=10.12398/j.issn.2096-7217.2026.02.012, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1767715200000, receivedDateStr=2026-01-07, revisedDate=1773936000000, revisedDateStr=2026-03-20, acceptedDate=null, acceptedDateStr=null, onlineDate=1793880505879, onlineDateStr=2026-11-05, pubDate=1778774400000, pubDateStr=2026-05-15, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1793880505879, onlineIssueDateStr=2026-11-05, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1793880505879, creator=13701087609, updateTime=1793880505879, updator=13701087609, issue=Issue{id=1325194116245619276, tenantId=1146029695717560320, journalId=1319690209941618849, year='2026', volume='7', issue='2', pageStart='1', pageEnd='200', issueExtLink='null', onlineDate='null', pubDate='1778774400000', pubDateStr='2026-05-15', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=1, specialIssue=null, createTime=1793880498229, creator='13701087609', updateTime=1793943300582, updator='13701087609', preIssue=null, nextIssue=null, articleTotal=null, ext={EN=IssueExt(id=1325457528724795795, tenantId=1146029695717560320, journalId=1319690209941618849, issueId=1325194116245619276, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1325457528724795796, tenantId=1146029695717560320, journalId=1319690209941618849, issueId=1325194116245619276, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null, downloadFileDto=null}, startPage=133, endPage=141, ext={EN=ArticleExt(id=1325194148667589425, articleId=1325194148332045104, tenantId=1146029695717560320, journalId=1319690209941618849, language=EN, title=Design and experiment of an on-board equipment monitoring system for oil-powered plant protection unmanned helicopter, columnId=null, journalTitle=Journal of Intelligent Agricultural Mechanization, columnName=null, runingTitle=null, highlight=null, articleAbstract=
Oil-powered plant protection unmanned helicopters play an indispensable role in modern precision agriculture due to their large payload and long endurance. However, their complex operational mechanisms, including broadband strong vibration, high-temperature engine radiation, and coupling among multiple subsystems, impose extremely high demands on condition monitoring. Existing monitoring methods mostly rely on closed flight control systems, which commonly suffer from issues such as missing on-board equipment status data, low telemetry data update rates, high transmission latency, and non-open interfaces, leading to severe deficiencies in real-time flight status monitoring and fault diagnosis capabilities. To address these problems, a multi-signal acquisition and condition monitoring system is designed that is completely independent of the original flight control system. At the hardware circuit level, by integrating an MPU6050 attitude sensor, laser rangefinder, thermocouples, and optoelectronic isolation detection circuits, the system achieves high-frequency acquisition of nine types of key parameters, including flight attitude angles, engine speed, exhaust gas temperature, generator three-phase voltage, and servo command/feedback signals (attitude at 5 Hz, status at 1 Hz). The extended MavLink protocol is used for data encapsulation, and data are transmitted to a ground station via 4G/5G networks in a time-sharing manner, combined with on-board cyclic data storage, thereby establishing a dual-redundant data link. On this basis, an engine overheating early-warning method based on a temperature-speed coupling model and a fault detection algorithm for servo actuators based on an Extended Kalman Filter (EKF) are proposed. Test results show that the system operates independently and stably, reducing the uplink latency of critical attitude data to less than 200 ms, and successfully achieving rapid identification of faults such as generator phase loss (response <1 s) and servo jamming. This system can serve as an independent on-board “black box”, providing a reliable data foundation and diagnostic tool for real-time condition monitoring, predictive maintenance, and post-flight incident analysis of oil-powered unmanned helicopters.
, authors=Xuedong Yang, Liying Jiang, Rong Wang, Yong Zhang, authorsList=Xuedong Yang, Liying Jiang, Rong Wang, Yong Zhang, authorCompany=null, correspAuthors=null, authorNote=
, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null), CN=ArticleExt(id=1325194148910859058, articleId=1325194148332045104, tenantId=1146029695717560320, journalId=1319690209941618849, language=CN, title=油动力植保无人直升机机载设备信号监测系统设计与试验, columnId=0, journalTitle=智能化农业装备学报（中英文）, columnName=, runingTitle=null, highlight=null, articleAbstract=
油动力植保无人直升机凭借其大载荷、长续航的优势，在现代农业中发挥着重要的作用。然而，其运行机理复杂，包括：宽频强振动、发动机高温辐射及多子系统耦合等，对状态监测提出了极高要求。现有监测手段多依赖封闭的飞行控制系统，普遍存在机载设备状态数据缺失、遥测数据更新率低、传输延迟高及接口不开放等问题，导致飞行状态实时监控与故障诊断能力严重不足。为此，研究设计一套完全独立于原飞行控制系统的多信号采集与状态监测系统。硬件电路层面通过集成MPU6050姿态传感器、激光测距、热电偶及光电隔离检测电路，实现对植保无人机飞行姿态角、发动机转速、尾焰温度、发电机三相电压、舵机指令与反馈等9类关键参数的高频采集（姿态5 Hz，状态1 Hz）。采用扩展的MavLink协议封装数据，并通过4G/5G网络分时传输至上位机，结合本机循环数据存储，构建了双冗余数据链。在此基础上，提出基于温度—转速耦合模型的发动机过热预警方法，以及基于扩展卡尔曼滤波（EKF）的舵机执行机构故障检测算法。测试结果表明，该系统独立稳定运行，将关键姿态数据上传延迟降低至小于200 ms，并成功实现发电机缺相（响应<1 s）、舵机卡滞等故障的快速识别。本系统可作为独立的机载“黑匣子”，为油动力无人直升机的实时状态监控、预测性维护与飞行事故回溯提供可靠的数据基础与诊断工具。
, authors=杨学冬, 姜利英, 王榕, 张勇, authorsList=杨学冬, 姜利英, 王榕, 张勇, authorCompany=null, correspAuthors=null, authorNote=
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Yang Xuedong, E-mail: yangxd@zzuli.edu.cn
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Yang Xuedong, E-mail: yangxd@zzuli.edu.cn
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杨学冬，男，1980年生，河北唐山人，硕士，实验师；研究方向为信号处理和嵌入式系统开发。E-mail：yangxd@zzuli.edu.cn
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杨学冬，男，1980年生，河北唐山人，硕士，实验师；研究方向为信号处理和嵌入式系统开发。E-mail：yangxd@zzuli.edu.cn
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journalId=1319690209941618849, articleId=1325194148332045104, language=CN, orderNo=4, keyword=MavLink协议), Keyword(id=1325194154170516308, tenantId=1146029695717560320, journalId=1319690209941618849, articleId=1325194148332045104, language=CN, orderNo=5, keyword=故障检测)], refs=[Reference(id=1325194154493477719, tenantId=1146029695717560320, journalId=1319690209941618849, articleId=1325194148332045104, doi=null, pmid=null, pmcid=null, year=null, volume=null, issue=null, pageStart=null, pageEnd=null, url=null, language=null, rfNumber=[1], rfOrder=0, authorNames=null, journalName=null, refType=null, unstructuredReference=安小康，李富根，闫晓静，等．植保无人飞机施用农药应用研究进展及管理现状[J]．农药学学报，2023，25（2）：282-294., articleTitle=null, refAbstract=null), Reference(id=1325194154598335320, tenantId=1146029695717560320, journalId=1319690209941618849, articleId=1325194148332045104, doi=null, pmid=null, pmcid=null, year=null, volume=null, issue=null, pageStart=null, pageEnd=null, url=null, language=null, rfNumber=[1], rfOrder=1, authorNames=null, journalName=null, refType=null, unstructuredReference=An Xiaokang, Li Fugen, Yan Xiaojing, et al. 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