CN107016841A - UAV Intelligent earth station and the method for controlling unmanned plane - Google Patents
UAV Intelligent earth station and the method for controlling unmanned plane Download PDFInfo
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- CN107016841A CN107016841A CN201710131536.0A CN201710131536A CN107016841A CN 107016841 A CN107016841 A CN 107016841A CN 201710131536 A CN201710131536 A CN 201710131536A CN 107016841 A CN107016841 A CN 107016841A
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18517—Transmission equipment in earth stations
Abstract
The invention belongs to unmanned aerial vehicle (UAV) control field, the intelligent ground station of more particularly to a kind of unmanned plane and the method for control unmanned plane.The invention provides including the first CPU, data transmitting module, mobile communication module, the first CPU sends operational order data by data transmitting module to unmanned plane, it is characterised in that：Also include NFC module, coach's mouth and the 2nd CPU, coach's mouth and the 2nd CPU connections, branch multiplexer is set between the first described CPU and the 2nd CPU, described branch multiplexer one end connects the first CPU and the 2nd CPU respectively, the branch multiplexer other end connects data transmitting module, coach's mouth is used for and unmanned controller connects and gathers the operational order data of unmanned controller, 2nd CPU is sent to the first CPU after receiving the operational order data of coach's mouth, and the first CPU is by the data record received and analysis.Present invention also offers the control method of UAV Intelligent earth station.Solve the problems, such as unmanned plane accident responsibility.
Description
Technical field
The invention belongs to unmanned aerial vehicle (UAV) control field, intelligent ground station and the control unmanned plane of more particularly to a kind of unmanned plane
Method.
Background technology
Unmanned plane is as a kind of aerial platform of superior performance, earliest for military field.But the development with technology and
Change, unmanned plane starts to develop rapidly in civil area, especially in terms of agricultural plant protection.
Unmanned plane is to be used for UAV, mainly flies control by ground remote control or GPS come operation.Unmanned machine operation
Compared with traditional work, with operation precisely, high-efficiency environment friendly the features such as, substantial amounts of human cost can be saved.
Current domestic unmanned machine operation is generally controlled manually using model airplane remote controller, and its mode is by unmanned plane operating personnel
（Fly hand）By the landing and a series of actions of remote control control unmanned plane, this requires that flying hand has to pass through professional training, and
Energy high concentration is needed when manipulating aircraft, in real time concern surrounding environment and the state of unmanned plane, it is impossible to there is the least bit to slack off.
And unmanned plane during flying, once exceeding visual line of sight, manipulation is just difficult to, it is easy to cause unmanned plane to crash or, and cause huge
Big economic loss and safety problem.
Recently as intelligent development, semi-autonomous or full autonomous flight unmanned plane starts to occur, its supporting intelligence
Earth station controls entity the accuracy and comfort level demand of rocking bar to start reduction, while it is also proposed more new demands：
1) earth station must have network savvy, can be communicated by network with background server.
2）Intelligence system must be carried in earth station, in order to strengthen earth station's function.
3）Fly hand qualification certification.Operation unmanned plane is a professional skill, how to confirm that operating personnel have behaviour before operation
Make qualification, be a problem urgently to be resolved hurrily.
4）How the working result of winged hand is judged, and the plant protection operation of this and winged hand is also badly in need of operating personnel's authentication letter
Breath settles accounts foundation as operation；
5）When there is accident（Such as air crash）When, how effectively to define winged hand artificial origin or unmanned plane is disturbed institute in itself
Cause, it is desirable to provide live evidence.
Therefore, a intelligent ground station for being adapted to existing unmanned plane industry requirement is invented, it is imperative.
The content of the invention
Technical problem to be solved：
Unmanned plane crashes or lost contact certification burden problem.This is to reduce the problem of loss is in the urgent need to address for unmanned plane, is also
The demand of industrial security flight.
Technical scheme：
In order to solve problem above, the invention provides a kind of UAV Intelligent earth station, including the first CPU, data transmission mould
Block, mobile communication module, the first CPU send operational order data by data transmitting module to unmanned plane, in addition to NFC moulds
Block, coach's mouth and the 2nd CPU, the coach mouthful and the 2nd CPU connections, branch is set between the first described CPU and the 2nd CPU
Multiplexer, described branch multiplexer one end connects the first CPU and the 2nd CPU respectively, and branch multiplexer other end connection data are passed
Module is sent, the coach mouthful is used for and unmanned controller connects and gathers the operational order data of unmanned controller, described
2nd CPU is received and the first CPU is sent to after the operational order data of coach's mouth, and the first CPU is by the data record received and divides
Analysis.
Coach's mouth receives the operational order data of unmanned controller by PPM agreements or SBUS agreements.
Described NFC module uses the mode card of NFC function（Card emulation）.
Described mobile communication module is WiFi or 4G networks.
The first described CPU is non real-time system, and the 2nd CPU is real-time system.
Present invention also offers a kind of method of UAV Intelligent ground station control unmanned plane
Beneficial effect：
The present invention first ensures that unmanned plane operating personnel are the trained winged hand by license, while earth station not only gathers nothing
Man-machine flying quality, the behaviour for also gathering unmanned plane operating personnel does the information of remote control, can be with once accident occurs for unmanned plane
Winged hand license is whether there is from operating personnel, mode of operation whether analyzed by correct and other problemses, quickly finds problem place,
It is responsible for where leting people.
Brief description of the drawings
Fig. 1 is structural transmission schematic diagram of the invention.
Fig. 2 has the schematic diagram under network for the authentication of the present invention.
The authentication of Fig. 3 present invention is without the schematic diagram under network condition.
Embodiment
Below by drawings and examples, the present invention is described in detail.
In order to solve the problems, such as unmanned plane crash or lost contact certification burden, we first since the operating personnel of unmanned plane,
Ensureing the operator of unmanned plane will be the license driven with unmanned plane, so ensures from source by professional training
The flight safety of unmanned plane.So being provided with identity authorization system in UAV Intelligent earth station.
Invention provides a kind of UAV Intelligent earth station, including the first CPU, data transmitting module, mobile communication module,
First CPU sends operational order data by data transmitting module to unmanned plane, in addition to NFC module, coach's mouth and second
CPU, the coach mouthful and the 2nd CPU connections, set branch multiplexer, the branch between the first described CPU and the 2nd CPU
Multiplexer one end connects the first CPU and the 2nd CPU, branch multiplexer other end connection data transmitting module, the coach respectively
Mouth is used for and unmanned controller connects and gathers the operational order data of unmanned controller, and the 2nd CPU receives religion
The first CPU is sent to after the operational order data for practicing mouth, and the first CPU is by the data record received and analysis.
Near-field communication（NFC）It is a kind of radiotechnics of short distance high frequency, its basis is RFID and interconnection technique.Single
Combining induction card reader, icah wavw and point-to-point function on chip, can be known with compatible equipment in short distance
Other and data exchange.Current near-field communication by as the international standards of ISO/IEC IS 18092, EMCA-340 standards with
The standards of ETSI TS 102 190.NFC has both of which mode card or point-to-point read mode.
This equipment employs NFC mode card（Card emulation）：Equivalent to one noncontact Card Reader of this pattern
Device, in this mode, the NFC UAV Intelligents earth station for possessing read-write capability can take data from TAG, then basis
Application requirement carries out data processing.
It is the identity information for reading unmanned plane operating personnel that NFC module is set in UAV Intelligent earth station.
Heretofore described coach's mouth is receiving unmanned controller behavioral data by coming PPM agreements or SBUS agreements.
PPM is that pulse position is adjusted, and this signal is mainly used in eighties of last century, model plane neighborhood as the master of remote control
Wireless communication protocol is wanted, coach's line and simulator are used for later.The signal uses multiple pulses as one group, and to organize to be single
Bit period is sent, and the servos control information of respective channel is transmitted by the width between each pulse in group.Each passage
Signal 0 ~ 2ms of pulsewidth, excursion is between 1 ~ 2ms.1 frame PPM signal length is 20ms, and 10 are can have up in theory and is led to
Road, but lock-out pulse is also required to time, most 9 passages of model remote controller.
SBUS is intelligent bus, and the agreement has two features：One is digitlization, and one is bussed.Digitlization refers to
Agreement uses existing Interface for digital communication as the hardware protocol of communication, and using special software protocol, this make it that the equipment is non-
Often it is adapted to use in SCM system, that is to say, that be adapted to link with flying control.In addition data have been used in its hardware protocol
Verification increase antijamming capability.It is bussed to refer to that a digital interface link multiple equipment, these equipment by Hub with
One S.bus buses connection, and respective control information can be obtained.
Identity authorization system is set in UAV Intelligent earth station, unmanned plane can just grasped by authentication
Make, the problem of solving operating personnel, when accident occurs for unmanned plane, it is impossible to judge whether to fly caused by the operational issue of hand, responsibility
On be still difficult to determine, coach's mouth and the 2nd CPU is then provided with earth station, and this coach's mouth is for connection to unmanned plane
Remote control, to unmanned plane without any control, it is only intended to gather the behavioral data of unmanned controller, such as remote control
Handle to the left, waits to the right near order data, coach's mouth to be transferred to second after acquiring the director data of unmanned controller
Data are transmitted to the first CPU by CPU, the 2nd CPU again, and director data is recorded and also says that director data passes through data simultaneously by the first CPU
Delivery module is sent to unmanned plane, and flying quality is sent to the first CPU or by final unmanned plane by data transmitting module
Operational order is sent to unmanned plane by two CPU by data transmitting module, and unmanned plane flies according to operational order, while second
All operational orders of unmanned controller are sent to the first CPU by CPU, and all operational orders are recorded and preserved by the first CPU, nothing
It is man-machine that actual motion track, flying speed, height, attitude information are transferred to the first CPU, first by data transmitting module
CPU records are preserved.
The operational motion of winged hand is have recorded in such first CPU, the data of unmanned plane during flying are have recorded, when there is unmanned plane
During accident, pass through the analysis of data, it can be determined that whether go out is the operational issue or other problemses for flying hand.The present invention is fine
The problem of solving confirmation of responsibility.
First CPU work is the director data of record unmanned controller, analyzes the director data of unmanned controller,
The flight receipt of unmanned plane is received, the flying quality of unmanned plane is recorded, the flying quality of unmanned plane is analyzed, flying quality includes real
The information such as border running orbit, flying speed, height, attitude information.In such case, the first CPU uses non real-time system, the
Under one CPU working condition, make controlling behavior from unmanned controller and just deposited to unmanned plane to the first CPU transmission behavioral datas
In a delay, due to the presence of this delay, it can cause under emergency case, winged hand reacts in time, as stringent effort, but refers to
When order reaches unmanned plane, accident is already led to, so while delay can not be avoided, but diminution delay has critically important meaning.
Due to being provided with MUX（Time-sharing multiplex device）.Under this configuration, the 2nd CPU is receiving unmanned controller behavior
Unmanned plane directly by data transmitting module is transferred to by time-sharing multiplex device in the case of data, so need not be again by the
One CPU, to unmanned plane, reduces delay by data transmitting module.
2nd CPU task is simple, therefore does not need operating system layer, and processing code directly accesses hardware, so as to ensure
The real-time of response.The 2nd CPU uses timing system in this patent.Only it is responsible for transferring data to the first CPU and transmission behavior
Data-signal is to unmanned plane.
The method of the control unmanned plane at the unmanned intelligent ground station of the present invention, comprises the following steps：The first step：Identity is recognized
Card, could operate ground station control unmanned plane during flying only by authentication；Second step：Control unmanned plane during flying has three kinds
Pattern：Automatic mode, semiautomatic-mode and manual mode, in automatic mode, UAV Intelligent earth station will be pre-set
Task route, flying speed issued by data transmitting module by the first CPU and transmits mould by data on unmanned plane, unmanned plane
Block performs task after receiving,；Under semiautomatic-mode, the first CPU of UAV Intelligent earth station is to the no-manned machine distant control that receives
The behavior of device is pre-set, and flies manual operating unmanned controller, and the 2nd CPU collects all operational orders letters by training mouth
Breath is transferred to the first CPU, and the first CPU is pre-set according to the behavior of unmanned controller is corresponding, passes through data transmitting module
Send instructions to unmanned plane；In a manual mode, manual operating unmanned controller is flown, all operation instruction informations pass through coach
Operational order is sent to unmanned plane by port transmission to the 2nd CPU, the 2nd CPU by data transmitting module, and unmanned plane is according to operation
Instruction flight,；3rd step：Actual motion track, flying speed, height, attitude information are passed through data transmitting module by unmanned plane
It is transferred to the first CPU record preservations.
Semiautomatic-mode and handset mode are different, and intelligent ground station is entered to the operational motion of unmanned controller
Row is default, such as, and operation handle control aircraft flies certain distance to the left, and operation handle is reached after certain distance, unclamped, so
There are problems that one, it is impossible to which accurate operation, intelligent ground station passes through | action winged to a left side CPU is preset, and handle moves one to the left
Under, unmanned plane is moved to the left the distance of determination, and this makes it possible to be accurately controlled.The semiautomatic-mode of unmanned plane plant protection is mainly
Winged control and remote control on aircraft jointly control, and some parameter presets are included into plot mapping information, unmanned plane during flying in advance
Speed, height, flow, spraying swath etc., these parameter presets are sent to winged control, and control is gone by flying control.Remote control is during sprinkling
Push rod sprinkling forward is only needed to, push rod is once to the right.Period, which flies control, can return the status information of unmanned plane plant protection.
Described identity authentication method is：NFC module adds unmanned plane operating personnel's second generation identity card of reading
After ciphertext data, the first CPU is transmitted data to by hardware connecting line, the first CPU is further according to demand by certification request by moving
Dynamic communication module sends identity card database server and data decoding is decrypted, and identity card database server receives decryption
After request, by the ID card No. of the user decrypted, UAV Intelligent earth station is sent to by mobile communication module, nobody
Machine ground station reception is demonstrate,proved after number to the user identity decrypted, then flown from the first CPU by mobile communication module to unmanned plane
Hand database server sends ID card No. and carries out service request, and unmanned plane flies hand database server by the identity card of reception
Number is matched with winged hand information, and matching result then is fed back into earth station, ground station reception by mobile communication module
The reaction for being given by or refusing after to result.
The authentication is in the case of without network, and NFC module is read after second generation identity card information and encryption information
Contrasted with local data base, such as the data for finding to have matching, certification passes through, and the data not matched, certification does not pass through.
The acquirement of described local data base is that winged hand horn code is downloaded into unmanned wisdom first in the case where there is network
In energy earth station, then user's brush second generation identity card, after networked information is verified, obtains second generation identity card number, will
The number of the winged hand of ID card information, encryption information and correspondence read, which is stored in UAV Intelligent earth station, locally to be counted
According to storehouse.In a manual mode, intelligent aircraft Controlling model can be trained, step is as follows, and earth station is by training mouth intactly
The operation instruction information of winged hand is collected into, meanwhile, unmanned plane passes its state back earth station, nobody state bag in real time
The position of unmanned plane, height, posture, course, speed, fountain height, relative altitude are included, at a time T0, earth station is collected into
Unmanned plane state S, be collected into the operation behavior A of winged hand, transmission delay T2 passed according to coach's port transmission delay T1 sums, can be with
The time of origin for obtaining S is TS=T0-T2, and A time of origin is TA=T0-T1, takes synchronization（TS=TA）Aircraft state and
The data for flying hand operation set up set (A, S), set up a winged hand operation learning network, assign this data acquisition system as training
Data import network, when data are enough, just train an intelligent aircraft Controlling model.
Described intelligent aircraft Controlling model has the effect that：
Training flies hand and used：Judge whether the operation of new winged hand is proper according to the state of flight of current unmanned plane, if there is danger
Operate earth station then force disconnect newly fly hand remote signal, control unmanned plane steadily hovering or land；If there is unreasonable
Operation, earth station can as the case may be to fly hand marking, be used as winged hand examination foundation；
Secure context considers:Under semi-automatic and automatic operation mode during operation, if there is chain rupture situation, earth station in coach's interface
It can be judged to provide correct operational order according to the plant protection data learnt before, correct the state of unmanned plane；Under automatic mode
Plant protection operation, runs into special circumstances, and earth station can provide correct correct according to the current status information of unmanned plane and instruct, in case of
Unexpected strong wind, earth station judges that unmanned plane state is dangerous, provides the instruction of hovering or landing；
In terms of confirmation of responsibility：After accident occurs in unmanned plane, the period occurred in accident, the status information of aircraft is checked, and
The operation information of the winged hand of correspondence, judges whether it is that artificial origin causes the generation of accident.
Claims (10)
1. a kind of UAV Intelligent earth station, including the first CPU, data transmitting module, mobile communication module, the first CPU will be grasped
Make director data to send to unmanned plane by data transmitting module, it is characterised in that：Also include NFC module, coach's mouth and second
CPU, the coach mouthful and the 2nd CPU connections, set branch multiplexer, the branch between the first described CPU and the 2nd CPU
Multiplexer one end connects the first CPU and the 2nd CPU, branch multiplexer other end connection data transmitting module, the coach respectively
Mouth is used for and unmanned controller connects and gathers the operational order data of unmanned controller, and the 2nd CPU receives religion
The first CPU is sent to after the operational order data for practicing mouth, and the first CPU is by the data record received and analysis.
2. UAV Intelligent earth station as claimed in claim 1, it is characterised in that：Coach's mouth by PPM agreements or
SBUS agreements receive the operational order data of unmanned controller.
3. UAV Intelligent earth station as claimed in claim 1, it is characterised in that：Described NFC module is using NFC function
Mode card（Card emulation）.
4. UAV Intelligent earth station as claimed in claim 1, it is characterised in that：Described mobile communication module be WiFi or
4G networks.
5. UAV Intelligent earth station as claimed in claim 1, it is characterised in that：The first described CPU is non real-time system,
2nd CPU is real-time system.
6. the method for the UAV Intelligent ground station control unmanned plane as described in claim 1-5 any claims, including with
Lower step：The first step：Authentication, could operate ground station control unmanned plane during flying only by authentication；Second step：
Control unmanned plane during flying has Three models：Automatic mode, semiautomatic-mode and manual mode, it is in automatic mode, unmanned quick-witted
The task route pre-set, flying speed are issued unmanned plane by energy earth station by the first CPU by data transmitting module, nothing
Task is performed after the man-machine upper reception by data transmitting module,；Under semiautomatic-mode, the first CPU of UAV Intelligent earth station
The behavior of unmanned controller to receiving is pre-set, and flies manual operating unmanned controller, and the 2nd CPU is adopted by training mouth
The operation instruction information for collecting all is transferred to the first CPU, and the first CPU is set in advance according to the behavior of unmanned controller is corresponding
Put, unmanned plane is sent instructions to by data transmitting module；In a manual mode, manual operating unmanned controller is flown, it is all
Operational order is sent to nothing by operation instruction information by training port transmission to the 2nd CPU, the 2nd CPU by data transmitting module
Man-machine, unmanned plane flies according to operational order,；3rd step：Unmanned plane believes actual motion track, flying speed, height, posture
Breath is transferred to the first CPU record preservations by data transmitting module.
7. method as claimed in claim 6, it is characterised in that：Described identity authentication method is：NFC module is by reading
After the encryption data of unmanned plane operating personnel's second generation identity card, the first CPU is transmitted data to by hardware connecting line, the
Certification request is sent identity card database server by mobile communication module further according to demand and data solution is decrypted by one CPU
Code, identity card database server is received after decoding request, by the ID card No. of the user decrypted, passes through mobile communication
Module is sent to UAV Intelligent earth station, and unmanned aerial vehicle station is received after the user identity card number decrypted, then by the
One CPU flies hand database server to unmanned plane by mobile communication module and sends ID card No. progress service request, nobody
Machine flies hand database server and is matched the ID card No. of reception with winged hand information, then will by mobile communication module
Matching result feeds back to the reaction for being given by or refusing after earth station, ground station reception to result.
8. method as claimed in claim 6, it is characterised in that：The authentication is in the case of without network, NFC module
Second generation identity card information is read with being contrasted after encryption information with local data base, such as the data for finding to have matching, certification
Pass through, the data not matched, certification does not pass through.
9. method as claimed in claim 8, it is characterised in that：The acquirement of described local data base is to have the situation of network
Under winged hand horn code is downloaded in UAV Intelligent earth station first, then user's brush second generation identity card, networked information checking
By rear, second generation identity card number is obtained, the number of the ID card information read, encryption information and the winged hand of correspondence is stored
Local data base is obtained in UAV Intelligent earth station.
10. method as claimed in claim 6, it is characterised in that：In a manual mode, intelligent aircraft control mould can be trained
Type, step is as follows, and earth station is intactly collected into the operation instruction information of winged hand by training mouth, meanwhile, unmanned plane by it
State passes earth station back in real time, nobody state include the position of unmanned plane, height, posture, course, speed, fountain height,
Relative altitude, at a time T0, the unmanned plane state S that earth station is collected into, are collected into the operation behavior A of winged hand, according to religion
Practice port transmission delay T1 sums and pass transmission delay T2, the time of origin that can obtain S is TS=T0-T2, A time of origin for TA=
T0-T1, takes synchronization（TS=TA）Aircraft state and winged hand operation data set up set (A, S), set up a winged hand
Learning network is operated, network is imported using this data acquisition system as training data, when data are enough, just trains an intelligence
Can aircraft Controlling model.
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| CN111103896A (en) * | 2019-12-16 | 2020-05-05 | 北京泊松技术有限公司 | Unmanned aerial vehicle air docking match judgment system and judgment method |
| CN111712861A (en) * | 2019-05-24 | 2020-09-25 | 深圳市大疆创新科技有限公司 | Control method of remote control equipment and remote control equipment |
| CN112363489A (en) * | 2020-09-11 | 2021-02-12 | 中国航空工业集团公司成都飞机设计研究所 | Handheld distributed finger control terminal system |
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| CN110460579B (en) * | 2019-07-10 | 2022-03-01 | 视联动力信息技术股份有限公司 | Flight data display method, system and device and readable storage medium |
| CN111103896A (en) * | 2019-12-16 | 2020-05-05 | 北京泊松技术有限公司 | Unmanned aerial vehicle air docking match judgment system and judgment method |
| CN112363489A (en) * | 2020-09-11 | 2021-02-12 | 中国航空工业集团公司成都飞机设计研究所 | Handheld distributed finger control terminal system |
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