CN110398985A - A kind of distributed self-adaption Telemetry System of UAV and method - Google Patents
A kind of distributed self-adaption Telemetry System of UAV and method Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The invention discloses a kind of distributed self-adaption Telemetry System of UAV and methods, belong to UAV TT & C's technical field, the system includes indication control board, streaming media server, Web server, database server, streaming media communication center machine, data communication center machine and several prepositive communication computers, indication control board is connect with streaming media server and Web server respectively, and Web server is connect with database server；Streaming media communication center machine is connect with streaming media server and each prepositive communication computer respectively, and data communication center machine is connect with database server and each prepositive communication computer respectively；Database server is configured with the front end processor information table for storing the unmanned plane information table of unmanned machine information and for storing prepositive communication computer information.The present invention can permit unmanned plane distribution at an arbitrary position, be capable of the unmanned plane of adaptive different model, have versatility to the observing and controlling of the unmanned plane of different model and function.
Description
Technical field
The invention belongs to UAV TT & C's technical fields, and in particular to a kind of distributed self-adaption Telemetry System of UAV and
Method.
Background technique
Telemetry System of UAV includes that no-manned machine distant control (task distribution), unmanned plane telemetering and information transmission, unmanned plane are surveyed
Control is tracking and positioning unmanned plane, monitoring unmanned plane working condition, the important hand for obtaining picture/video data and remote controlled drone
Section.By unmanned plane telemetering, picture/video data, device status information and the UAV flight of unmanned plane acquisition can be obtained
Sensing data etc. (unmanned plane image data, video flowing, device status information and sensing data etc. are referred to as telemetering number
According to), it is the normal of unmanned plane inspection and unmanned plane and by live video stream, ex-post analysis equipment state and sensing data
Operation provides indispensable role；By no-manned machine distant control, it can control unmanned plane and complete specified movement and task.For
The unmanned plane of different model, device name, number of devices, device parameter, the quantity of device parameter, device parameter data class
Type, the value range of device parameter, the compiling mode of instruction set and code are not quite similar, the module of traditional Telemetry System of UAV
Customization need to be done according to unmanned plane model, it is with high costs.
With the development of unmanned plane industry, in order to realize profit, Telemetry System of UAV technology upgrading, cost compression is must
So.To reduce UAV TT & C's cost, avoiding system module overlapping development is to solve the problems, such as this important means, therefore to survey
The module versatility of control system has higher requirement.Existing major part UAV TT & C uses point to point link mode, same
A TT&C system can only support a frame unmanned plane simultaneously；Small part UAV system can support multi rack by introducing Cloud Server
Unmanned plane is distributed in different zones, but function is only limitted to the shared of load data, can not on communication link and architecture design
Accomplish real-time, to cannot accomplish the real-tune TT & C of the multiple batches of unmanned plane of multizone.In addition, existing major part unmanned plane is surveyed
Control system need to investigate its observing and controlling demand according to different unmanned plane models, determine its data structure and instruction set, be based on this data
Structure designs and Implements the modules such as data transmission, storage, processing, realizes the remote control to unmanned plane based on this instruction set；Different
Unmanned plane model, instruction set difference different using data structure, thus data transmission, storage, processing system modules difference, nothing
Man-machine remote control module is also different, can not be compatible with the unmanned plane of other models, lacks versatility.
We has realized general telemetry system in terms of rocket and satellite telemetry and has applied for patent: the patent No.
CN109815286A discloses a kind of adaptive telemetry of launch vehicle system and its implementation, specification are described suitable for rocket
The self-defined application layer protocol and dynamic data base establishing method of telemetry system；Patent No. CN109842675A discloses a kind of logical
With satellite telemetering data processing system and method, specification describes the self-defined application layer association suitable for microlock
Negotiation dynamic data base establishing method.At this stage without entity and individual to Telemetry System of UAV using distributed self-adaption without
Man-machine TT&C system framework uses self-defined application layer tasking protocol without entity and individual in Telemetry System of UAV
It is also distant using self-defined application layer in Telemetry System of UAV without entity and individual to meet the versatility of UAV TT & C
Agreement and dynamic creation data base method are surveyed to meet the versatility of UAV TT & C.
Summary of the invention
In order to solve the above problems existing in the present technology, it is an object of that present invention to provide a kind of distributed self-adaption nobody
Machine TT&C system and method can permit unmanned plane distribution at an arbitrary position, be capable of the unmanned plane of adaptive different model, to not
Observing and controlling with the unmanned plane of model and function has versatility.
The technical scheme adopted by the invention is as follows: a kind of distributed self-adaption Telemetry System of UAV, including indication control board, stream
Media server, Web server, database server, streaming media communication center machine, data communication center machine and several communications
Front end processor, the indication control board are connect with the streaming media server and the Web server respectively, the Web server and institute
State database server connection；The streaming media communication center machine respectively with the streaming media server and each prepositive communication computer
Connection, the data communication center machine are connect with the database server and each prepositive communication computer respectively；The database
Server is configured with the front end processor for storing the unmanned plane information table of unmanned machine information and for storing prepositive communication computer information
Information table；The prepositive communication computer is equipped with self-defined application layer telemetry protocol, and prepositive communication computer is according to self-defined application layer telemetering
Non-video stream data in received unmanned plane telemetry is converted to telemetering message and is sent to the data communication by agreement
Center machine；The data communication center machine is equipped with self-defined application layer tasking protocol, and data communication center machine is according to making by oneself
Received assignment instructions are encapsulated as task assignment message and are sent to the prepositive communication computer by adopted application layer tasking protocol.
It is preferred that the telemetering message includes the telemetering message of four seed types, respectively unmanned plane parameter definition
Message, unmanned plane supplemental characteristic message, end of transmission message and disconnection TCP link message.
It is preferred that the database server includes telemetry storehouse, the telemetry storehouse is equipped with a ginseng
Number defines table, a component relation table and several telemetry tables.
It is preferred that further include mobile terminal, the mobile terminal respectively with the streaming media server and described
Web server connection.
Another technical solution of the present invention are as follows: a kind of distributed self-adaption UAV TT & C method, including downlink
The dealing with information flow process and uplink information stream process process, the downlink information stream process process the following steps are included:
S11, unmanned plane remote-measuring equipment collect unmanned plane telemetry and are sent to prepositive communication computer；
Video stream data in unmanned plane telemetry is sent to streaming media communication center machine by S12, prepositive communication computer；It is logical
Believe that the non-video stream data in unmanned plane telemetry is converted to telemetering report according to self-defined application layer telemetry protocol by front end processor
Text, and the telemetering message is sent to data communication center machine；
Video stream data is transmitted to streaming media server and stored by S13, streaming media communication center machine；In data communication
Scheming carries out dissection process to telemetering message, and telemetering message transmissions to the database server of dissection process is stored；
S14 accesses streaming media server in indication control board, and the video stream data in convection media server is read out and locates
Reason；Database server, and dynamic construction data table object are accessed in the api interface of indication control board called Web service device, to data
The data of table object are read out and handle.
The uplink information stream process process the following steps are included:
S21 inputs or imports the assignment instructions of unmanned plane in indication control board；
S22 stores the assignment instructions of unmanned plane into database service in the api interface of indication control board called Web service device
In device；
The assignment instructions new assignment instructions and are encapsulated as in data communication center machine reading database server by S23
Then the task assignment message is sent to prepositive communication computer by task assignment message；
S24, prepositive communication computer send mission bit stream to unmanned plane according to the data of task assignment message.
It is preferred that the data communication center machine carries out dissection process to telemetering message, and by dissection process
Telemetering message transmissions stored to database server the following steps are included:
S131, data communication center machine judge whether there is new telemetering message, and if it exists, telemetering message is then received, and
Judge received telemetering type of message；If it does not exist, then suspend mode T1Then duration is rejudged with the presence or absence of new telemetering report
Text；
S132, if received telemetering type of message is end of transmission message, suspend mode T2Then duration returns to S131 again
Judge whether there is new telemetering message；If received telemetering type of message is to disconnect TCP link message, TCP link is removed,
It ends task；If received telemetering type of message is unmanned plane supplemental characteristic message, enter S133；If received telemetering message
Type is unmanned plane parameter definition message, then enters S134；
S133 judges then to return to S131 if it does not exist with the presence or absence of telemetry storehouse in database server and rejudge
With the presence or absence of new telemetering message；If it exists, then judge the telemetry that whether there is current unmanned plane in the telemetry storehouse
Table；Telemetry table if it does not exist then returns to S131 and rejudges with the presence or absence of new telemetering message；Telemetry if it exists
Table then stores the information of the unmanned plane supplemental characteristic message in the telemetry table, and then returning to S131 and rejudging is
It is no that there are new telemetering messages；
S134 judges with the presence or absence of telemetry storehouse in database server, if it does not exist, then enters S1341；If depositing
Then entering S1342；
S1341 establishes telemetry storehouse in database server, then established in the telemetry storehouse it is current nobody
The telemetry table of machine, resettles component relation table and parameter definition table, and by the information of the unmanned plane parameter definition message
It is stored in the telemetry table, component relation table and parameter definition table, finally returning to S131 and rejudging whether there is newly
Telemetering message；
S1342 judges the telemetry table that whether there is current unmanned plane in the telemetry storehouse, and if it exists, then return
S131 is rejudged with the presence or absence of new telemetering message；If it does not exist, then current unmanned plane is established in the telemetry storehouse
Telemetry table；Judge in the telemetry storehouse with the presence or absence of component relation table, if it exists component relation table, then by it is described nobody
Component information in machine parameter definition message is stored in the component relation table；Component relation table if it does not exist, then in the telemetering
Component relation table is established in database, and the component information in the unmanned plane parameter definition message is stored in the component relationship
In table；Judge to whether there is parameter definition table in the telemetry storehouse, if it exists parameter definition table, then by the unmanned plane parameter
The parameter definition information defined in message is stored in the parameter definition table；Parameter definition table if it does not exist, then in the telemetering number
According to establishing parameter definition table in library, and the parameter definition information in the unmanned plane parameter definition message is stored in the parameter and is determined
Yi Biaonei finally returns to S131 and rejudges with the presence or absence of new telemetering message.
It is preferred that being equipped with work distribution chart in database server in S22, the assignment instructions of unmanned plane are
The api interface of binary instruction, indication control board called Web service device stores the binary instruction into database server
In work distribution chart.
It is preferred that in S23, new assignment instructions and general in data communication center machine reading database server
The assignment instructions are encapsulated as task assignment message, and it includes: that data are led to that the task assignment message, which is then sent to prepositive communication computer,
Believe in the work distribution chart of center machine monitor database server whether there is new binary instruction；If having in work distribution chart new
Binary instruction, then data communication center it is machine-readable takes the binary instruction and by the binary instruction be encapsulated as task distribution report
Then the task assignment message is sent to prepositive communication computer by text；If there is no new binary instruction, data in work distribution chart
The monitoring task suspend mode T of message center machine3Then whether duration has in the work distribution chart of monitor database server new again
Binary instruction.
The invention has the benefit that
1, the present invention uses indication control board, streaming media server, Web server, database server, streaming media communication center
Machine, data communication center machine and several prepositive communication computers constitute distributed self-adaption Telemetry System of UAV, and the system is certainly
Application layer tasking protocol and telemetry protocol are defined, is capable of UAV TT & C's demand of adaptive different model, and should
System can permit unmanned plane distribution at an arbitrary position, i.e. unmanned plane by configuring unmanned plane information table and front end processor information table
Multiple regions can be distributed in, each region there can be multiple UAVs；Meanwhile the system by video flowing Telemetry Data link with
Non-video stream Telemetry Data link, telecommand link separate, and ensure that unmanned plane non-video stream telemetry and telecommand
The real-time of transmission has versatility to the observing and controlling of the unmanned plane of different model and function.
2, the present invention provides a kind of distributed self-adaption UAV TT & C methods, lead to during downlink information stream process
The method for crossing self-defined application layer telemetry protocol and database server dynamic construction data table object, will using prepositive communication computer
The telemetry of the unmanned plane of different model and function is encapsulated into the message of fixed format, and the message format is unified, no matter without
Man-machine carrying which kind of component belongs to which kind of model, and after prepositive communication computer encapsulates, message meets self-defined application layer telemetering
Protocol specification solves the versatility of unmanned plane telemetry data transmission；Self-defined application layer telemetry protocol carries creation simultaneously
Information required for database, it is ensured that can dynamic creation unmanned plane telemetry storehouse, do not need artificially to carry out demand in advance
Investigate, determine data structure, thus the present invention can adaptive different model and function unmanned plane telemetry.
3, the present invention provides a kind of distributed self-adaption UAV TT & C methods, during uplink information stream process certainly
Application layer tasking protocol is defined, TT&C system administrator can input the instruction of binary system unmanned plane in indication control board or import
The instruction of binary system unmanned plane, indication control board are stored the assignment instructions of unmanned plane into data by the api interface of called Web service device
In the server of library；It, can be according to self-defined application when data communication center machine monitors to have new instruction in database server
Binary instruction is encapsulated as task assignment message and then passes through prepositive communication computer to be sent to unmanned plane, nothing by layer tasking protocol
Belong to which kind of model, using which kind of instruction set by unmanned plane, the message after the encapsulation of message center machine meets customized answer
With layer tasking protocol specification, the unmanned plane of remote control different model is allowed the invention to, to solve no-manned machine distant control
Adaptivity.
Detailed description of the invention
Fig. 1 is a kind of topological diagram of distributed self-adaption Telemetry System of UAV provided by the invention；
Fig. 2 is that message center machine handles telemetering number in a kind of distributed self-adaption UAV TT & C method provided by the invention
According to flow chart；
Fig. 3 is message center machine uplink information stream in a kind of distributed self-adaption UAV TT & C method provided by the invention
The flow chart for the treatment of process；
Fig. 4 be in a kind of distributed self-adaption UAV TT & C method provided by the invention prepositive communication computer on unmanned plane
Infuse the flow chart of instruction.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is further elaborated.
As shown in Figure 1, present embodiments providing a kind of distributed self-adaption Telemetry System of UAV, including indication control board, stream
Media server, Web server, database server, streaming media communication center machine, data communication center machine and several communications
Front end processor, the indication control board are connect with the streaming media server and the Web server respectively, the Web server and institute
State database server connection；The streaming media communication center machine respectively with the streaming media server and each prepositive communication computer
Connection, the data communication center machine are connect with the database server and each prepositive communication computer respectively.The database
Server is configured with the front end processor for storing the unmanned plane information table of unmanned machine information and for storing prepositive communication computer information
Information table.
Wherein, Telemetry System of UAV has downlink information stream process process and uplink information stream process process.In downlink
During the dealing with information flow, unmanned plane remote-measuring equipment collects the telemetry of unmanned plane first, then telemetry is sent to logical
Believe front end processor, telemetry includes unmanned plane image data, video flowing, device status information and sensing data etc., telemetering number
Video stream data in is sent to prepositive communication computer after H.264/H.265 mode is compressed, other telemetries are according to nothing
The man-machine agreement itself used is sent to prepositive communication computer.The telecommand and telemetry of unmanned plane can be by arbitrarily leading to
Letter link transmits between unmanned plane and prepositive communication computer.
After prepositive communication computer receives telemetry, the video stream data in telemetry is sent to stream by prepositive communication computer
Video stream data is stored in streaming media server by media communication center machine, streaming media communication center machine again, streaming media service
Device supports common stream media protocol, such as rtsp/rtmp/mms/hls agreement, and real-time live broadcast function may be implemented.It is described logical
Believe that front end processor is equipped with self-defined application layer telemetry protocol, prepositive communication computer is according to self-defined application layer telemetry protocol by telemetry
In non-video stream data be converted to telemetering message and be sent to the data communication center machine.Data communication center machine is to telemetering
Message carries out dissection process, and by the telemetering packet storage of dissection process in database server.
User can access streaming media server in indication control board, and the video stream data in convection media server is read out
And processing；User can also access database server, and dynamic construction number in the api interface of indication control board called Web service device
According to table object, the data of data table object are read out and are handled.
It, can be with since the database server of Telemetry System of UAV is configured with unmanned plane information table and front end processor information table
Allow unmanned plane to be distributed at an arbitrary position, i.e., unmanned plane can be distributed in multiple regions, and each region can have multiple UAVs,
Realize the distributed nature of Telemetry System of UAV.Wherein, the explanation of unmanned plane information tableau format and unmanned plane information table point
Not as shown in Table 1 and Table 2, front end processor information tableau format and front end processor information table illustrate it is as shown in Table 3 and Table 4 respectively.
1 unmanned plane information tableau format of table
| Major key | Unmanned plane grouping | Unmanned plane number | Unmanned plane model | Front end processor number | Unmanned plane position |
| String | String | String | String | String |
The explanation of 2 unmanned plane information table of table
| Title | Explanation |
| Unmanned plane grouping | The grouping information of unmanned plane, String type |
| Unmanned plane number | Assign the unique number of unmanned plane, String type |
| Unmanned plane model | The type information of unmanned plane, String type |
| Front end processor number | The unique number of the affiliated front end processor of unmanned plane, String type |
| Unmanned plane position | Location information where unmanned plane, String type |
3 front end processor information tableau format of table
| Major key | Front end processor number | Front end processor position | IP address |
| String | String | String |
The explanation of 4 front end processor information table of table
| Title | Explanation |
| Front end processor number | Assign front end processor unique number, String type |
| Front end processor position | The geographical location information of front end processor, String type |
| IP address | The IP address of front end processor, String type |
During uplink information stream process, user inputs or imports the assignment instructions of unmanned plane, indication control board in indication control board
The api interface of called Web service device stores the assignment instructions of unmanned plane into database server, and data communication center is machine-readable
Assignment instructions new in database server are taken, the data communication center machine is equipped with self-defined application layer tasking protocol,
Received assignment instructions are encapsulated as task assignment message according to self-defined application layer tasking protocol by data communication center machine
And it is sent to the prepositive communication computer, prepositive communication computer sends mission bit stream to unmanned plane according to the data of task assignment message.
In the present embodiment, the telemetering message includes the telemetering message of four seed types, and respectively unmanned plane parameter is fixed
Adopted message, unmanned plane supplemental characteristic message, end of transmission message and disconnection TCP link message.Specifically, unmanned plane parameter definition
The content of message includes message identification, message length, timestamp, encryption indicator, component names, parent component names, unmanned plane
Number, parameter name, data type value, minimum value, maximum value, unit, display mark, effective digital, probability distribution；Unmanned plane
The content of supplemental characteristic message include message identification, message length, timestamp, encryption indicator, component names, unmanned plane number,
Sampling time, specific data；The content of end of transmission message includes message identification, message length, timestamp, encryption indicator；It is disconnected
The content for opening TCP link message includes message identification, message length, timestamp, encryption indicator.
The database server includes telemetry storehouse, and the telemetry storehouse is equipped with a parameter definition table, one
Component relation table and several telemetry tables.
Have in telemetry storehouse and an only parameter definition table, define basic format for storing all parameters of operating part,
The content of parameter definition table is carried out the parameter definition structure of dissection process by telemetering data receiving set to unmanned plane parameter definition message
At.
Have in telemetry storehouse and only a component relation table is indicated for the logical relation between reservoir part
Set membership between component, the table that reading data and level can be facilitated to show.Since prespecified component names are
Uniquely, so title polyisomenism is not present in component relation table.
The corresponding telemetry table of each unmanned plane in telemetry storehouse, the table name of telemetry table are unmanned plane name,
The telemetering number for there was only gauge outfit but no data is established according to format after identifying unmanned plane parameter definition message by telemetering data receiving set
According to table.Data identify unmanned plane supplemental characteristic message by data communication center machine in telemetry table, according to nothing belonging to the message
Telemetry is referred under different telemetry tables by man-machine difference, when multiple telemetering messages carry unmanned plane difference
The telemetry at quarter, these telemetries collectively form the telemetry table of some unmanned plane.
In the present embodiment, further include mobile terminal, the mobile terminal respectively with the streaming media server and institute
State Web server connection.Mobile phone terminal can be used in mobile terminal, installs APP software on mobile phone terminal, user can pass through
APP software reads the video stream data in streaming media server, and user can be connect by the API of APP software transfer Web server
Non-video stream data in mouth access database server, and dynamic construction data table object, number of the user to data table object
According to being read out and handle.
The present invention uses indication control board, streaming media server, Web server, database server, streaming media communication center
Machine, data communication center machine and several prepositive communication computers constitute distributed self-adaption Telemetry System of UAV, and the system is certainly
Application layer tasking protocol and telemetry protocol are defined, is capable of UAV TT & C's demand of adaptive different model, and should
System can permit unmanned plane distribution at an arbitrary position, i.e. unmanned plane by configuring unmanned plane information table and front end processor information table
Multiple regions can be distributed in, each region there can be multiple UAVs；Meanwhile the system by video flowing Telemetry Data link with
Non-video stream Telemetry Data link, telecommand link separate, and ensure that unmanned plane non-video stream telemetry and telecommand
The real-time of transmission.
The present embodiment additionally provides a kind of distributed self-adaption UAV TT & C method, adaptive applied to above-mentioned distribution
Telemetry System of UAV is answered, the method includes downlink information stream process process and uplink information stream process process, the downlinks
The dealing with information flow process the following steps are included:
S11, unmanned plane remote-measuring equipment collect unmanned plane telemetry and are sent to prepositive communication computer；
Video stream data in unmanned plane telemetry is sent to streaming media communication center machine by S12, prepositive communication computer；It is logical
Believe that the non-video stream data in unmanned plane telemetry is converted to telemetering report according to self-defined application layer telemetry protocol by front end processor
Text, and the telemetering message is sent to data communication center machine；
Video stream data is transmitted to streaming media server and stored by S13, streaming media communication center machine；In data communication
Scheming carries out dissection process to telemetering message, and telemetering message transmissions to the database server of dissection process is stored,
As shown in Fig. 2, specifically includes the following steps:
S131, data communication center machine judge whether there is new telemetering message, and if it exists, telemetering message is then received, and
Judge received telemetering type of message；If it does not exist, then suspend mode T1Then duration is rejudged with the presence or absence of new telemetering report
Text；T1Size can be arranged according to the actual situation；
S132, if received telemetering type of message is end of transmission message, suspend mode T2Then duration returns to S131 again
Judge whether there is new telemetering message；If received telemetering type of message is to disconnect TCP link message, TCP link is removed,
It ends task；If received telemetering type of message is unmanned plane supplemental characteristic message, enter S133；If received telemetering message
Type is unmanned plane parameter definition message, then enters S134；T2Size can be arranged according to the actual situation；
S133 judges then to return to S131 if it does not exist with the presence or absence of telemetry storehouse in database server and rejudge
With the presence or absence of new telemetering message；If it exists, then judge the telemetry that whether there is current unmanned plane in the telemetry storehouse
Table；Telemetry table if it does not exist then returns to S131 and rejudges with the presence or absence of new telemetering message；Telemetry if it exists
Table then stores the information of the unmanned plane supplemental characteristic message in the telemetry table, and then returning to S131 and rejudging is
It is no that there are new telemetering messages；
S134 judges with the presence or absence of telemetry storehouse in database server, if it does not exist, then enters S1341；If depositing
Then entering S1342；A telemetry storehouse is only existed in Telemetry System of UAV, the data of all unmanned planes are stored in
In the telemetry storehouse；
S1341 establishes telemetry storehouse in database server, then established in the telemetry storehouse it is current nobody
The telemetry table of machine, resettles component relation table and parameter definition table, and by the information of the unmanned plane parameter definition message
It is stored in the telemetry table, component relation table and parameter definition table, finally returning to S131 and rejudging whether there is newly
Telemetering message；
S1342 judges the telemetry table that whether there is current unmanned plane in the telemetry storehouse, and if it exists, then return
S131 is rejudged with the presence or absence of new telemetering message；If it does not exist, then current unmanned plane is established in the telemetry storehouse
Telemetry table；Judge in the telemetry storehouse with the presence or absence of component relation table, if it exists component relation table, then by it is described nobody
Component information in machine parameter definition message is stored in the component relation table；Component relation table if it does not exist, then in the telemetering
Component relation table is established in database, and the component information in the unmanned plane parameter definition message is stored in the component relationship
In table；Judge to whether there is parameter definition table in the telemetry storehouse, if it exists parameter definition table, then by the unmanned plane parameter
The parameter definition information defined in message is stored in the parameter definition table；Parameter definition table if it does not exist, then in the telemetering number
According to establishing parameter definition table in library, and the parameter definition information in the unmanned plane parameter definition message is stored in the parameter and is determined
Yi Biaonei finally returns to S131 and rejudges with the presence or absence of new telemetering message.Believed by continuous circular treatment telemetering message
Breath, finally telemetering packet storage in parameter definition table, component relation table and telemetry table these three data forms.
S14 accesses streaming media server in indication control board or mobile phone terminal, the video stream data in convection media server into
Row is read and processing；Database server, and dynamic are accessed in the api interface of indication control board or mobile phone terminal called Web service device
Data table object is constructed, the data of data table object are read out and are handled.
The method that the present invention passes through self-defined application layer telemetry protocol and database server dynamic construction data table object,
The telemetry of the unmanned plane of different model and function is encapsulated into the message of fixed format using prepositive communication computer, the message
Uniform format, no matter UAV flight which kind of component, which kind of model belonged to, after prepositive communication computer encapsulates, message meets
Self-defined application layer telemetry protocol specification, solves the versatility of unmanned plane telemetry data transmission；Self-defined application layer is distant simultaneously
Survey agreement carry creation database required for information, it is ensured that can dynamic creation unmanned plane telemetry storehouse, be not required to very important person
Carry out requirement investigation in advance for ground, determine data structure, thus the present invention can adaptive different model and function unmanned plane
Telemetry.
The uplink information stream process process the following steps are included:
S21, in indication control board or mobile phone terminal input or the assignment instructions for importing unmanned plane.
S22, the api interface of indication control board or mobile phone terminal called Web service device by the assignment instructions of unmanned plane store into
In database server；Wherein, work distribution chart is equipped in database server, the assignment instructions of unmanned plane refer to for binary system
It enables, the api interface of indication control board called Web service device, which stores the binary instruction into the task in database server, to be distributed
In table.Database server only has a work distribution chart, and the format of work distribution chart and work distribution chart illustrate to distinguish
As shown in table 5 and table 6.
The format of 5 work distribution chart of table
The explanation of 6 work distribution chart of table
The assignment instructions new assignment instructions and are encapsulated as in data communication center machine reading database server by S23
Then the task assignment message is sent to prepositive communication computer, as shown in figure 3, specifically including: data communication by task assignment message
New assignment instructions and the assignment instructions are encapsulated as task assignment message in center machine reading database server, then should
Task assignment message is sent in the work distribution chart that prepositive communication computer includes: data communication center machine monitor database server
Whether new binary instruction is had；If there is new binary instruction in work distribution chart, data communication center is machine-readable take this two
System instructs and the binary instruction is encapsulated as task assignment message, and it is preposition that the task assignment message is then sent to communication
Machine；If there is no new binary instruction in work distribution chart, the monitoring task suspend mode T of data communication center machine3Then duration weighs
Whether there are new binary instruction, T in the work distribution chart of new monitor database server3Size can be according to the actual situation
The format of task assignment message and illustrating respectively as shown in table 7 and table 8 for task assignment message are set.
The format of 7 task assignment message of table
The explanation of 8 task assignment message of table
S24, prepositive communication computer send mission bit stream to unmanned plane according to the data of task assignment message.As shown in figure 4, appointing
Assignment message of being engaged in has task type, if the task type of the task assignment message is real-time task, prepositive communication computer is vertical
It carves and infuses assignment instructions on unmanned plane；If the task type of task assignment message is plan target, prepositive communication computer monitoring
The time infused in task infuses instruction when infusing the time in arrival on unmanned plane immediately.
The customized application layer tasking protocol of the present invention, TT&C system administrator can input binary system in indication control board
Unmanned plane instruction imports the instruction of binary system unmanned plane, api interface the appointing unmanned plane that indication control board passes through called Web service device
Business instruction is stored into database server；It, can when data communication center machine monitors to have new instruction in database server
With according to self-defined application layer tasking protocol by binary instruction be encapsulated as task assignment message so that pass through communication it is preposition
Machine is sent to unmanned plane, and no matter unmanned plane belongs to which kind of model, the report using which kind of instruction set, after the encapsulation of message center machine
Wen Jun meets self-defined application layer tasking protocol specification, allows the invention to the unmanned plane of remote control different model, thus
Solves the adaptivity of no-manned machine distant control.
The present invention is not limited to above-mentioned optional embodiment, anyone can show that other are each under the inspiration of the present invention
The product of kind form.Above-mentioned specific embodiment should not be understood the limitation of pairs of protection scope of the present invention, protection of the invention
Range should be subject to be defined in claims, and specification can be used for interpreting the claims.
Claims (10)
1. a kind of distributed self-adaption Telemetry System of UAV, which is characterized in that including indication control board, streaming media server, Web clothes
Business device, database server, streaming media communication center machine, data communication center machine and several prepositive communication computers, the aobvious control
Platform is connect with the streaming media server and the Web server respectively, and the Web server and the database server connect
It connects；The streaming media communication center machine is connect with the streaming media server and each prepositive communication computer respectively, and the data are logical
Letter center machine is connect with the database server and each prepositive communication computer respectively；The database server is configured with and is used for
Store the unmanned plane information table of unmanned machine information and the front end processor information table for storing prepositive communication computer information；
The prepositive communication computer is equipped with self-defined application layer telemetry protocol, and prepositive communication computer is according to self-defined application layer telemetry protocol
Non-video stream data in received unmanned plane telemetry is converted into telemetering message and is sent to the data communication center
Machine；The data communication center machine is equipped with self-defined application layer tasking protocol, and data communication center machine is answered according to customized
Received assignment instructions are encapsulated as task assignment message with layer tasking protocol and are sent to the prepositive communication computer.
2. distributed self-adaption Telemetry System of UAV according to claim 1, which is characterized in that the telemetering message packet
Include the telemetering message of four seed types, respectively unmanned plane parameter definition message, unmanned plane supplemental characteristic message, end of transmission message
Message is linked with TCP is disconnected.
3. distributed self-adaption Telemetry System of UAV according to claim 2, which is characterized in that the database service
Device includes telemetry storehouse, and the telemetry storehouse is equipped with a parameter definition table, a component relation table and several telemeterings
Tables of data.
4. distributed self-adaption Telemetry System of UAV according to claim 1, which is characterized in that further include mobile whole
End, the mobile terminal are connect with the streaming media server and the Web server respectively.
5. a kind of distributed self-adaption UAV TT & C method, which is characterized in that including downlink information stream process process and uplink
The dealing with information flow process, the downlink information stream process process the following steps are included:
Unmanned plane remote-measuring equipment collects unmanned plane telemetry and is sent to prepositive communication computer；
Video stream data in unmanned plane telemetry is sent to streaming media communication center machine by prepositive communication computer；Prepositive communication computer
The non-video stream data in unmanned plane telemetry is converted into telemetering message according to self-defined application layer telemetry protocol, and should
Telemetering message is sent to data communication center machine；
Video stream data is transmitted to streaming media server and stored by streaming media communication center machine；Data communication center machine is to distant
It observes and predicts text and carries out dissection process, and telemetering message transmissions to the database server of dissection process is stored；
Streaming media server is accessed in indication control board, the video stream data in convection media server is read out and handles；Aobvious
The api interface for controlling platform called Web service device accesses database server, and dynamic construction data table object, to data table object
Data be read out and handle；
The uplink information stream process process the following steps are included:
The assignment instructions of unmanned plane are inputted or imported in indication control board；
The assignment instructions of unmanned plane are stored into database server in the api interface of indication control board called Web service device；
In data communication center machine reading database server new assignment instructions and by the assignment instructions be encapsulated as task distribution
Then the task assignment message is sent to prepositive communication computer by message；
Prepositive communication computer sends mission bit stream to unmanned plane according to the data of task assignment message.
6. distributed self-adaption UAV TT & C method according to claim 5, which is characterized in that the telemetering message packet
Include the telemetering message of four seed types, respectively unmanned plane parameter definition message, unmanned plane supplemental characteristic message, end of transmission message
Message is linked with TCP is disconnected.
7. distributed self-adaption UAV TT & C method according to claim 6, which is characterized in that the database service
Device includes telemetry storehouse, and the telemetry storehouse is equipped with a parameter definition table, a component relation table and several telemeterings
Tables of data.
8. distributed self-adaption UAV TT & C method according to claim 7, which is characterized in that in the data communication
Scheming carries out dissection process to telemetering message, and the telemetering message transmissions of dissection process to database server are carried out storage packet
Include following steps:
S131, data communication center machine judge whether there is new telemetering message, and if it exists, then receive telemetering message, and judge
Received telemetering type of message；If it does not exist, then suspend mode T1Then duration is rejudged with the presence or absence of new telemetering message；
S132, if received telemetering type of message is end of transmission message, suspend mode T2Then duration returns to S131 and rejudges
With the presence or absence of new telemetering message；If received telemetering type of message is to disconnect TCP link message, TCP link is removed, is terminated
Task；If received telemetering type of message is unmanned plane supplemental characteristic message, enter S133；If received telemetering type of message
It is unmanned plane parameter definition message, then enters S134；
S133 judges in database server with the presence or absence of telemetry storehouse, if it does not exist, then return S131 rejudge whether
There are new telemetering messages；If it exists, then judge the telemetry table that whether there is current unmanned plane in the telemetry storehouse；If
There is no telemetry tables, then return to S131 and rejudge with the presence or absence of new telemetering message；Telemetry table if it exists then will
The information of the unmanned plane supplemental characteristic message stores in the telemetry table, then returns to S131 and rejudges with the presence or absence of new
Telemetering message；
S134 judges with the presence or absence of telemetry storehouse in database server, if it does not exist, then enters S1341；If it exists, then
Into S1342；
S1341 establishes telemetry storehouse in database server, and current unmanned plane is then established in the telemetry storehouse
Telemetry table resettles component relation table and parameter definition table, and the information of the unmanned plane parameter definition message is stored
In the telemetry table, component relation table and parameter definition table, finally returns to S131 and rejudge with the presence or absence of new telemetering
Message；
S1342 judges the telemetry table that whether there is current unmanned plane in the telemetry storehouse, and if it exists, then return to S131
It rejudges with the presence or absence of new telemetering message；If it does not exist, then the telemetering of current unmanned plane is established in the telemetry storehouse
Tables of data；Judge that component relation table, then join the unmanned plane if it exists with the presence or absence of component relation table in the telemetry storehouse
The component information that number defines in message is stored in the component relation table；Component relation table if it does not exist, then in the telemetry
Component relation table is established in library, and the component information in the unmanned plane parameter definition message is stored in the component relation table
It is interior；Judge that parameter definition table, then determine the unmanned plane parameter if it exists with the presence or absence of parameter definition table in the telemetry storehouse
Parameter definition information in adopted message is stored in the parameter definition table；Parameter definition table if it does not exist, then in the telemetry
Parameter definition table is established in library, and the parameter definition information in the unmanned plane parameter definition message is stored in the parameter definition
In table, finally returns to S131 and rejudge with the presence or absence of new telemetering message.
9. distributed self-adaption UAV TT & C method according to claim 5, which is characterized in that the database service
Work distribution chart is equipped in device, the assignment instructions of unmanned plane are binary instruction, the api interface of indication control board called Web service device
The binary instruction is stored into the work distribution chart in database server.
10. distributed self-adaption UAV TT & C method according to claim 9, which is characterized in that the data communication
New assignment instructions and the assignment instructions are encapsulated as task assignment message in center machine reading database server, then should
Task assignment message is sent in the work distribution chart that prepositive communication computer includes: data communication center machine monitor database server
Whether new binary instruction is had；If there is new binary instruction in work distribution chart, data communication center is machine-readable take this two
System instructs and the binary instruction is encapsulated as task assignment message, and it is preposition that the task assignment message is then sent to communication
Machine；If there is no new binary instruction in work distribution chart, the monitoring task suspend mode T of data communication center machine3Then duration weighs
Whether there is new binary instruction in the work distribution chart of new monitor database server.
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| CN113037867B (en) * | 2021-04-12 | 2023-02-10 | 普华鹰眼科技发展有限公司 | Unified data access and processing system for multiple unmanned aerial vehicles |
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