CN110398985B - Distributed self-adaptive unmanned aerial vehicle measurement and control system and method - Google Patents
Distributed self-adaptive unmanned aerial vehicle measurement and control system and method Download PDFInfo
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Abstract
The invention discloses a distributed self-adaptive unmanned aerial vehicle measurement and control system and a method, belonging to the technical field of unmanned aerial vehicle measurement and control, wherein the system comprises a display and control console, a streaming media server, a Web server, a database server, a streaming media communication central unit, a data communication central unit and a plurality of communication front-end processors, wherein the display and control console is respectively connected with the streaming media server and the Web server, and the Web server is connected with the database server; the streaming media communication central machine is respectively connected with the streaming media server and each communication front-end processor, and the data communication central machine is respectively connected with the database server and each communication front-end processor; the database server is configured with an unmanned aerial vehicle information table for storing unmanned aerial vehicle information and a front-end processor information table for storing communication front-end processor information. The invention can allow the unmanned aerial vehicles to be distributed at any position, can be adaptive to the unmanned aerial vehicles of different models, and has universality for measurement and control of the unmanned aerial vehicles of different models and functions.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle measurement and control, and particularly relates to a distributed self-adaptive unmanned aerial vehicle measurement and control system and method.
Background
The unmanned aerial vehicle measurement and control system comprises unmanned aerial vehicle remote control (task allocation), unmanned aerial vehicle remote measurement and information transmission, and the unmanned aerial vehicle measurement and control is an important means for tracking and positioning the unmanned aerial vehicle, monitoring the working condition of the unmanned aerial vehicle, acquiring picture/video data and remotely controlling the unmanned aerial vehicle. By means of unmanned aerial vehicle remote measurement, picture/video data, equipment state information, sensor data carried by the unmanned aerial vehicle and the like (picture data, video stream, equipment state information, sensor data and the like of the unmanned aerial vehicle are collectively called as remote measurement data) collected by the unmanned aerial vehicle can be obtained, and by means of live broadcast of the video stream, the equipment state and the sensor data are analyzed afterwards, indispensable functions are provided for unmanned aerial vehicle routing inspection and normal operation of the unmanned aerial vehicle; through unmanned aerial vehicle remote control, can control unmanned aerial vehicle and accomplish appointed action and task. For unmanned aerial vehicles of different models, the device names, the device number, the device parameters, the device parameter number, the data types of the device parameters, the value ranges of the device parameters, the instruction sets and the code compiling modes are different, modules of the traditional unmanned aerial vehicle measurement and control system need to be customized according to the model of the unmanned aerial vehicle, and the cost is high.
With the development of the unmanned aerial vehicle industry, in order to realize profitability, the technology upgrading and the cost compression of the unmanned aerial vehicle measurement and control system are inevitable. In order to reduce the measurement and control cost of the unmanned aerial vehicle, the avoidance of repeated development of system modules is an important means for solving the problem, and therefore, higher requirements are placed on the module universality of the measurement and control system. Most of the existing unmanned aerial vehicles adopt a point-to-point communication mode for measurement and control, and the same measurement and control system can only support one unmanned aerial vehicle; a small number of unmanned aerial vehicle systems can support multiple unmanned aerial vehicles to be distributed in different areas by introducing a cloud server, but the functions are only limited to load data sharing, and real-time performance cannot be achieved on communication links and architecture design, so that real-time measurement and control of multi-area multi-batch unmanned aerial vehicles cannot be achieved. In addition, most of the existing unmanned aerial vehicle measurement and control systems need to investigate measurement and control requirements of different types of unmanned aerial vehicles, determine data structures and instruction sets of the unmanned aerial vehicles, design and realize modules for data transmission, storage, processing and the like based on the data structures, and realize remote control of the unmanned aerial vehicles based on the instruction sets; different unmanned aerial vehicle models adopt different data structures, different instruction sets to data transmission, storage, processing system module are different, and unmanned aerial vehicle remote control module is also different, and the unmanned aerial vehicle of other models can't be compatible, lacks the commonality.
My party has implemented a universal telemetry system in rocket and satellite telemetry and patented: patent number CN109815286A discloses a self-adaptive rocket telemetry system and a realization method thereof, and the specification thereof describes a custom application layer protocol and a dynamic database creation method suitable for the rocket telemetry system; patent No. CN109842675A discloses a general satellite telemetry data processing system and method, and the specification thereof describes a custom application layer protocol and a dynamic database creation method suitable for a satellite telemetry system. At the present stage, no unit or person adopts a distributed self-adaptive unmanned aerial vehicle measurement and control system framework for an unmanned aerial vehicle measurement and control system, no unit or person adopts a user-defined application layer task distribution protocol in the unmanned aerial vehicle measurement and control system to meet the universality of unmanned aerial vehicle measurement and control, and no unit or person adopts a user-defined application layer remote measurement protocol and a dynamic database creation method in the unmanned aerial vehicle measurement and control system to meet the universality of unmanned aerial vehicle measurement and control.
Disclosure of Invention
In order to solve the above problems in the prior art, the present invention aims to provide a distributed adaptive measurement and control system and method for unmanned aerial vehicles, which can allow the unmanned aerial vehicles to be distributed at any position, can adapt to unmanned aerial vehicles of different models, and has universality for measurement and control of unmanned aerial vehicles of different models and functions.
The technical scheme adopted by the invention is as follows: a distributed adaptive unmanned aerial vehicle measurement and control system comprises a display and control console, a streaming media server, a Web server, a database server, a streaming media communication center machine, a data communication center machine and a plurality of communication front-end processors, wherein the display and control console is respectively connected with the streaming media server and the Web server, and the Web server is connected with the database server; the streaming media communication center machine is respectively connected with the streaming media server and each communication front-end processor, and the data communication center machine is respectively connected with the database server and each communication front-end processor; the database server is configured with an unmanned aerial vehicle information table for storing unmanned aerial vehicle information and a front-end processor information table for storing communication front-end processor information; the communication front-end processor is provided with a user-defined application layer telemetry protocol, converts non-video stream data in the received unmanned aerial vehicle telemetry data into a telemetry message according to the user-defined application layer telemetry protocol and sends the telemetry message to the data communication center machine; the data communication center machine is provided with a user-defined application layer task allocation protocol, and encapsulates received task instructions into task allocation messages according to the user-defined application layer task allocation protocol and sends the task allocation messages to the communication front-end processor.
As a preferred mode, the telemetry messages include four types of telemetry messages, which are unmanned aerial vehicle parameter definition messages, unmanned aerial vehicle parameter data messages, transmission end messages and TCP link disconnection messages.
Preferably, the database server comprises a telemetry database, and the telemetry database is provided with a parameter definition table, a component relation table and a plurality of telemetry data tables.
Preferably, the system further comprises a mobile terminal, and the mobile terminal is respectively connected with the streaming media server and the Web server.
The other technical scheme adopted by the invention is as follows: a distributed self-adaptive unmanned aerial vehicle measurement and control method comprises a downlink information flow processing process and an uplink information flow processing process, wherein the downlink information flow processing process comprises the following steps:
s11, the unmanned aerial vehicle remote measuring equipment collects unmanned aerial vehicle remote measuring data and sends the data to the communication front-end processor;
s12, the communication front-end processor sends video stream data in the remote measurement data of the unmanned aerial vehicle to a streaming media communication central machine; the communication front-end processor converts non-video stream data in the telemetering data of the unmanned aerial vehicle into telemetering messages according to a user-defined application layer telemetering protocol, and sends the telemetering messages to the data communication central machine;
s13, the streaming media communication center machine transmits the video stream data to a streaming media server for storage; the data communication central machine analyzes the telemetering message and transmits the analyzed telemetering message to the database server for storage;
s14, accessing the streaming media server at the display and control console, and reading and processing video stream data in the streaming media server; and calling an API (application program interface) of the Web server at the display and control console to access the database server, dynamically constructing a data table object, and reading and processing data of the data table object.
The upstream processing procedure comprises the following steps:
s21, inputting or importing a task instruction of the unmanned aerial vehicle into a display console;
s22, calling an API (application program interface) of the Web server at the display and control console to store the task instruction of the unmanned aerial vehicle into a database server;
s23, the data communication center machine reads a new task instruction in the database server and packages the task instruction into a task distribution message, and then the task distribution message is sent to the communication front-end processor;
and S24, the communication front-end processor sends task information to the unmanned aerial vehicle according to the data of the task distribution message.
Preferably, the data communication center machine analyzes the telemetry message and transmits the analyzed telemetry message to the database server for storage, and the method comprises the following steps:
s131, the data communication central machine judges whether a new telemetering message exists, if so, the data communication central machine receives the telemetering message and judges the type of the received telemetering message; if not, then sleep T 1 The duration is long, and then whether a new telemetering message exists or not is judged again;
s132, if the type of the received telemetry message is a transmission end message, sleeping T 2 The duration is long, and then the step returns to S131 to judge whether a new telemetering message exists again; if the type of the received telemetering message is a disconnected TCP link message, removing the TCP link and ending the task; if the type of the received telemetry message is an unmanned aerial vehicle parameter data message, entering S133; if the type of the received telemetry message is an unmanned aerial vehicle parameter definition message, entering S134;
s133, judging whether a telemetering database exists in the database server, if not, returning to S131 to judge whether a new telemetering message exists again; if yes, judging whether a telemetry data table of the current unmanned aerial vehicle exists in the telemetry database; if the telemetering data table does not exist, returning to S131 to judge whether a new telemetering message exists again; if a telemetering data table exists, storing the information of the parameter data message of the unmanned aerial vehicle in the telemetering data table, and then returning to S131 to judge whether a new telemetering message exists again;
s134, judging whether a telemetering database exists in the database server, and if the telemetering database does not exist in the database server, entering S1341; if yes, the process goes to S1342;
s1341, establishing a telemetering database in a database server, then establishing a telemetering data table of the current unmanned aerial vehicle in the telemetering database, then establishing a component relation table and a parameter definition table, storing information of the unmanned aerial vehicle parameter definition message in the telemetering data table, the component relation table and the parameter definition table, and finally returning to S131 to judge whether a new telemetering message exists again;
s1342, judging whether the telemetry data table of the current unmanned aerial vehicle exists in the telemetry database, if so, returning to S131 to judge whether a new telemetry message exists again; if the unmanned aerial vehicle does not exist, establishing a telemetry data table of the current unmanned aerial vehicle in the telemetry database; judging whether a component relation table exists in the telemetry database, and if so, storing the component information in the unmanned aerial vehicle parameter definition message in the component relation table; if the component relation table does not exist, establishing the component relation table in the telemetry database, and storing the component information in the unmanned aerial vehicle parameter definition message in the component relation table; judging whether a parameter definition table exists in the telemetry database, and if so, storing the parameter definition information in the unmanned aerial vehicle parameter definition message in the parameter definition table; if the parameter definition table does not exist, the parameter definition table is established in the telemetry database, the parameter definition information in the unmanned aerial vehicle parameter definition message is stored in the parameter definition table, and finally, the step S131 is returned to judge whether a new telemetry message exists again.
Preferably, in S22, a task allocation table is set in the database server, the task instruction of the drone is a binary instruction, and the display control console calls an API interface of the Web server to store the binary instruction in the task allocation table in the database server.
As a preferable mode, in S23, the data communication center machine reads a new task instruction in the database server, encapsulates the task instruction into a task allocation packet, and then sends the task allocation packet to the communication front-end processor includes: the data communication center machine monitors whether a new binary system instruction exists in a task allocation table of the database server; if a new binary instruction exists in the task allocation table, the data communication center machine reads the binary instruction and encapsulates the binary instruction into a task allocation message, and then the task allocation message is sent to the communication prepositionA machine; if no new binary instructions exist in the task allocation table, the monitoring task of the data communication center machine sleeps T 3 And (4) the time length is long, and then whether a new binary instruction exists in the task allocation table of the database server is monitored again.
The invention has the beneficial effects that:
1. the system uses a display control console, a streaming media server, a Web server, a database server, a streaming media communication center, a data communication center and a plurality of communication front-end computers to form a distributed self-adaptive unmanned aerial vehicle measurement and control system, the system self-defines an application layer task allocation protocol and a remote measurement protocol, can self-adapt to the measurement and control requirements of unmanned aerial vehicles of different models, and can allow the unmanned aerial vehicles to be distributed at any position by configuring an unmanned aerial vehicle information table and a front-end computer information table, namely the unmanned aerial vehicles can be distributed in a plurality of areas, and each area can be provided with a plurality of unmanned aerial vehicles; meanwhile, the system separates the video stream telemetering data link from the non-video stream telemetering data link and the remote control instruction link, ensures the real-time performance of the transmission of the non-video stream telemetering data and the remote control instruction of the unmanned aerial vehicle, and has universality for the measurement and control of the unmanned aerial vehicles with different models and functions.
2. The invention provides a distributed self-adaptive unmanned aerial vehicle measurement and control method, which is a method for dynamically constructing a data table object through a user-defined application layer telemetry protocol and a database server in a downlink information flow processing process, and utilizes a communication front-end processor to package telemetry data of unmanned aerial vehicles with different models and functions into messages with fixed formats, wherein the message formats are uniform, no matter what part is carried by the unmanned aerial vehicle and which model belongs to, after being packaged by the communication front-end processor, the messages conform to the user-defined application layer telemetry protocol specification, and the universality of unmanned aerial vehicle telemetry data transmission is solved; meanwhile, the self-defined application layer telemetry protocol carries information required by database creation, the unmanned aerial vehicle telemetry database can be dynamically created, and manual requirement investigation and data structure determination are not needed in advance, so that the method can be self-adaptive to the telemetry data of unmanned aerial vehicles with different models and functions.
3. The invention provides a distributed self-adaptive unmanned aerial vehicle measurement and control method, wherein an application layer task allocation protocol is customized in an uplink information flow processing process, a measurement and control system administrator can input a binary unmanned aerial vehicle instruction into a display and control console or import the binary unmanned aerial vehicle instruction, and the display and control console stores the task instruction of an unmanned aerial vehicle into a database server by calling an API (application programming interface) of a Web server; when the data communication center machine monitors that a new command exists in the database server, the data communication center machine can package the binary command into a task distribution message according to a user-defined application layer task distribution protocol and then send the task distribution message to the unmanned aerial vehicle through the communication front-end processor, and the message packaged by the communication center machine accords with the user-defined application layer task distribution protocol specification no matter what type and what command set the unmanned aerial vehicle belongs to, so that the unmanned aerial vehicle remote control system can remotely control unmanned aerial vehicles of different types, and the self-adaptability of the unmanned aerial vehicle remote control is solved.
Drawings
FIG. 1 is a topological diagram of a distributed adaptive UAV measurement and control system provided by the present invention;
fig. 2 is a flowchart of processing telemetry data by a communication center in a distributed adaptive unmanned aerial vehicle measurement and control method provided by the invention;
fig. 3 is a flowchart of a process of processing an uplink information flow of a communication center in a distributed adaptive unmanned aerial vehicle measurement and control method provided by the present invention;
fig. 4 is a flowchart of a communication front-end processor injecting instructions to an unmanned aerial vehicle in the distributed adaptive unmanned aerial vehicle measurement and control method provided by the invention.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
As shown in fig. 1, this embodiment provides a distributed adaptive measurement and control system for an unmanned aerial vehicle, including a display and control console, a streaming media server, a Web server, a database server, a streaming media communication center, a data communication center, and a plurality of communication front-end processors, where the display and control console is connected to the streaming media server and the Web server, respectively, and the Web server is connected to the database server; the streaming media communication center machine is respectively connected with the streaming media server and each communication front-end processor, and the data communication center machine is respectively connected with the database server and each communication front-end processor. The database server is provided with an unmanned aerial vehicle information table for storing unmanned aerial vehicle information and a front-end processor information table for storing communication front-end processor information.
The unmanned aerial vehicle measurement and control system is provided with a downlink information flow processing process and an uplink information flow processing process. In the downlink information flow processing process, the unmanned aerial vehicle remote measuring equipment firstly collects remote measuring data of the unmanned aerial vehicle and then sends the remote measuring data to the communication front-end processor, the remote measuring data comprise picture data, video streams, equipment state information, sensor data and the like of the unmanned aerial vehicle, video stream data in the remote measuring data are compressed in an H.264/H.265 mode and then sent to the communication front-end processor, and other remote measuring data are sent to the communication front-end processor according to a protocol adopted by the unmanned aerial vehicle. The remote control commands and telemetry data of the drone may be transmitted between the drone and the communication front-end processor over any communication link.
After the communication front-end processor receives the telemetering data, the communication front-end processor sends video stream data in the telemetering data to the streaming media communication center machine, the streaming media communication center machine stores the video stream data in the streaming media server, and the streaming media server supports common streaming media protocols, such as rtsp/rtmp/mms/hls and the like, so that a real-time live broadcast function can be realized. The communication front-end processor is provided with a user-defined application layer telemetering protocol, converts non-video stream data in telemetering data into telemetering messages according to the user-defined application layer telemetering protocol and sends the telemetering messages to the data communication center machine. And the data communication central machine analyzes the telemetering message and stores the analyzed telemetering message in the database server.
A user can access the streaming media server at the display console, and read and process video stream data in the streaming media server; the user can call an API (application program interface) of the Web server to access the database server at the display and control console, dynamically construct a data table object, and read and process data of the data table object.
Because unmanned aerial vehicle observes and controls the database server of system and disposes unmanned aerial vehicle information table and front-end processor information table, can allow unmanned aerial vehicle to distribute in the optional position, unmanned aerial vehicle can distribute in a plurality of regions promptly, and every region can have many unmanned aerial vehicles, realizes unmanned aerial vehicle and observes and controls the distributed nature of system. The format of the drone information table and the description of the drone information table are shown in tables 1 and 2, respectively, and the format of the front-end processor information table and the description of the front-end processor information table are shown in tables 3 and 4, respectively.
Table 1 format of information table of unmanned aerial vehicle
| Main key | Unmanned aerial vehicle grouping | Unmanned numbering | Unmanned aerial vehicle model | Front-end processor numbering | Unmanned plane position |
| String | String | String | String | String |
Table 2 description of the unmanned aerial vehicle information table
| Name(s) | Description of the invention |
| Unmanned aerial vehicle grouping | Grouping information of drones, string type |
| Unmanned aerial vehicle numbering | Unique numbering, string type, assigned to drone |
| Unmanned aerial vehicle model | Model information of unmanned aerial vehicle, string type |
| Front-end processor numbering | Unique serial number of front-end processor to which unmanned aerial vehicle belongs, string type |
| Unmanned plane position | Location information of the unmanned aerial vehicle, string type |
TABLE 3 format of the front-end processor information table
| Main key | Front-end processor numbering | Front-end processor location | IP address |
| String | String | String |
Table 4 description of the front-end processor information table
| Name(s) | Description of the preferred embodiment |
| Front-end processor numbering | Assigning a unique number, string type, to a front-end processor |
| Front-end processor location | Geographical location information of the front-end processor, string type |
| IP address | IP address of front-end processor, string type |
In the process of processing the uplink information flow, a user inputs or introduces a task instruction of the unmanned aerial vehicle into a display console, the display console calls an API (application programming interface) of a Web server to store the task instruction of the unmanned aerial vehicle into a database server, a data communication center machine reads a new task instruction in the database server, the data communication center machine is provided with a user-defined application layer task allocation protocol, the data communication center machine packages the received task instruction into a task allocation message according to the user-defined application layer task allocation protocol and sends the task allocation message to a communication front-end processor, and the communication front-end processor sends task information to the unmanned aerial vehicle according to data of the task allocation message.
In this embodiment, the telemetry messages include four types of telemetry messages, which are an unmanned aerial vehicle parameter definition message, an unmanned aerial vehicle parameter data message, a transmission end message, and a TCP link disconnection message. Specifically, the content of the parameter definition message of the unmanned aerial vehicle comprises a message identifier, a message length, a timestamp, an encryption mark, a component name, a parent component name, an unmanned aerial vehicle number, a parameter name, a data type value, a minimum value, a maximum value, a unit, a display mark, an effective number and probability distribution; the content of the unmanned aerial vehicle parameter data message comprises a message identifier, a message length, a timestamp, an encryption mark, a part name, an unmanned aerial vehicle number, sampling time and specific data; the content of the transmission ending message comprises a message identifier, a message length, a timestamp and an encryption mark; the content of the disconnected TCP link message comprises a message identifier, a message length, a timestamp and an encryption mark.
The database server comprises a telemetering database, and the telemetering database is provided with a parameter definition table, a component relation table and a plurality of telemetering data tables.
The telemetering database is provided with only one parameter definition table for storing parameter definition basic formats of all components, and the content of the parameter definition table is formed by parameter definitions of the telemetering data receiver for analyzing and processing parameter definition messages of the unmanned aerial vehicle.
The telemetering database is provided with only one component relation table for storing logical relations among components, namely, the parent-child relations among the components are marked, and the table is convenient for data reading and hierarchical display. Since the predefined component names are unique, there is no name duplication in the component relationship table.
Each unmanned aerial vehicle in the telemetering database corresponds to one telemetering data table, the table name of the telemetering data table is the name of the unmanned aerial vehicle, and the telemetering data table which only has a table head but has no data is established according to the format after the telemetering data receiver identifies the parameter definition message of the unmanned aerial vehicle. Data in the telemetering data table are identified by the data communication central machine to be parameter data messages of the unmanned aerial vehicle, the telemetering data are classified under different telemetering data tables according to the difference of the unmanned aerial vehicles to which the messages belong, a plurality of telemetering messages carry the telemetering data of the unmanned aerial vehicle at different moments, and the telemetering data jointly form the telemetering data table of a certain unmanned aerial vehicle.
In this embodiment, the system further includes a mobile terminal, and the mobile terminal is connected to the streaming media server and the Web server, respectively. The mobile terminal can use a mobile phone terminal, the mobile phone terminal is provided with APP software, a user can read video stream data in the streaming media server through the APP software, the user can call an API (application program interface) of the Web server to access non-video stream data in the database server through the APP software, a data table object is dynamically constructed, and the user reads and processes data of the data table object.
The invention uses the display console, the stream media server, the Web server, the database server, the stream media communication center machine, the data communication center machine and a plurality of communication front-end processors to form a distributed self-adaptive unmanned aerial vehicle measurement and control system, the system self-defines an application layer task allocation protocol and a remote measurement protocol, can self-adapt to the measurement and control requirements of unmanned aerial vehicles of different models, and the system can allow the unmanned aerial vehicles to be distributed at any position by configuring an unmanned aerial vehicle information table and a front-end processor information table, namely the unmanned aerial vehicles can be distributed in a plurality of areas, and each area can be provided with a plurality of unmanned aerial vehicles; meanwhile, the system separates the video stream telemetering data link from the non-video stream telemetering data link and the remote control instruction link, and ensures the real-time performance of the transmission of the non-video stream telemetering data and the remote control instruction of the unmanned aerial vehicle.
The embodiment also provides a distributed adaptive unmanned aerial vehicle measurement and control method, which is applied to the distributed adaptive unmanned aerial vehicle measurement and control system, the method comprises a downlink information flow processing process and an uplink information flow processing process, and the downlink information flow processing process comprises the following steps:
s11, the unmanned aerial vehicle remote measuring equipment collects unmanned aerial vehicle remote measuring data and sends the data to the communication front-end processor;
s12, the communication front-end processor sends video stream data in the remote measurement data of the unmanned aerial vehicle to a streaming media communication center machine; the communication front-end processor converts non-video stream data in the telemetering data of the unmanned aerial vehicle into telemetering messages according to a user-defined application layer telemetering protocol, and sends the telemetering messages to the data communication central machine;
s13, the streaming media communication center machine transmits the video stream data to a streaming media server for storage; the data communication center machine analyzes the telemetry message, and transmits the analyzed telemetry message to the database server for storage, as shown in fig. 2, the method specifically includes the following steps:
s131, the data communication central machine judges whether a new telemetering message exists, if so, the data communication central machine receives the telemetering message and judges the type of the received telemetering message; if not, then sleep T 1 The duration is long, and then whether a new telemetering message exists or not is judged again; t is a unit of 1 The size of the key can be set according to actual conditions;
s132, if the type of the received telemetry message is a transmission end message, sleeping T 2 The duration is prolonged, and then the step returns to S131 to judge whether a new telemetering message exists again; if the type of the received telemetering message is a disconnected TCP link message, removing the TCP link and ending the task; if the type of the received telemetry message is an unmanned aerial vehicle parameter data message, entering S133; if the type of the received telemetering message is an unmanned aerial vehicle parameter definition message, entering S134; t is 2 The size of the key can be set according to actual conditions;
s133, judging whether a telemetering database exists in the database server, if not, returning to S131 to judge whether a new telemetering message exists again; if yes, judging whether a telemetry data table of the current unmanned aerial vehicle exists in the telemetry database; if the telemetering data table does not exist, returning to S131 to judge whether a new telemetering message exists again; if the telemetering data table exists, storing the information of the parameter data message of the unmanned aerial vehicle in the telemetering data table, and then returning to S131 to judge whether a new telemetering message exists again;
s134, judging whether a telemetering database exists in the database server, and if not, entering S1341; if yes, the process goes to S1342; only one telemetering database exists in the unmanned aerial vehicle measurement and control system, and data of all unmanned aerial vehicles are stored in the telemetering database;
s1341, establishing a telemetering database in a database server, then establishing a telemetering data table of the current unmanned aerial vehicle in the telemetering database, then establishing a component relation table and a parameter definition table, storing information of the unmanned aerial vehicle parameter definition message in the telemetering data table, the component relation table and the parameter definition table, and finally returning to S131 to judge whether a new telemetering message exists again;
s1342, judging whether the telemetry data table of the current unmanned aerial vehicle exists in the telemetry database, if so, returning to S131 to judge whether a new telemetry message exists again; if the unmanned aerial vehicle does not exist, establishing a telemetry data table of the current unmanned aerial vehicle in the telemetry database; judging whether a component relation table exists in the telemetering database, and if so, storing the component information in the unmanned aerial vehicle parameter definition message in the component relation table; if the component relation table does not exist, establishing the component relation table in the telemetering database, and storing the component information in the unmanned aerial vehicle parameter definition message in the component relation table; judging whether a parameter definition table exists in the telemetry database, and if so, storing the parameter definition information in the unmanned aerial vehicle parameter definition message in the parameter definition table; if the parameter definition table does not exist, the parameter definition table is established in the telemetry database, the parameter definition information in the unmanned aerial vehicle parameter definition message is stored in the parameter definition table, and finally, the step S131 is returned to judge whether a new telemetry message exists again. Through continuous and cyclic processing of the telemetering message information, the telemetering message is finally stored in three data tables, namely a parameter definition table, a component relation table and a telemetering data table.
S14, accessing the streaming media server at a display console or a mobile phone terminal, and reading and processing video stream data in the streaming media server; and calling an API (application programming interface) of the Web server at a display console or a mobile phone terminal to access the database server, dynamically constructing a data table object, and reading and processing data of the data table object.
The invention utilizes the communication front-end processor to package the telemetering data of unmanned aerial vehicles with different types and functions into the message with fixed format, the message format is uniform, no matter what type of component the unmanned aerial vehicle carries or belongs to, after the package of the communication front-end processor, the message conforms to the standard of the telemetering protocol of the user-defined application layer, thus solving the problem of the universality of telemetering data transmission of the unmanned aerial vehicle; meanwhile, the self-defined application layer telemetry protocol carries information required by database creation, the unmanned aerial vehicle telemetry database can be dynamically created, and manual requirement investigation and data structure determination are not needed in advance, so that the method can be self-adaptive to the telemetry data of unmanned aerial vehicles with different models and functions.
The upstream processing procedure includes the steps of:
and S21, inputting or importing a task instruction of the unmanned aerial vehicle into a display and control console or a mobile phone terminal.
S22, calling an API (application program interface) of a Web server at a display and control console or a mobile phone terminal to store a task instruction of the unmanned aerial vehicle into a database server; the system comprises a database server, an unmanned aerial vehicle and a display and control console, wherein the database server is internally provided with a task allocation table, a task instruction of the unmanned aerial vehicle is a binary instruction, and the display and control console calls an API (application programming interface) of a Web server to store the binary instruction into the task allocation table in the database server. The database server only stores one task allocation table, and the format and description of the task allocation table are shown in table 5 and table 6, respectively.
TABLE 5 task Allocation Table Format
TABLE 6 description of task Allocation Table
S23, the data communication center machine reads a new task instruction in the database server, encapsulates the task instruction into a task allocation packet, and then sends the task allocation packet to the communication front-end processor, as shown in fig. 3, which specifically includes: the data communication center machine reads a new task instruction in the database server and packages the task instruction into a task distribution message, and then the task distribution message is sent to the communication front-end processor, wherein the task distribution message comprises: the data communication center machine monitors whether a new binary system instruction exists in a task allocation table of the database server; if a new binary instruction exists in the task allocation table, the data communication center machine reads the binary instruction and encapsulates the binary instruction into a task allocation message, and then the task allocation message is sent to the communication front-end processor; if no new binary instructions exist in the task allocation table, the monitoring task of the data communication center machine sleeps T 3 Duration, then re-monitoring the task allocation table of the database server for new binary instructions, T 3 The format of the task assignment message and the description of the task assignment message are shown in table 7 and table 8, respectively.
Table 7 format of task assignment message
TABLE 8 description of task assignment messages
And S24, the communication front-end processor sends task information to the unmanned aerial vehicle according to the data of the task distribution message. As shown in fig. 4, the task allocation packet has a task type, and if the task type of the task allocation packet is a real-time task, the communication front-end processor immediately posts a task instruction to the unmanned aerial vehicle; and if the task type of the task allocation message is a planned task, monitoring the time of uploading the task by the communication front-end processor, and immediately uploading an instruction to the unmanned aerial vehicle when the time of uploading is reached.
According to the invention, an application layer task allocation protocol is customized, a measurement and control system administrator can input a binary unmanned aerial vehicle instruction into a display and control console or import the binary unmanned aerial vehicle instruction, and the display and control console stores the task instruction of the unmanned aerial vehicle into a database server by calling an API (application programming interface) of a Web server; when the data communication center machine monitors that a new command exists in the database server, the data communication center machine can package the binary command into a task distribution message according to a user-defined application layer task distribution protocol and then send the task distribution message to the unmanned aerial vehicle through the communication front-end processor, and the message packaged by the communication center machine accords with the user-defined application layer task distribution protocol specification no matter what type and what command set the unmanned aerial vehicle belongs to, so that the unmanned aerial vehicle remote control system can remotely control unmanned aerial vehicles of different types, and the self-adaptability of the unmanned aerial vehicle remote control is solved.
The present invention is not limited to the above-described alternative embodiments, and various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.
Claims (10)
1. A distributed adaptive unmanned aerial vehicle measurement and control system is characterized by comprising a display and control console, a streaming media server, a Web server, a database server, a streaming media communication center machine, a data communication center machine and a plurality of communication front-end processors, wherein the display and control console is respectively connected with the streaming media server and the Web server, and the Web server is connected with the database server; the streaming media communication center machine is respectively connected with the streaming media server and each communication front-end processor, and the data communication center machine is respectively connected with the database server and each communication front-end processor; the database server is configured with an unmanned aerial vehicle information table for storing unmanned aerial vehicle information and a front-end processor information table for storing communication front-end processor information;
the communication front-end processor is provided with a user-defined application layer telemetry protocol, converts non-video stream data in the received unmanned aerial vehicle telemetry data into a telemetry message according to the user-defined application layer telemetry protocol and sends the telemetry message to the data communication center machine; the data communication center machine is provided with a user-defined application layer task allocation protocol, and encapsulates received task instructions into task allocation messages according to the user-defined application layer task allocation protocol and sends the task allocation messages to the communication front-end processor.
2. The distributed adaptive unmanned aerial vehicle measurement and control system of claim 1, wherein the telemetry messages comprise four types of telemetry messages, respectively for unmanned aerial vehicle parameter definition messages, unmanned aerial vehicle parameter data messages, end of transmission messages, and off TCP link messages.
3. The distributed adaptive unmanned aerial vehicle measurement and control system of claim 2, wherein the database server comprises a telemetry database, and the telemetry database is provided with a parameter definition table, a component relation table and a plurality of telemetry data tables.
4. The distributed adaptive unmanned aerial vehicle measurement and control system of claim 1, further comprising a mobile terminal, wherein the mobile terminal is connected with the streaming media server and the Web server respectively.
5. A distributed adaptive unmanned aerial vehicle measurement and control method is characterized by comprising a downlink information flow processing process and an uplink information flow processing process, wherein the downlink information flow processing process comprises the following steps:
the unmanned aerial vehicle telemetering equipment collects unmanned aerial vehicle telemetering data and sends the unmanned aerial vehicle telemetering data to the communication front-end processor;
the communication front-end processor sends video stream data in the unmanned aerial vehicle telemetering data to the streaming media communication center machine; the communication front-end processor converts non-video stream data in the telemetering data of the unmanned aerial vehicle into telemetering messages according to a user-defined application layer telemetering protocol, and sends the telemetering messages to the data communication central machine;
the streaming media communication center machine transmits the video streaming data to a streaming media server for storage; the data communication central machine analyzes the telemetering message and transmits the analyzed telemetering message to the database server for storage;
accessing a streaming media server at a display and control console, and reading and processing video stream data in the streaming media server; calling an API (application programming interface) of a Web server at a display and control console to access a database server, dynamically constructing a data table object, and reading and processing data of the data table object;
the upstream processing procedure comprises the following steps:
inputting or importing a task instruction of the unmanned aerial vehicle into a display and control console;
calling an API (application programming interface) of a Web server at a display and control console to store a task instruction of the unmanned aerial vehicle into a database server;
the data communication center machine reads a new task instruction in the database server and packages the task instruction into a task allocation message, and then the task allocation message is sent to the communication front-end processor;
and the communication front-end processor sends task information to the unmanned aerial vehicle according to the data of the task distribution message.
6. The distributed adaptive unmanned aerial vehicle measurement and control method according to claim 5, wherein the telemetry messages comprise four types of telemetry messages, namely, unmanned aerial vehicle parameter definition messages, unmanned aerial vehicle parameter data messages, transmission end messages and TCP link disconnection messages.
7. The distributed adaptive unmanned aerial vehicle measurement and control method according to claim 6, wherein the database server comprises a telemetry database, and the telemetry database is provided with a parameter definition table, a component relation table and a plurality of telemetry data tables.
8. The distributed adaptive unmanned aerial vehicle measurement and control method according to claim 7, wherein the data communication central unit analyzes the telemetry message and transmits the analyzed telemetry message to the database server for storage comprises the following steps:
s131, the data communication central machine judges whether a new telemetering message exists, if so, the data communication central machine receives the telemetering message and judges the type of the received telemetering message; if not, then sleep T 1 The duration is long, and then whether a new telemetering message exists or not is judged again;
s132, if the type of the received telemetry message is a transmission end message, sleeping T 2 The duration is long, and then the step returns to S131 to judge whether a new telemetering message exists again; if the type of the received telemetering message is a disconnected TCP link message, removing the TCP link and ending the task; if the type of the received telemetry message is an unmanned aerial vehicle parameter data message, entering S133; if the type of the received telemetering message is an unmanned aerial vehicle parameter definition message, entering S134;
s133, judging whether a telemetering database exists in the database server, if not, returning to S131 to judge whether a new telemetering message exists again; if yes, judging whether a telemetry data table of the current unmanned aerial vehicle exists in the telemetry database; if the telemetering data table does not exist, returning to S131 to judge whether a new telemetering message exists again; if a telemetering data table exists, storing the information of the parameter data message of the unmanned aerial vehicle in the telemetering data table, and then returning to S131 to judge whether a new telemetering message exists again;
s134, judging whether a telemetering database exists in the database server, and if not, entering S1341; if yes, the process goes to S1342;
s1341, establishing a telemetering database in a database server, then establishing a telemetering data table of the current unmanned aerial vehicle in the telemetering database, then establishing a component relation table and a parameter definition table, storing information of the unmanned aerial vehicle parameter definition message in the telemetering data table, the component relation table and the parameter definition table, and finally returning to S131 to judge whether a new telemetering message exists again;
s1342, judging whether the telemetry data table of the current unmanned aerial vehicle exists in the telemetry database, if so, returning to S131 to judge whether a new telemetry message exists again; if the remote sensing data table does not exist, the remote sensing data table of the current unmanned aerial vehicle is established in the remote sensing database; judging whether a component relation table exists in the telemetering database, and if so, storing the component information in the unmanned aerial vehicle parameter definition message in the component relation table; if the component relation table does not exist, establishing the component relation table in the telemetry database, and storing the component information in the unmanned aerial vehicle parameter definition message in the component relation table; judging whether a parameter definition table exists in the telemetry database, and if so, storing the parameter definition information in the unmanned aerial vehicle parameter definition message in the parameter definition table; if the parameter definition table does not exist, the parameter definition table is established in the telemetry database, the parameter definition information in the unmanned aerial vehicle parameter definition message is stored in the parameter definition table, and finally, the step S131 is returned to judge whether a new telemetry message exists again.
9. The distributed adaptive unmanned aerial vehicle measurement and control method according to claim 5, wherein a task allocation table is arranged in the database server, the task instruction of the unmanned aerial vehicle is a binary instruction, and the display and control console calls an API (application programming interface) of the Web server to store the binary instruction into the task allocation table in the database server.
10. The distributed adaptive unmanned aerial vehicle measurement and control method according to claim 9, wherein the data communication center machine reads a new task instruction in the database server and encapsulates the task instruction into a task allocation message, and then sends the task allocation message to the communication front-end processor includes: the data communication center machine monitors whether a new binary system instruction exists in a task allocation table of the database server; if a new binary instruction exists in the task allocation table, the data communication center machine reads the binary instruction and encapsulates the binary instruction into a task allocation message, and then the task allocation message is sent to the communication front-end processor; if no new binary instructions exist in the task allocation table, the monitoring task of the data communication center machineDormancy T 3 And the time length is long, and then whether a new binary instruction exists in the task allocation table of the database server is monitored again.
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