CN109799841A - A kind of unmanned aerial vehicle ground control system, equipment and storage medium - Google Patents
A kind of unmanned aerial vehicle ground control system, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a kind of unmanned aerial vehicle ground control systems, pass through flying quality Monitor And Control Subsystem, unmanned plane operates control subsystem, task carry control subsystem, data analytics subsystem, central processing unit and data-link ground based terminal collectively constitute complex control system, wherein flying quality Monitor And Control Subsystem is used for in-service monitoring flight parameter, unmanned plane operation control subsystem is used to control unmanned plane during flying by man-machine interface, task carry control subsystem is for controlling different sensors entrained by unmanned plane different operation assignments, data analytics subsystem is for analyzing the image obtained in unmanned plane operation process and data, central processing unit is controlled for whole, data-link ground based terminal with unmanned plane for carrying out data transmission, greatly improve the ease for use of unmanned aerial vehicle ground control system, can neatly overcome it is various not The Nature and Man known is the adverse effect of factor, adapts to various complex environments, improves the operating efficiency of unmanned plane.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control field, especially a kind of unmanned aerial vehicle ground control system, equipment and storage medium.
Background technique
In recent years, with the development of science and technology unmanned plane is carried out in geographical environment monitoring, disaster area inspection, scientific research, regulation
The application of equal societies, industrial various aspects would indicate that powerful advantage, and unmanned plane industry development is swift and violent, the application field of unmanned plane
Also more and more extensive, the ground monitoring station system in unmanned aerial vehicle control system is as the application development process of unmanned plane gradually mentions
Out, in order to preferably remote control operation unmanned plane, people are generally used unmanned aerial vehicle station as entire unmanned plane system
The command and control center of system because unmanned plane is over the horizon flight mostly, thus knows the flight shape of unmanned plane by earth station
State is just particularly important, and is especially monitored in real time and is controlled to flight condition.
In order to be worked well using unmanned plane, needs to design ground station control system and unmanned plane communicates, control
The flight of unmanned plane, and show the flight information of unmanned plane, but existing ground station control system function is more single, it cannot be right
Unmanned plane activity process, including planning course line to control flight again arrive show analyze flying quality including whole process into
Row comprehensively control, in order to facilitate working flight in region, and the flight safety for improving unmanned plane propose a kind of control of collection, communication,
The ground control system of the unmanned plane with comprehensively control ability handled in one is necessary.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention
Purpose be to provide a kind of unmanned plane with comprehensively control ability for integrating control, communication, processing ground control system,
Equipment and storage medium.
The technical scheme adopted by the invention is that:
In a first aspect, the present invention provides a kind of unmanned aerial vehicle ground control system, including flying quality Monitor And Control Subsystem, nobody
It is whole that machine operates control subsystem, task carry control subsystem, data analytics subsystem, central processing unit and data-link ground
End, wherein the flying quality Monitor And Control Subsystem is used for in-service monitoring flight parameter；The unmanned plane operation control subsystem is used
In controlling unmanned plane during flying by man-machine interface；The task carry control subsystem is appointed for controlling unmanned plane different work
The entrained different sensors of business；The data analytics subsystem is for analyzing the image and number obtained in unmanned plane operation process
According to；The central processing unit is controlled for whole；The data-link ground based terminal with unmanned plane for carrying out data transmission.
Further, running state parameter, flying quality and the warning of unmanned plane during the flight parameter includes flight
Information.
Further, the unmanned plane operation control subsystem includes command console and/or flight parameter display interface
And/or unmanned plane course line display interface and/or carry data display interface.
Further, the task carry control subsystem is by least one video-frequency monitor and corresponding detection instrument structure
At.
Further, the data-link ground based terminal, which is used to send control command to unmanned plane and/or receive, carrys out unmanned plane
Operation data and carry data.
Further, the central processing unit completion comprises at least one of the following function: flight course planning and control, map
Management, flight control, abnormal alarm and trace playback analysis.
Further, control unmanned plane during flying workflow the following steps are included:
It logs in and verifies identity legitimacy；
Connection flies to control and verify the legitimacy of unmanned plane ID；
Flight course planning is carried out according to different carries and carries out course line elevation early warning；
Confirmation course line simultaneously uploads the winged control in course line to unmanned plane；
Unmanned plane during flying process monitoring is completed by ground control system, including modifies course line in flight course.
Second aspect, the present invention provide a kind of control equipment of unmanned aerial vehicle control, comprising:
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
A processor executes, so that at least one described processor can be realized such as the described in any item systems of first aspect.
The third aspect, the present invention provide a kind of computer readable storage medium, the computer-readable recording medium storage
There are computer executable instructions, the computer executable instructions are for realizing computer as first aspect is described in any item
System.
The beneficial effects of the present invention are:
The present invention by flying quality Monitor And Control Subsystem, unmanned plane operate control subsystem, task carry control subsystem,
Data analytics subsystem, central processing unit and data-link ground based terminal collectively constitute complex control system, wherein flying quality
Monitor And Control Subsystem is used for in-service monitoring flight parameter, and unmanned plane operation control subsystem is used to control nobody by man-machine interface
Machine flight, task carry control subsystem is for controlling different sensors entrained by unmanned plane different operation assignments, data point
Analysis subsystem is controlled for analyzing the image obtained in unmanned plane operation process and data, central processing unit for whole, number
It is used to carry out data transmission with unmanned plane according to chain ground based terminal, flight can be analyzed to including planning course line, control flight, display
Whole process including data carries out control analysis, greatly improves the ease for use of unmanned aerial vehicle ground control system, Neng Gouling
Overcoming various unknown Nature and Man livingly is the adverse effect of factor, adapts to various complex environments, improves the work of unmanned plane
Industry efficiency.
Detailed description of the invention
Fig. 1 is the composite structural diagram of the unmanned aerial vehicle ground control system of one embodiment of the present invention；
Fig. 2 is the scheme composed structure of the ground station control system control unmanned plane during flying of one embodiment of the present invention
Figure；
Fig. 3 is the specific flow chart of the ground station control system control unmanned plane during flying of one embodiment of the present invention.
Specific embodiment
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, Detailed description of the invention will be compareed below
A specific embodiment of the invention.It should be evident that drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, and obtain other embodiments.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein "and/or" includes one or more phases
Any and all combinations of the listed item of pass.
Ground station control system of the invention is a real-time transmission and flight with real time data acquisition, control instruction
The monitoring system of the functions such as the real-time display of track, the system are the important links in UAV system, whether its stability
The performance for directly affecting whole system is realized.It is controlled below with one detailed description of the present invention unmanned aerial vehicle of embodiment and is
System.
Embodiment one:
Fig. 1 is a kind of composite structural diagram of unmanned aerial vehicle ground control system provided in an embodiment of the present invention, as shown in Figure 1,
The system may include following subsystem: flying quality Monitor And Control Subsystem, unmanned plane operation control subsystem, the control of task carry
Subsystem, data analytics subsystem, central processing unit and data-link ground based terminal.
Wherein flying quality Monitor And Control Subsystem is used for in-service monitoring flight parameter, during specific flight parameter includes flight
Running state parameter, flying quality and the warning message of unmanned plane.
Unmanned plane operation control subsystem for controlling unmanned plane during flying by man-machine interface, including command console,
Flight parameter display interface, unmanned plane course line display interface and carry data display interface.
Task carry control subsystem is for controlling different sensors entrained by unmanned plane different operation assignments, by least
One video-frequency monitor and corresponding detection instrument are constituted, i.e., different sensors corresponds to different detection instruments, complete tradition
Commute operation, such as the tour of geographical mapping, pipe network, fire-fighting and the special carry of public security.
Data analytics subsystem is for analyzing the image obtained in unmanned plane operation process and data.
Central processing unit is controlled for whole, as long as function is: 1) obtain and handle sent from unmanned plane it is real-time
Data；2) display processing is carried out to data；3) confirmation job task plans course line and is uploaded to unmanned plane, and can fly
Course line, i.e. flight course planning and control are modified according to temporary flight situation in journey；4) electronic map of display in-flight, i.e. map pipe
Reason；5) the data distribution processing in flight course, i.e. flight control；6) drone status is analyzed before flying, in flight course, i.e.,
Abnormal alarm；7) system diagnostics, i.e. trace playback analysis.
Data-link ground based terminal sends control command and reception for carrying out data transmission with unmanned plane, including to unmanned plane
Come the operation data and carry data of unmanned plane.
As shown in Fig. 2, ground station control system controls the scheme composed structure of unmanned plane during flying in the present embodiment, specifically
, course line and job task are planned by the central processing unit in ground station control system, then upload to flying for unmanned plane
Control, i.e. flight controller, winged control carry out flight control and task execution, fly control in real time the lower current course line mission bit stream of fly-by machine and
Working condition, ground station control system are analyzed and are shown to data, and wherein ground station control system and unmanned plane fly control
Between data upload and download and realize by wireless communication.
Ground station control system controls the detailed process of unmanned plane during flying as shown in figure 3, comprising the following steps that
S1: logging in and verifies identity legitimacy；
S2: connection flies to control and verify the legitimacy of unmanned plane ID；
S3: flight course planning is carried out according to different carries and carries out course line elevation early warning；
S4: confirmation course line simultaneously uploads the winged control in course line to unmanned plane；
S5: unmanned plane during flying process monitoring is completed by ground control system, including modifies course line in flight course.
Specific ground station control system first needs to verify the legitimacy of the unmanned plane of user and connection, if logical
It crosses, is compared according to carry type, job content difference flight course planning, and by the course line of planning with geographical altitude data, it will
The risk that collides carries out the early warning of course line elevation, after confirming course line and being uploaded to the winged control of unmanned plane, carries out takeoff operational, completes nobody
The take-off process of machine, and unmanned plane during flying process monitoring is completed by ground control system.
When unmanned plane is in flight, flying quality can be transmitted to ground station control system, ground station control by flying control
System return according to these information carry out analysis shows that, if there is early warning, prompted, and flight information is protected in flight course
Deposit, for subsequent flights after when carrying out flight course analysis, playback flight path uses, while task carry control subsystem
The carry equipment of aircraft is controlled by flying the method for control transparent transmission instruction, for controlling entrained by unmanned plane different operation assignments
Different sensors, carry out the control of specific function to different carry equipment, for example, as carry be firefighting cartridge when, can send and beat
The instruction of bullet when carry is different function camera, can carry out control of taking pictures.
The unmanned plane during flying process monitoring of step S5 specifically includes following several:
1) gesture stability of unmanned plane passes through nothing that is, after each sensor obtains corresponding unmanned plane during flying status information
Line communication link by these data with predefined format transmission to ground station control system, in the center of ground station control system
These information of processing unit processes calculate control according to control law and require, form control instruction and control parameter, then pass through nothing
Control instruction and control parameter are transferred in the winged control on unmanned plane by line communication link, realize the behaviour to unmanned plane by the latter
Control.
2) display of carry data and the control to carry, carry are the correspondence execution unit of unmanned plane different task, ground
Face station control system realizes the control to carry according to mission requirements, and by the display to carry data, to realize to task
The supervision of executive condition.
3) unmanned plane course line monitoring position is shown, the main state for monitoring unmanned plane and course line in real time convenient for operator
4) navigation and target positioning, unmanned plane pass through wireless data link and ground station control system during execution task
It remains connection between system, when encountering special circumstances, needs ground station control system to carry out Navigation Control to it, make unmanned plane
It flies according to the route of safety, target positioning refers to that unmanned plane is sent to azimuth, height and the distance of ground station control system
Data include temporal information, so that these data can combine the essence to realize target position with the instantaneous position data of unmanned plane
Certainly position.
The Unmanned Aircraft Control Stations Control System of the present embodiment can be realized as the bridge of attended operation person and unmanned plane
Following basic function:
1) it can be realized the control to UAV Attitude, i.e., the posture of unmanned plane is all that can pass through ground at any time
What station was controlled.2) data such as the real-time posture information of unmanned plane, sensor states, course line can be shown.3) right
The course line of device carries out real-time control, it can the course line of unmanned plane is modified and customized as needed at any time.4) to flight
Data are saved, and can be played back to history flying quality task, are conveniently checked.5) guarantee that system is reliable and stable, it is real
Efficient data transmission, meets the communication need of big data quantity when real.6) it on the basis of meeting reliability, realizes intuitive
Monitoring data, easily operation control.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division progress for example, in practical application, can according to need and be completed by different functional modules above-mentioned function, i.e.,
The internal structure of device is divided into different functional modules, to complete all or part of the functions described above.It is above-mentioned to retouch
The specific work process for the device stated, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In addition, the present invention also provides a kind of control equipment of unmanned aerial vehicle ground control system, comprising: at least one processing
Device；And the memory being connect at least one processor communication；Wherein, be stored with can be by above-mentioned at least one for memory
Manage device execute instruction, instruction by least one above-mentioned processor execute so that at least one above-mentioned processor can be realized as
System described in embodiment one.
In addition, the present invention also provides a kind of computer readable storage medium, computer-readable recording medium storage has calculating
Machine executable instruction, the system that wherein computer executable instructions are used to that computer to be made to realize as described in embodiment one.
The present invention by flying quality Monitor And Control Subsystem, unmanned plane operate control subsystem, task carry control subsystem,
Data analytics subsystem, central processing unit and data-link ground based terminal collectively constitute complex control system, wherein flying quality
Monitor And Control Subsystem is used for in-service monitoring flight parameter, and unmanned plane operation control subsystem is used to control nobody by man-machine interface
Machine flight, task carry control subsystem is for controlling different sensors entrained by unmanned plane different operation assignments, data point
Analysis subsystem is controlled for analyzing the image obtained in unmanned plane operation process and data, central processing unit for whole, number
It is used to carry out data transmission with unmanned plane according to chain ground based terminal, flight can be analyzed to including planning course line, control flight, display
Whole process including data carries out control analysis, greatly improves the ease for use of unmanned aerial vehicle ground control system, Neng Gouling
Overcoming various unknown Nature and Man livingly is the adverse effect of factor, adapts to various complex environments, improves the work of unmanned plane
Industry efficiency.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (9)
1. a kind of unmanned aerial vehicle ground control system, which is characterized in that including flying quality Monitor And Control Subsystem, unmanned plane operation control
Subsystem, task carry control subsystem, data analytics subsystem, central processing unit and data-link ground based terminal,
Wherein the flying quality Monitor And Control Subsystem is used for in-service monitoring flight parameter；The unmanned plane operation control subsystem is used
In controlling unmanned plane during flying by man-machine interface；The task carry control subsystem is appointed for controlling unmanned plane different work
The entrained different sensors of business；The data analytics subsystem is for analyzing the image and number obtained in unmanned plane operation process
According to；The central processing unit is controlled for whole；The data-link ground based terminal with unmanned plane for carrying out data transmission.
2. a kind of unmanned aerial vehicle ground control system according to claim 1, which is characterized in that the flight parameter includes flying
The running state parameter of unmanned plane, flying quality and warning message between the departure date.
3. a kind of unmanned aerial vehicle ground control system according to claim 1, which is characterized in that the unmanned plane operation control
Subsystem includes command console and/or flight parameter display interface and/or unmanned plane course line display interface and/or carry data
Display interface.
4. a kind of unmanned aerial vehicle ground control system according to claim 1, which is characterized in that task carry control
System is made of at least one video-frequency monitor and corresponding detection instrument.
5. a kind of unmanned aerial vehicle ground control system according to claim 1, which is characterized in that the data-link ground based terminal
For coming the operation data and carry data of unmanned plane to unmanned plane transmission control command and/or reception.
6. a kind of unmanned aerial vehicle ground control system according to claim 1, which is characterized in that the central processing unit is complete
At comprising at least one of the following function: flight course planning and control, management map, flight control, abnormal alarm and trace playback point
Analysis.
7. a kind of unmanned aerial vehicle ground control system according to claim 1, which is characterized in that it controls unmanned plane during flying
Workflow the following steps are included:
It logs in and verifies identity legitimacy；
Connection flies to control and verify the legitimacy of unmanned plane ID；
Flight course planning is carried out according to different carries and carries out course line elevation early warning；
Confirmation course line simultaneously uploads the winged control in course line to unmanned plane；
Unmanned plane during flying process monitoring is completed by ground control system, including modifies course line in flight course.
8. a kind of control equipment of unmanned aerial vehicle control characterized by comprising
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
It manages device to execute, so that at least one described processor can be realized the function of system as described in any one of claim 1 to 7.
9. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has computer can
It executes instruction, the computer executable instructions are for making computer realize system as described in any one of claim 1 to 7.
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Cited By (2)
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