Data collection method, unmanned aerial vehicle (UAV) and storage medium

A data collection method used for a vision chip of an unmanned aerial vehicle (UAV), wherein the vision chip comprises a main operating system and a real-time operating system, and the method comprises steps of:

• generating, by the real-time operating system, a trigger signal;
• collecting, by the real-time operating system based on the trigger signal, flight control data of the UAV, and controlling an image sensor to collect an image sequence;
• synchronizing, by the real-time operating system, a time of the main operating system with a time of the real-time operating system;
• and
• performing, by the main operating system, visual processing on the flight control data and the image sequence, to ensure that the flight control data and the image sequence are collected synchronously;
• wherein the synchronizing step comprises:
• determining, by the main operating system, delay information of the real-time operating system and the main operating system based on a first system time and a second system time;
• wherein the first system time is a current system time of the main operating system sent by the main operating system to the real-time operating system at a first moment, and the second system time is a system time when the main operating system receives feedback on the first system time from the real-time operating system;
• and
• determining, by the real-time operating system, a system time of the real-time operating system according to the delay information and a system time of the main operating system, wherein the system time of the real-time operating system is determined by performing steps of:
• subtracting a third system time from the first system time, and adding the delay information to obtain first information, wherein the third system time is a system time when the real-time operating system receives the first system time;
• subtracting a fifth system time from a fourth system time, and adding the delay information to obtain second information, wherein the fourth system time is a current system time of the main operating system sent by the main operating system to the real-time operating system at a second moment, and the fifth system time is a system time when the real-time operating system receives the third system time;
• and
• adding, if an absolute value of the first information and an absolute value of the second information are both greater than a set error value, the delay information to the fourth system time to obtain the system time of the real-time operating system.