CN104850132B - A kind of multitask load management device and method - Google Patents
A kind of multitask load management device and method Download PDFInfo
- Publication number
- CN104850132B CN104850132B CN201510195591.7A CN201510195591A CN104850132B CN 104850132 B CN104850132 B CN 104850132B CN 201510195591 A CN201510195591 A CN 201510195591A CN 104850132 B CN104850132 B CN 104850132B
- Authority
- CN
- China
- Prior art keywords
- mission payload
- module
- sent
- multichannel
- telecommand
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Selective Calling Equipment (AREA)
Abstract
The invention discloses a kind of multitask load management apparatus and method.The device includes navigation data processing module, navigation data distribution module, multichannel and can configure communication module, main control module, task data selecting module, task data processing module.The device can configure communication module using multichannel and the hardware interface of different task load be adapted to, and mission payload telecommand is decomposed and distributed by main control module, while being returned after the status data of comprehensive task load；The timesharing of task data all the way chosen using task data selecting module in multiple tasks load is returned；The distribution of navigation data and clock signal is completed using navigation data processing module and navigation data distribution module.Using the device of the present invention, the mission payload that is changed the outfit on unmanned plane different or when loading multiple tasks load simultaneously, the hardware or modification flight control and management software of original airborne equipment need not be changed, manpower and materials input is effectively reduced, significantly shortens system development cycle.
Description
Technical field
The present invention relates to avionics field, more particularly to a kind of multitask load management device and method.
Background technology
With the increasingly maturation of unmanned air vehicle technique, its application field is more and more wider, and the task species of execution is also more and more,
Such as scout, monitor, communication is relayed.Need to carry different tasks loads on unmanned plane when performing these different types of tasks
Lotus, such as photoelectric platform, multifunction radar, aerial camera, communication trunking.Wherein, mission payload refers to be used to perform
The equipment of certain task or function.
Fig. 1 is the structural representation of unmanned plane task management system of the prior art.As shown in figure 1, UAS
In, control of the unmanned plane operator to the mission payload 6 on unmanned plane 5 is carried out by TTC channel.TTC channel includes ground
Stand detection and control terminal 2 and airborne detection and control terminal 7, two channels are generally set up by radio link between the two：One low speed letter
Road is used for the telecommand for uploading unmanned plane and the telemetry for passing unmanned plane down；Another IA High Speed Channel is used to pass task load down
Infrared/the visible images and the SAR image of multifunction radar of the task data of lotus, such as photoelectric platform.
The flight remote control that unmanned plane operator is sent to flight control with managing computer 8 by earth station's computer 1 refers to
Make and to the task telecommand of mission payload 6, airborne detection and control terminal 7 be sent to through radio link by earth station's detection and control terminal 2,
Flight telecommand receives post processing with management computer 8 by flight control and performed, and task telecommand is again through flight control
Send to mission payload 6 and perform after being handled with management computer 8.The telemetry of mission payload 6 be sent to first flight control with
Computer 8 is managed, flight control and management computer 8 are comprehensive by the other telemetry parameters of the telemetry of mission payload 6 and unmanned plane
Sent after closing packing by airborne detection and control terminal 7 through radio link to earth station's detection and control terminal 2, then through earth station's computer 1
In the control interface that unmanned plane operator is shown in after processing.The task data of mission payload 6 is directly passed through by airborne detection and control terminal 7
Radio link is sent to earth station's detection and control terminal 2, then carries out subsequent treatment by task data processing equipment 3.The work of mission payload 6
The navigation datas such as unmanned plane real-time attitude, position, ground velocity needed for making and clock signal (generally pps pulse per second signal) are by navigating
System 9 is provided.
A frame unmanned plane is typically only capable to install a mission payload under the conditions of prior art, is mainly limited by following conditions：
One is that flight control and management computer hardware interface resource are limited, generally only provides a hardware interface for mission payload；Two
It is that airborne detection and control terminal is only mission payload and provided and passes channel under the task data of a hardware interface and a high speed；Three are
Navigation system generally also only provides a hardware interface for mission payload.Above three hardware interface is under prior art conditions all
It is to use point-to-point signal transmission form, so as to define that a frame unmanned plane can only install a mission payload.Due to difference
The hardware interface of mission payload is usual and differs, and fly control and management computer, airborne detection and control terminal and navigation system
The hardware interface type provided for mission payload can not be changed after determining, thus change the outfit different mission payloads when need to original
The hardware interface of flight control and management computer, airborne detection and control terminal, navigation system or mission payload carries out certain repair
Change.
In addition the communications protocol of different task load is there is also difference, for example baud rate, data bit format, data receiver and
Transmission cycle, telecommand frame and telemetry frame format etc., are required to be controlled and handle by software.In existing skill
Under the conditions of art, the software code relevant with mission payload is contained among flight control and management software mostly, mission payload
Flight control and the modification of management software code will be caused by changing the outfit.If multiple tasks load is carried simultaneously, with mission payload
Relevant software code necessarily increases, so as to increase flight control and the burden of management computer, and influences flight control and pipe
Manage the real-time of software.
The function and performance of flight control and management software directly affect the flight safety of unmanned plane, are a kind of high securities
With the embedded software of high real-time, belong to the critical software of UAS, even if simply to flight control and management software
Potential safety hazard may also be brought, it is necessary to carry out perfect, high standard software test and verify to ensure by carrying out the modification of part
Flight control and the security of management software, therefore larger manpower and materials can be brought to put into, while the required time cycle
It is longer.In the case where keeping flight control and management software constant, if simply to the non-pass in mission payload management equipment
Key software is modified, and corresponding software test and validation criteria requirement will be reduced substantially, required manpower and materials and time
Cycle can also greatly reduce.
In summary, unmanned plane task management system of the prior art, due to being limited by prior art condition, nothing
It is man-machine when carrying multiple-task load in the mission payload for changing the outfit different or simultaneously, existing equipment hardware and flight must be controlled
Larger modification is carried out, it is necessary to put into substantial amounts of manpower and materials with management software, and spends the longer time cycle.
The content of the invention
It is an object of the invention to provide a kind of multitask load management device and method, can simultaneously it be carried on unmanned plane
Multiple tasks load, subsequently without carrying out larger modification with management software to existing equipment hardware and flight control, saves people
Power material resources and shortening lead time.
To achieve the above object, the invention provides following scheme：
A kind of multitask load management device, including navigation data distribution module (101), navigation data processing module
(102), multichannel can configure communication module (103), main control module (104), task data selecting module (105), task data
Processing module (106)；
It is configurable logical that mission payload telecommand is first sent to the multichannel by flight control and management computer (8)
Module (103) is interrogated, then generation is sent to the telecommand of each mission payload after the main control module (104) resolution process,
Communication module (103) can configure by the multichannel again and be distributed to mission payload first (11), mission payload second (12) and task load
Lotus third (13)；
The telemetry of mission payload first (11), mission payload second (12) and mission payload third (13) is first sent to described more logical
Road can configure communication module (103), again by the configurable communication mould of the multichannel after then being integrated through the main control module (104)
Block (103) is sent to flight control and management computer (8)；
The task data of the mission payload first (11), the mission payload second (12) and the mission payload third (13) is first
First send to the task data selecting module (105), the main control module (104) calculates according to the flight control with management
Wherein task data is sent to the task data processing module (106) all the way for the telecommand selection of machine (8), after treatment
Send to airborne detection and control terminal (7)；
Navigation data and clock signal are first sent to the navigation data processing module (102) by navigation system (9)
After reason, then the mission payload first (11), the mission payload second (12) is distributed to by the navigation data distribution module (101)
With the mission payload third (13).
Optionally：The main control module (104) is according to the flight control and management computer (8), the mission payload
The hardware interface type of first (11), the mission payload second (12) and the mission payload third (13), can match somebody with somebody to the multichannel
Put the corresponding hardware interface passage of communication module (103) to be configured, realize the adaptation of hardware interface.
Optionally：The remote control that the main control module (104) can send according to the flight control with management computer (8) refers to
The order control task data selecting module (105) selects the mission payload first (11), the mission payload second (12) and institute
State in the multichannel task data of mission payload third (13) output that riches all the way delivers to the task data processing module (106), pass through
Retransmited after crossing task data processing module (106) processing to the airborne detection and control terminal (7), realize multiple tasks load
Task data timesharing passback.
Optionally：The navigation data and clock signal that the navigation system (9) sends are through the navigation data processing module
(102) handle after, then by the navigation data distribution module (101) be distributed to the mission payload first (11), the task carry
Lotus second (12) and the mission payload third (13), realize and are supplied to multiple tasks to carry simultaneously single channel navigation data and clock signal
Lotus uses.
Multichannel described above can configure communication module (103) configuration, the decomposition of mission payload telecommand and distribution,
The main software internal by the main control module (104) of the selection of the synthesis, task data of mission payload telemetry is carried out
Control, and communication module (103), the main control module (104) and task data selection mould can configure by the multichannel
The hardware circuit of block (105), which coordinates, to be achieved；The processing and forwarding of navigation data and clock signal are general by the navigation number
Realized according to processing module (102) and the navigation data distribution module (101) in the way of hardware circuit；The processing of task data
Also generally realized by the task data processing module (106) in the way of hardware circuit.
A kind of multitask load management method, methods described is applied to multitask load management device (10), described many
Business load management device includes：Navigation data distribution module (101), navigation data processing module (102), multichannel are configurable logical
Interrogate module (103), main control module (104), task data selecting module (105), task data processing module (106)；
Methods described includes：
The main control module (104) is according to flight control and management computer (8), mission payload first (11), mission payload
The hardware interface of second (12) and mission payload third (13) can configure communication module (103) to the multichannel and configure, then
Carry out following circular treatment：
It is configurable logical that mission payload telecommand is first sent to the multichannel by flight control and management computer (8)
Module (103) is interrogated, then generation is sent to the telecommand of each mission payload after the main control module (104) resolution process,
Communication module (103) can configure by the multichannel again and be distributed to mission payload first (11), mission payload second (12) and task load
Lotus third (13)；
The telemetry of mission payload first (11), mission payload second (12) and mission payload third (13) is first sent to described more logical
Road can configure communication module (103), again by the configurable communication mould of the multichannel after then being integrated through the main control module (104)
Block (103) is sent to flight control and management computer (8)；
The task data of the mission payload first (11), the mission payload second (12) and the mission payload third (13) is first
First send to the task data selecting module (105), the main control module (104) calculates according to the flight control with management
Wherein task data is sent to the task data processing module (106) all the way for the telecommand selection of machine (8), after treatment
Send to airborne detection and control terminal (7).
Optionally, after main control module (104) resolution process generation send to each mission payload telecommand, specifically
Including：
Sent according to flight control and management computer (8) to the telecommand of the multitask load management device (10)
Device flag in frame, correspondence is copied to by the switch order in the telecommand frame, combined command and combined command parameter
In the telecommand frame of mission payload, while the switch order in the telecommand frame of miscellaneous equipment, combined command are inserted into sky
Instruction, combined command parameter are reset, and realize the flight control and the telecommand of management computer (8) to multiple mission payloads
Distribution.
Optionally, communication module (103) can configure by the multichannel again after the synthesis through the main control module (104)
Flight control and management computer (8) are sent to, is specifically included：
By the telemetry parameter of the mission payload first (11), the mission payload second (12) and the mission payload third (13)
It is divided into often aobvious telemetry parameter and the extension class of telemetry parameter two, according to the flight control and the telecommand of management computer (8)
Select a mission payload in the mission payload first (11), the mission payload second (12) and the mission payload third (13)
Extension telemetry parameter, by the extension telemetry parameter and device flag of the mission payload, with all mission payloads and described many
The often aobvious telemetry parameter of business load management device (10) is put into the multitask load management device (10) and sent to the flight
Control under realizing while multiple tasks load telemetry parameter with the telemetry frame of management computer (8), passing.
The specific embodiment provided according to the present invention, the invention discloses following technique effect：
Multitask load management device and method in the embodiment of the present invention, can carry multiple simultaneously on unmanned plane
Business load, subsequently without carrying out larger modification to existing equipment and flight control and management software, uses manpower and material resources sparingly, shortens
Lead time.
Specifically, when loading multiple tasks load in the mission payload for changing the outfit different or simultaneously, without change flight control
With management computer and airborne detection and control terminal hardware, greatly reduce hardware and change brought man power and material's input, significantly contracting
Short system development cycle；
It is soft without modification flight control and management when loading multiple tasks load in the mission payload for changing the outfit different or simultaneously
Part, it is to avoid the flight safety hidden danger come to the change tape of critical software, reduces expense and the cycle of software test；
Improve unmanned aerial vehicle platform carry different type mission payload versatility and ease for use, simplify flight control with
The interface relationship between computer and airborne miscellaneous equipment is managed, flight control and the burden of management computer is alleviated, necessarily
The reliability of system is enhanced in degree.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the structural representation of unmanned plane task management system of the prior art；
Fig. 2 is the structure chart of the multitask load management device embodiment of the present invention；
Fig. 3 is the structural representation of the unmanned plane task management system of the present invention；
Fig. 4 is the structural representation of the telecommand frame of the present invention；
Fig. 5 is sent to the structural representation of the telemetry frame of multitask load management device for the mission payload of the present invention；
Fig. 6 is sent to flight control and the telemetry frame of management computer for the multitask load management device of the present invention
Structural representation；
Fig. 7 is the flow chart of the multitask load management embodiment of the method for the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
In order to facilitate the understanding of the purposes, features and advantages of the present invention, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is further detailed explanation.
Fig. 2 is the structure chart of the multitask load management device embodiment of the present invention.
Fig. 3 is the structural representation of the unmanned plane task management system of the present invention.As shown in Figures 2 and 3,
Multitask load management device 10 includes navigation data distribution module 101, navigation data processing module 102, led to more
Road can configure communication module 103, main control module 104, task data selecting module 105, task data processing module 106.Navigation
Data distribution module 101 carries out the level signal conversion of navigation data and clock signal, such as by navigation data processing module 102
The navigation data of processing output is converted to RS232 or RS422 signals by TTL signal, and clock signal is converted to by TTL signal
27V pulse signals.The content for the navigation data frames that navigation data processing module 102 sends navigation system 8 is according to mission payload
The need for cut and combined, generation meets the navigation data frames of mission payload input requirements, generally real using fpga chip
It is existing.Multichannel can configure communication module 103 and include multiple configurable communication interfaces, the signal type of communication interface, baud rate,
Data bit format can be configured by main control module 104, and Typical Representative is multichannel serial card, the class signal of each communication interface
Type can be selected by being arranged between RS232, RS422 and RS485 for the internal register of multichannel serial card control chip
Select, corresponding baud rate, data bit format can be also configured by the internal register of multichannel serial card control chip, from
And meet the requirement communicated with different task load.Main control module 104 includes the basic component units such as CPU, RAM and FLASH, tool
Body form can be single board computer, single-chip microcomputer, embedded controller etc..Task data selecting module 105 is according to main control module 104
Instruction selected from multichannel input signal all the way signal carry out data, relay can be thrown using multi-path choice chip or hilted broadsword more
Realized etc. mode.Task data processing module 106 such as is decoded, compressed, being recoded at the processing to task data, is generally used
Fpga chip is realized.Main control module 104 and multichannel are configurable logical between communication module 103 and task data selecting module 105
Cross internal bus interface to be attached, conventional internal bus interface is including ISA, PC104, PCI and CPCI etc..
Relation between above-mentioned each module is：Main control module 104 is according to flight control and management computer 8, mission payload
The hardware interface type of first 11, mission payload second 12 and mission payload the third 13, can configure communication module 103 corresponding to multichannel
Hardware corridor is configured, to realize the adaptation of hardware interface；Telecommand is sent first by flight control with management computer 8
Communication module 103 is can configure to multichannel, then generation sends distant to each mission payload after the resolution process of main control module 104
Command frame is controlled, then communication module 103 can configure by multichannel and is distributed to mission payload first 11, mission payload second 12 and mission payload
The third 13.Navigation data and clock signal are first sent to after navigation data processing module 102 handles, then by leading by navigation system 9
Boat data distribution module 101 is distributed to mission payload first 11, mission payload second 12 and mission payload the third 13；Mission payload first 11,
The task data of mission payload second 12 and mission payload the third 13 is first sent to task data selecting module 105, main control module 104
According to flight control and the telecommand selection of management computer 8, wherein task data is sent to task data processing module all the way
106, send after treatment to airborne detection and control terminal 7.
The present invention is when it is implemented, multichannel can configure communication module 103, the input of task data selecting module 105 is led to
The output channel of road number and navigation data distribution module 101 it is several according to system to 10 management roles of multitask load management device
The maximum quantity of load determines that managerial role load is 3 to multitask load management device 10 simultaneously in such as Fig. 2.
Flight control is sent to multitask load management device 10 and multitask load management device 10 with management computer 8
Be sent to mission payload first 11, mission payload second 12, mission payload the third 13 telecommand frame structure can with as shown in figure 4,
Wherein frame head and postamble are used for frame synchronization, and device flag shows the purpose equipment that current telecommand frame is sent to, opened
It is the instruction without parameter to close instruction, and combined command is the instruction with parameter, and combined command parameter is corresponding to combined command
Parameter, is verified and for judging and correcting mistake present in frame data.It is assumed that mission payload first 11, mission payload second 12 and appoint
The device flag of load of being engaged in the third 13 is respectively 0x55,0x99,0xAA, and the device flag of multitask load management device 10 is
Switch order do-nothing instruction in 0x66, telecommand frame is 0x52, and combined command do-nothing instruction is 0xEE.When unmanned plane operator to
When mission payload first 11 sends telecommand, device flag inserts 0x55 in telecommand frame, and the telecommand passes through ground first
Face station computer 1 is sent, then is sent by earth station's detection and control terminal 2 through Radio Link to airborne detection and control terminal 7, is then sent to flight
Control and management computer 8, then it is forwarded to multitask load management device 10.The multichannel of multitask load management device 10 can
Configuration communication module 103 is received after the telecommand frame, and main control module 104 carries out the processing such as frame synchronization, verification and calculating to it,
And control will be flown with managing switch order, group in the telecommand frame that computer 8 is sent according to device flag 0x55 therein
Close instruction and combined command parameter is copied and is sent into correspondence in the telecommand frame of mission payload first 11, and mission payload will be sent to
Switch order inserts do-nothing instruction 0x52, combined command and inserts do-nothing instruction in the telecommand frame of second 12 and mission payload the third 13
0xEE, combined command parameter insert 0x00, while the device flag being sent in three different task load telecommand frames is divided
Do not fill out as 0x55,0x99,0xAA, then calculate respectively verification and after communication module 103 can configure by multichannel be again sent to respectively
Individual mission payload.Unmanned plane operator sends to mission payload second 12, mission payload the third 13 and multitask load management device 10
The method of telecommand is similar with said process, wherein being sent to the telecommand of multitask load management device 10 by main control module
104 directly processing are performed.
Mission payload is sent to the telemetry frame structure schematic diagram of multitask load management device 10 as shown in figure 5, many
Business load management device 10 be sent to the telemetry frame structure schematic diagram of flight control and management computer 8 as shown in fig. 6,
Wherein frame head, postamble and verification and effect it is similar with telecommand frame, device flag shows current telemetry data
Source device, equipment often show telemetry parameter be mission payload current operating state key parameter, it is desirable to be shown in ground always
Stand on computer 1 to monitor its working condition, device extension telemetry parameter is on the detailed of mission payload current operating state
Parameter, is only just shown on earth station's computer 1 when needed.Mission payload first 11, mission payload second 12 and mission payload third
13 multichannels that respective telemetry frame is sent at most mission payload managing device 10 respectively can configure communication module 103；
Main control module 104 is carried out after the processing such as frame synchronization, verification and calculating, is respectively filled each mission payload and multitask load management
Put 10 often aobvious telemetry parameter insert successively be sent to flight control with the telemetry frame of management computer 8 each equipment it is often aobvious
In telemetry parameter；Mission payload second is returned when unmanned plane operator sends telecommand selection to multitask load management device 10
During 12 extension telemetry parameter, main control module 104 will be sent to flight control and selecting in the telemetry frame of management computer 8
Device flag inserts 0x99, and the extension telemetry parameter of mission payload second 12 is copied to the selected device extension of telemetry frame
In telemetry parameter, calculate verification and after by multichannel can configure communication module 103 be sent to flight control with manage computer 8；
Flight control with management computer 8 receive after the telemetry frame of multitask load management device 10, with its collect it is other distant
Send to airborne detection and control terminal 7, then sent through Radio Link to earth station's detection and control terminal 2, and by earth station after surveying aggregation of data
Detection and control terminal 2 is forwarded to earth station's computer 1, and decoded wait shows after processing on the screen of earth station's computer 1.Unmanned plane
The method of the extension telemetry parameter of operator's selection return mission payload first 11 and mission payload the third 13 is similar with said process.When
When unmanned plane operator needs the task data passback of mission payload the third 13, task data is sent by earth station's computer 1 and selected
Instruction is selected, the instruction is through earth station's detection and control terminal 2, airborne detection and control terminal 7 and flight control with reaching many after management computer 8
The be engaged in middle multichannel of load management device 10 can configure communication module 103, then main control module 104 according to the instruction to number of tasks
It is controlled according to selecting module 105, the task data of selection mission payload the third 13 enters task data processing module 106, passes through
The processing such as decoding, compression, recodification, are then forwarded to airborne detection and control terminal 7, then send whole to earth station's observing and controlling through Radio Link
End 2, is finally handled by task data processing unit 3.Unmanned plane operator selection mission payload first 11, times of mission payload second 12
The method of business data back is similar with said process.
The navigation data and clock signal of navigation system 9 are first sent to the navigation data of multitask load management device 10
Processing module 102, as the data and signal form needed for each mission payload after processing, then distributes mould by navigation data again
Block 101 is respectively sent to mission payload first 11, mission payload second 12 and mission payload the third 13, to meet its requirements of one's work.
From the foregoing, the multitask load management device of the present invention can realize following function：
1) providing multichannel can be by the hardware communication interface of software merit rating, to the distribution of multiple tasks load from flight control
With managing the mission payload telecommand of computer, and the telemetry of each mission payload is received, beamed back after synthesis
Flight control and management computer；
2) control instruction sent according to flight control with management computer, the task data to multiple tasks load is carried out
Selection and switching, and sent after proper treatment to airborne detection and control terminal；
3) navigation data such as unmanned plane real-time attitude, position that UAV Navigation System is provided and clock clock signal warp
Cross after proper treatment and be distributed to each mission payload, the need for meeting mission payload.
According to the technical scheme designed by the present invention, the hardware interface that can configure communication module 103 by multichannel is configured,
Realize and be adapted between flight control and management computer 8 and multiple tasks load different hardware communication interface so that not more
The ability of the both-way communication between multiple tasks load can be extended under the hardware condition for changing flight control and management computer 8,
Control instruction can be sent to multiple tasks load and the operating state data that beam back of multiple tasks load is received, so as to realize pair
The management and control of multiple tasks load.
According to the technical scheme designed by the present invention, due to carrying multiple tasks load or the different task load that changes the outfit
When, the functional requirement such as the flight control telecommand transmission related with mission payload to management computer 8 and telemetry reception
Do not change, flight control and the correlative code of management software can immobilize, it is to avoid the modification to critical software.Many
Software in business load management device can on a small quantity be changed when changing the outfit different task load according to actual conditions, but due to this
Software does not influence the flight safety of unmanned plane, is non-critical software, and related test and validation criteria is substantially reduced.
According to the technical scheme designed by the present invention, main control module 104 can be according to flight control and the finger of management computer 8
Order is controlled to task data selecting module 105, one specified in the multichannel task data of selection multiple tasks load output
Road task data, after being handled through task data processing module 106, ground is beamed back in output to airborne detection and control terminal 7, so as to not change
Become under conditions of the airborne hardware of detection and control terminal 7, realize the timesharing passback of multichannel task data.
According to the technical scheme designed by the present invention, the navigation data and clock signal of the output of the single channel of navigation system 9 pass through
After the processing and distribution of navigation data processing module 102 and navigation data distribution module 101, extension, which is converted to, meets multiple differences
Navigation data and clock signal that mission payload needs, it is ensured that job requirement multiple tasks load is carried simultaneously when.
Therefore, multiple tasks can be carried simultaneously on unmanned plane using the multitask load management device of the present invention to carry
Lotus, subsequently without carrying out larger modification with management software to original airborne equipment hardware interface and flight control, saves manpower
Material resources, shortening lead time.
The invention also discloses a kind of multitask load management method.Methods described is filled applied to multitask load management
Put, the multitask load management device includes：
Navigation data processing module, main control module, task data processing module, multichannel can configure communication module, navigation
Data distribution module, task data selecting module.
The multitask load management device, can be the multitask load management device 10 shown in Fig. 2.
Fig. 7 is the flow chart of the multitask load management embodiment of the method for the present invention.As shown in fig. 7, this method can be wrapped
Include：
Step 701：The main control module (104) according to flight control with management computer (8), mission payload first (11),
The hardware interface of mission payload second (12) and mission payload third (13) can configure communication module (103) to the multichannel and match somebody with somebody
Put, then carry out following circular treatment：
Step 702：Mission payload telecommand is first sent to the multichannel by flight control and management computer (8)
Configurable communication module (103), then generation sends distant to each mission payload after the main control module (104) resolution process
Control instruction, then by the multichannel can configure communication module (103) be distributed to mission payload first (11), mission payload second (12) and
Mission payload third (13)；
Step 703：The telemetry of mission payload first (11), mission payload second (12) and mission payload third (13) is first sent to
The multichannel can configure communication module (103), can be matched somebody with somebody by the multichannel again after then being integrated through the main control module (104)
Put communication module (103) and be sent to flight control and management computer (8)；
Step 704：Times of the mission payload first (11), the mission payload second (12) and the mission payload third (13)
Business data are first sent to the task data selecting module (105), the main control module (104) according to the flight control with
Wherein task data is sent to the task data processing module (106), warp all the way for the telecommand selection of management computer (8)
Sent after crossing processing to airborne detection and control terminal (7).
Multiple tasks load can be carried simultaneously on unmanned plane using the multitask load management method of the present invention, subsequently
Without carrying out larger modification with management software to existing equipment and flight control, use manpower and material resources sparingly.
In practical application, generation is sent to the telecommand of each mission payload after main control module (104) resolution process,
Specifically include：
Sent according to flight control and management computer (8) to the telecommand of the multitask load management device (10)
Device flag in frame, correspondence is copied to by the switch order in the telecommand frame, combined command and combined command parameter
In the telecommand frame of mission payload, while the switch order in the telecommand frame of miscellaneous equipment, combined command are inserted into sky
Instruction, combined command parameter are reset, and realize the flight control and the telecommand of management computer (8) to multiple mission payloads
Distribution.
In practical application, communication module can configure by the multichannel again after the synthesis through the main control module (104)
(103) flight control and management computer (8) are sent to, is specifically included：
By the telemetry parameter of the mission payload first (11), the mission payload second (12) and the mission payload third (13)
It is divided into often aobvious telemetry parameter and the extension class of telemetry parameter two, according to the flight control and the telecommand of management computer (8)
Select a mission payload in the mission payload first (11), the mission payload second (12) and the mission payload third (13)
Extension telemetry parameter, by the extension telemetry parameter and device flag of the mission payload, with all mission payloads and described many
The often aobvious telemetry parameter of business load management device (10) is put into the multitask load management device (10) and sent to the flight
Control under realizing while multiple tasks load telemetry parameter with the telemetry frame of management computer (8), passing.
The embodiment of each in this specification is described by the way of progressive, and what each embodiment was stressed is and other
Between the difference of embodiment, each embodiment identical similar portion mutually referring to.For method disclosed in embodiment
For, because it is corresponding with device disclosed in embodiment, so description is fairly simple, related part is said referring to device part
It is bright.
Specific case used herein is set forth to the principle and embodiment of the present invention, and above example is said
The bright method and its core concept for being only intended to help to understand the present invention；Simultaneously for those of ordinary skill in the art, foundation
The thought of the present invention, will change in specific embodiments and applications.In summary, this specification content is not
It is interpreted as limitation of the present invention.
Claims (5)
1. a kind of multitask load management device, it is characterised in that：At navigation data distribution module (101), navigation data
Manage module (102), multichannel can configure communication module (103), main control module (104), task data selecting module (105), appoint
Business data processing module (106)；
Mission payload telecommand is first sent to the configurable communication mould of the multichannel by flight control and management computer (8)
Block (103), then generation is sent to the telecommand of each mission payload after the main control module (104) resolution process, then by
The multichannel can configure communication module (103) and be distributed to mission payload first (11), mission payload second (12) and mission payload third
(13)；
The telemetry of mission payload first (11), mission payload second (12) and mission payload third (13) is first sent to the multichannel can
Communication module (103) is configured, communication module can configure by the multichannel again after then being integrated through the main control module (104)
(103) flight control and management computer (8) are sent to；
The task data of the mission payload first (11), the mission payload second (12) and the mission payload third (13) is sent out first
The task data selecting module (105) is delivered to, the main control module (104) is according to the flight control and management computer
(8) wherein task data is sent to the task data processing module (106) all the way for telecommand selection, is sent out after treatment
Deliver to airborne detection and control terminal (7)；
Navigation data and clock signal are first sent to after navigation data processing module (102) processing by navigation system (9),
The mission payload first (11), the mission payload second (12) and institute are distributed to by the navigation data distribution module (101) again
State mission payload third (13).
2. a kind of multitask load management device according to claim 1, it is characterised in that：The main control module (104)
According to the flight control and management computer (8), the mission payload first (11), the mission payload second (12) and described
The hardware interface type of load third of being engaged in (13), the corresponding hardware interface passage of communication module (103) is can configure to the multichannel
Configured, realize the adaptation of hardware interface.
3. a kind of multitask load management method, it is characterised in that：Methods described is applied to multitask load management device (10),
The multitask load management device includes：Navigation data processing module (102), main control module (104), task data processing mould
Block (106), in addition to multichannel can configure communication module (103), navigation data distribution module (101), task data selection mould
Block (105)；
Methods described includes：
The main control module (104) is according to flight control and management computer (8), mission payload first (11), mission payload second
(12) and mission payload third (13) hardware interface to the multichannel can configure communication module (103) configure, Ran Houjin
The following circular treatment of row：
Mission payload telecommand is first sent to the configurable communication mould of the multichannel by flight control and management computer (8)
Block (103), then generation is sent to the telecommand of each mission payload after the main control module (104) resolution process, then by
The multichannel can configure communication module (103) and be distributed to mission payload first (11), mission payload second (12) and mission payload third
(13)；
The telemetry of mission payload first (11), mission payload second (12) and mission payload third (13) is first sent to the multichannel can
Communication module (103) is configured, communication module can configure by the multichannel again after then being integrated through the main control module (104)
(103) flight control and management computer (8) are sent to；The mission payload first (11), the mission payload second (12) and described
The task data of mission payload third (13) is first sent to the task data selecting module (105), the main control module (104)
According to the flight control and the telecommand selection of management computer (8), wherein task data is sent to the number of tasks all the way
According to processing module (106), send after treatment to airborne detection and control terminal (7).
4. method according to claim 3, it is characterised in that generate and send after main control module (104) resolution process
To the telecommand of each mission payload, specifically include：
Sent according to flight control and management computer (8) into the telecommand frame of the multitask load management device (10)
Device flag, by the switch order in the telecommand frame, combined command and combined command parameter be copied to correspondence task
In the telecommand frame of load, at the same by the switch order in the telecommand frame of miscellaneous equipment, combined command insert do-nothing instruction,
Combined command parameter is reset, and realizes the flight control and point of the telecommand of management computer (8) to multiple mission payloads
Hair.
5. method according to claim 3, it is characterised in that again by institute after the synthesis through the main control module (104)
State the configurable communication module (103) of multichannel and be sent to flight control and management computer (8), specifically include：
The telemetry parameter of the mission payload first (11), the mission payload second (12) and the mission payload third (13) is divided into
Often aobvious telemetry parameter and the extension class of telemetry parameter two, are selected according to the flight control and the telecommand of management computer (8)
The expansion of the mission payload first (11), the mission payload second (12) and a mission payload in the mission payload third (13)
Telemetry parameter is opened up, the extension telemetry parameter and device flag of the mission payload are carried with all mission payloads and the multitask
The often aobvious telemetry parameter of lotus managing device (10) is put into the multitask load management device (10) and sent to the flight control
With in the telemetry frame of management computer (8), being passed under realizing while multiple tasks load telemetry parameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510195591.7A CN104850132B (en) | 2015-04-23 | 2015-04-23 | A kind of multitask load management device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510195591.7A CN104850132B (en) | 2015-04-23 | 2015-04-23 | A kind of multitask load management device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104850132A CN104850132A (en) | 2015-08-19 |
| CN104850132B true CN104850132B (en) | 2017-09-22 |
Family
ID=53849842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510195591.7A Active CN104850132B (en) | 2015-04-23 | 2015-04-23 | A kind of multitask load management device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104850132B (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105468019B (en) * | 2015-12-23 | 2018-03-02 | 中国工程物理研究院总体工程研究所 | A kind of UAV Flight Control method of multitask independent parallel |
| CN106850050A (en) * | 2016-01-22 | 2017-06-13 | 广州极飞科技有限公司 | Communication system, the method for unmanned plane and earth station and unmanned plane |
| CN106230913B (en) * | 2016-07-25 | 2019-10-01 | 北京云汉通航科技有限公司 | Data processing transmission method and device |
| CN106406327A (en) * | 2016-11-01 | 2017-02-15 | 中国航空无线电电子研究所 | Unmanned aerial vehicle task architecture rapid verification platform |
| CN106406356A (en) * | 2016-12-13 | 2017-02-15 | 天津成周科技有限公司 | Control system for electronic-information-based unmanned aerial vehicle formation management and management method thereof |
| CN107024937B (en) * | 2017-03-13 | 2020-09-04 | 武汉飞流智能技术有限公司 | Unmanned aerial vehicle load self-identification and parameter self-matching method and ground self-adaption system |
| CN109101037A (en) * | 2017-06-20 | 2018-12-28 | 深圳市小氪科技有限公司 | The unmanned aerial photography aircraft of transmission and far distance control is realized using mobile network |
| CN108847920B (en) * | 2018-06-25 | 2021-06-29 | 北京零态空间数码科技有限公司 | Communication method and system |
| CN108776346B (en) * | 2018-07-26 | 2022-01-07 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Method for transmitting operational assistance information to a satellite payload |
| CN109398709B (en) * | 2018-12-03 | 2023-06-02 | 中航技进出口有限责任公司 | External airborne weapon fire control system and use method |
| WO2020133104A1 (en) * | 2018-12-27 | 2020-07-02 | 深圳市大疆创新科技有限公司 | Control method and apparatus, and unmanned aerial vehicle and storage medium |
| CN109981730B (en) * | 2019-01-04 | 2022-04-29 | 哈瓦国际航空技术（深圳）有限公司 | Method, device, equipment and storage medium for controlling mounting of unmanned aerial vehicle by ground station |
| CN112116798B (en) * | 2020-09-15 | 2022-02-08 | 中国人民解放军63660部队 | Two-target measurement and control cross multiplexing method under parallel tasks |
| CN113778643A (en) * | 2021-08-13 | 2021-12-10 | 中电科芜湖通用航空产业技术研究院有限公司 | Unmanned aerial vehicle task management computer software architecture system and configuration switching method |
| CN116483128B (en) * | 2023-06-19 | 2023-10-27 | 湖南林科达信息科技有限公司 | Unmanned aerial vehicle multitasking load device conversion method and system |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101159687B (en) * | 2007-11-07 | 2010-07-28 | 中国科学院计算技术研究所 | System, device and method of multi-channel communication transmitting data |
| CN101738608B (en) * | 2009-12-11 | 2013-03-20 | 北京航空航天大学 | Telemetry information comprehensive treatment system of unmanned plane and compressive treatment display method thereof |
| CN101913427B (en) * | 2010-08-04 | 2013-01-09 | 北京航空航天大学 | Avionics system suitable for multi-purpose unmanned aircraft |
| CA2845094A1 (en) * | 2011-08-16 | 2013-04-18 | Unmanned Innovation Inc. | Modular flight management system incorporating an autopilot |
| CN103368638B (en) * | 2012-03-29 | 2016-08-24 | 中国科学院空间科学与应用研究中心 | A kind of TTC & DT Systems for deep space probe and method |
| CN202754148U (en) * | 2012-07-16 | 2013-02-27 | 北京航空航天大学 | Universal land station capable of being allocated with unmanned aerial vehicles |
| CN103777545B (en) * | 2013-12-17 | 2016-06-01 | 中国航天空气动力技术研究院 | Without man-machine mission payload controller system |
-
2015
- 2015-04-23 CN CN201510195591.7A patent/CN104850132B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104850132A (en) | 2015-08-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104850132B (en) | A kind of multitask load management device and method | |
| CN105007115B (en) | Unmanned helicopter relays data link system and its control method | |
| CN104331292B (en) | A kind of configuration generating method of car networking middleware protocols conversion | |
| US20200174466A1 (en) | Drone communication system and communication system of drone server | |
| CN103970044B (en) | General hierarchical design method for unmanned aerial vehicle remote control command/telemetry parameter frame | |
| CN109345804A (en) | A kind of unmanned aerial vehicle (UAV) control signaling and data transmission method based on mobile network | |
| CN108183770A (en) | A kind of automatic clearance management method of unmanned plane | |
| CN104915482A (en) | Satellite data receiving simulation analysis platform | |
| CN104076820A (en) | Unmanned aerial vehicle electric power line polling control system and method based on three-dimensional GIS | |
| CN107544531A (en) | Line data-logging method, apparatus and unmanned plane | |
| CN112650279B (en) | Cloud flight management system and cloud flight management method for airplane | |
| CN109696922A (en) | A kind of long range telemetering environmental protection unmanned aerial vehicle control system and method | |
| CN113158116A (en) | Unmanned aerial vehicle control platform based on mobile internet | |
| CN104615019A (en) | System and method for remotely controlling UAV (Unmanned Aerial Vehicle) based on wireless communication | |
| CN107479876A (en) | A kind of five layer architecture design methods for building unmanned aerial vehicle station software | |
| CN205121345U (en) | Multitask load management device | |
| CN108873942B (en) | A kind of method that unmanned plane flight pattern Internet-based is kept | |
| CN107776912A (en) | A kind of aircraft ground TT＆C system net of center control | |
| CN102497540A (en) | Adaptive adjustment and transmission method of video information | |
| CN204089891U (en) | The Ethernet interface conversion equipment of difference SPI signal | |
| CN109841092A (en) | A kind of unmanned aerial vehicle command and control system | |
| CN205670192U (en) | Big Dipper location and communicating integral general-purpose system | |
| EP3690862A1 (en) | Four-dimensional trajectory uplinking system for aircraft | |
| CN209560368U (en) | A kind of long range telemetering environmental protection unmanned aerial vehicle control system | |
| CN110430254B (en) | Unmanned aerial vehicle remote controller signal analyzing method, signal processing method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 643000 No.9 Aviation Avenue, Zigong Aviation Industrial Park, Sichuan Province Patentee after: China Electric Special Aircraft Systems Engineering Co., Ltd. Address before: 618300 No. 74 Taizhong Road, Guanghan City, Deyang City, Sichuan Province Patentee before: In Dianke (Deyang Guanghan) Special Aircraft System Engineering Co. Ltd. |