CN113014289B - Unmanned aerial vehicle data chain backup method - Google Patents
Unmanned aerial vehicle data chain backup method Download PDFInfo
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- CN113014289B CN113014289B CN202110276717.9A CN202110276717A CN113014289B CN 113014289 B CN113014289 B CN 113014289B CN 202110276717 A CN202110276717 A CN 202110276717A CN 113014289 B CN113014289 B CN 113014289B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/74—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission for increasing reliability, e.g. using redundant or spare channels or apparatus
- H04B1/745—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission for increasing reliability, e.g. using redundant or spare channels or apparatus using by-passing or self-healing methods
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C25/00—Arrangements for preventing or correcting errors; Monitoring arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/3822—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving specially adapted for use in vehicles
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Abstract
The invention discloses an unmanned aerial vehicle data chain backup method, which comprises a flight control unit, a task computer, a ground station, a ground distribution board and a portable ground station; the flight control and task computer are arranged on the airplane, the task computer is connected with the flight control through transparent transmission, and the flight control is used for controlling the airplane to fly; the ground station and the ground distribution board are deployed on the ground, the ground station is connected with the ground distribution board, the ground station sends control and query commands to the ground distribution board, the ground distribution board transmits data to the task computer and the flight control, and communication between the ground station and the ground distribution board and communication between the flight control and the task computer are main data chains; the portable ground station has the whole functions of the remote controller and partial functions of the ground station, the portable ground station is directly communicated with the flight control, and the communication between the portable ground station and the flight control is a standby data chain; the portable ground station and the ground station communicate with each other. The invention adopts the standby data link to avoid the risk caused by the problem of a single data link.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle data chain backup method.
Background
Along with the continuous maturity of unmanned aerial vehicle technique, it is also more and more used, takes photo by plane, plant protection, express delivery transportation, rescue, patrol and examine etc.. In order to achieve normal flight of the drone, the drone controls are essentially all at the ground end. The ground operator can send various control commands and acquire various flight information on the unmanned aerial vehicle through the control of the remote controller or the ground station.
The existing unmanned aerial vehicle technology mostly controls the flight of the unmanned aerial vehicle through a remote controller and a ground station. General unmanned aerial vehicle falls into manual mode and automatic mode, and the manual mode refers to the steering wheel that changes unmanned aerial vehicle through the remote controller controls unmanned aerial vehicle's production different gestures and controls unmanned aerial vehicle's flight, and the automatic mode refers to uses ground satellite station to send the instruction for flying the accuse in the unmanned aerial vehicle, and the command that flies accuse and send according to ground satellite station controls unmanned aerial vehicle automatic flight. When the near field flies, the remote controller and the ground station can control the unmanned aerial vehicle, and when the far field flies, the remote controller and the ground station are generally used for controlling.
The distance of the receiver of the remote controller is limited, the distance of the remote controller for controlling the unmanned aerial vehicle is only about 1 kilometer, the ground station can communicate with the unmanned aerial vehicle through a professional data transmission antenna, and the control distance can reach hundreds of kilometers. Most unmanned aerial vehicle applications require a control distance far greater than that of a remote controller, and some tasks also require a batch of complex instructions to be sent, so that the ground station is basically used for controlling the unmanned aerial vehicle when the tasks are executed. When the near field flies, the remote controller and the ground station can control the unmanned aerial vehicle, and after the remote control distance of the remote controller is exceeded, the unmanned aerial vehicle can only be controlled by the ground station through data transmission.
In the prior art, after the emergence of the number of lines is abnormal or is interfered, the unmanned aerial vehicle can be out of control.
Disclosure of Invention
Based on the problems in the background art, the invention discloses an unmanned aerial vehicle data chain backup method, which avoids the risk caused by the problem of a single data chain by adopting a backup data chain.
The invention discloses an unmanned aerial vehicle data chain backup method, which comprises a flight control unit, a task computer, a ground station, a ground distribution board and a portable ground station; the flight control and task computer are arranged on the airplane, the task computer is connected with the flight control through transparent transmission, and the flight control is used for controlling the airplane to fly; the ground station and the ground distribution board are deployed on the ground, the ground station is connected with the ground distribution board, the ground station sends control and query commands to the ground distribution board, the ground distribution board transmits data to the task computer and the flight control, and communication between the ground station and the ground distribution board and communication between the flight control and the task computer are main data chains; the portable ground station has the whole functions of the remote controller and partial functions of the ground station, the portable ground station is directly communicated with the flight control, and the communication between the portable ground station and the flight control is a standby data chain; the portable ground station and the ground station communicate with each other.
Further, when the main data chain is in normal communication, the ground station does not make a data request to the portable ground station; when the main data link communication is abnormal, the ground station uses the standby data link to communicate with the flight control through the portable ground station, so that the purposes of acquiring flight information and controlling the unmanned aerial vehicle are achieved. When the main data link communication is abnormal, the ground station can control the unmanned aerial vehicle by using the standby data link through the portable ground station, and the risk caused by the problem of the single data link is avoided.
Further, when the communication of the standby data chain is abnormal, the portable ground station communicates with the flight control through the ground station by using the main data chain, the portable ground station can send a query command to the flight control through the main data chain, and the portable ground station can send a control command to the flight control through the main data chain only when the software unlocking control authority is required. When the communication of the standby data chain is abnormal, the portable ground station can communicate with the flight control by using the main data chain through the ground station, the portable ground station can not send a control command by default, the control authority needs to be unlocked by using software, and the probability of misoperation is avoided.
Furthermore, the ground station and the ground distribution board are communicated with the task computer and the flight control through a professional data transmission antenna, and the control distance can reach hundreds of kilometers.
Further, the portable ground station is directly communicated with a task computer and a flight control through data transmission; within a limited distance, the portable ground station may act as a remote control to send partial control commands to the drone.
Furthermore, the ground station and the portable ground station respectively request flight information data for flight control, and the ground station and the portable ground station store the effective data in the memory after receiving the effective data.
Further, the ground station and the portable ground station communicate via ethernet.
Further, the ground station and the portable ground station run respectively purpose-made software.
Furthermore, the portable ground station also has the function of displaying flight information data by the ground station. The flight information data is displayed through the portable ground station, so that the probability of misjudgment of the flyer in the near-field flight can be reduced.
Furthermore, the portable ground station also has the function of displaying flight information data by the ground station.
The invention discloses an unmanned aerial vehicle data chain backup method which comprises the following steps: the ground station and the portable ground station are arranged to communicate with the unmanned aerial vehicle, if the communication between the ground station and the unmanned aerial vehicle is abnormal, the ground station can communicate with the unmanned aerial vehicle by using the standby data chain through the portable ground station, and the risk caused by the problem of a single data chain is avoided; can let the flier obtain unmanned aerial vehicle's flight information through setting up portable ground satellite station, can reduce the probability of erroneous judgement when the near field is flown.
Drawings
FIG. 1 is a system architecture diagram of the present invention;
FIG. 2 is a flow chart of a ground station sending a query flight information command;
FIG. 3 is a flow chart of a portable ground station receiving a flight information data query;
FIG. 4 is a flowchart of a ground station sending control commands;
FIG. 5 is a flow chart of a portable ground station receiving data;
10, flight control, 20, a mission computer, 30, a ground station, 40, a ground distribution board, 50 and a portable ground station.
Detailed Description
As shown in fig. 1, fig. 1 is a method for backing up a data chain of an unmanned aerial vehicle, which is disclosed by the invention, and a standby data chain is adopted to avoid a risk caused by a problem occurring in a single data chain.
Referring to fig. 1, an unmanned aerial vehicle data chain backup method is characterized by comprising a flight control 10, a task computer 20, a ground station 30, a ground distribution board 40 and a portable ground station 50; the flight control system comprises a flight control 10 and a task computer 20, wherein the flight control 10 and the task computer 20 are arranged on an airplane, the task computer 20 is connected with the flight control 10 through transparent transmission, and the flight control 10 is used for controlling the airplane to fly; the ground station 30 and the ground distribution board 40 are deployed on the ground, the ground station 30 is connected with the ground distribution board 40, the ground station 30 sends control and query commands to the ground distribution board 40, the ground distribution board 40 forwards data and sends the data to the mission computer 20 and the flight control 10, and communication among the ground station 30, the ground distribution board 40, the flight control 10 and the mission computer 20 is a main data chain; the portable ground station 50 has the full functions of a remote controller and partial functions of the ground station 30, the portable ground station 50 directly communicates with the flight control 10, and the communication between the portable ground station 50 and the flight control 10 is a standby data link; the portable ground station 50 and the ground station 30 communicate with each other.
Referring to fig. 2, 4 and 5, when the main data link is in normal communication, the ground station 30 does not make a data request to the portable ground station 50; when the main data link communication is abnormal, the ground station 30 communicates with the flight control unit 10 through the portable ground station 50 by using the standby data link, so as to achieve the purposes of acquiring flight information and controlling the unmanned aerial vehicle. The ground station 30 requests a flight information data packet from the flight control 10 through the main data link, if the ground station 30 receives the data packet, the ground station 30 analyzes the flight information data packet, the ground station 30 sets the current connection state, the ground station 30 stores the received data, and records a log; if the ground station 30 fails to request the flight information data packet from the flight control 10 through the main data link, the ground station 30 requests the flight data packet from the portable ground station 50, the portable ground station 50 requests the flight information data from the flight control 10, the portable ground station 50 analyzes the acquired flight information data, and the portable ground station 50 sends the analyzed flight information data packet to the ground station 30; when the main data chain is abnormal, the ground station 30 checks the connection with the portable ground station 50, when the connection is normal, the ground station 30 encodes a control command data packet to be sent, the ground station 30 sends the control command to the portable ground station 50, and the portable ground station 50 sends the control command to the flight control 10 through the standby data chain.
Referring to fig. 2, 3, 4 and 5, when the backup data link communication is normal, the portable ground warfare device 50 does not make a data request to the ground station 30; when the communication of the standby data chain is abnormal, the portable ground station 50 communicates with the flight control 10 through the ground station 30 by using the main data chain, the portable ground station 50 can send an inquiry command to the flight control 10 through the main data chain, and the portable ground station 50 can send a control command to the flight control 10 through the main data chain only when the software unlocking control authority is required. The portable ground station 50 directly requests a flight information data packet to the flight control 10, the portable ground station 50 does not receive valid data, and the portable ground station 50 requests the flight information data packet to the flight control 10 through the ground station 30 by using a main data chain; the portable ground station 50 can not send the control command by default, the control authority of the portable ground station is unlocked by using software, and the portable ground station 50 obtains the function of sending the control command.
Referring to fig. 1, the ground station 30 and the ground distribution board 40 communicate with the mission computer 20 and the flight controller 10 through professional data transmission antennas, and the control distance can reach hundreds of kilometers.
Referring to fig. 1, the portable ground station 50 communicates directly with the mission computer 20 and the flight control 10 through data transmission; within a limited distance, the portable ground station 50 may act as a remote control to send partial control commands to the drone.
Referring to fig. 1, 2 and 3, the ground station 30 and the portable ground station 50 respectively request flight information data from the flight controller 10, the ground station 30 and the portable ground station 50 receive valid data and store the valid data in a memory, and the ground station 30 records a log after storing the received data and displays the flight information data on an interface. The ground station sends a query command data packet to the flight control unit 10 through a main data chain, the portable ground station 50 sends the query command data packet to the flight control unit 10 through a standby data chain, the flight control unit 10 returns flight information data, the ground station 30 acquires the flight information data returned by the flight control unit 10, the portable ground station 50 stores the acquired flight information data into a memory, the ground station 30 stores the acquired flight information data into the memory and records logs, and finally, the ground station displays the flight information data to an interface.
Referring to fig. 1, the ground station 30 and the portable ground station 50 communicate via ethernet.
Referring to fig. 1, the ground station 30 and the portable ground station 50 each run specialized software.
Referring to fig. 1, the portable ground station 50 also has a function of displaying flight information data by the ground station 30. The portable ground station 50 displays the flight information data returned by the flight control unit 10, so that the probability of misjudgment can be reduced when the pilot carries out near-field control.
The working process comprises the following steps: the ground station 30 sends an inquiry command to the flight control 10 through the main data link to request a flight information data packet, if the ground station 30 successfully receives the flight information data packet returned by the flight control 10, the ground station 30 analyzes the flight information data, the ground station 30 checks the connection state with the portable ground station 50, the ground station 30 stores the received flight information data and records a log, and the ground station 30 displays the flight information data to an interface; if the ground station 30 does not receive the flight information data packet returned by the flight control 10, the ground station 30 sends a flight information inquiry data packet to the portable ground station 50, the portable ground station 50 checks the connection state with the flight control 10, the portable ground station 50 acquires effective flight information data returned by the flight control 10 and returns the effective flight information data packet to the ground station 30; when the ground station 30 sends a control command data packet to the flight control 10 through the main data link, the ground station 30 judges whether the current serial port is connected, if the connection is normal, the ground station 30 encodes the control command data packet to be sent, the ground station 30 sends the data packet to the flight control 10 through the serial port, if the ground station 30 judges that the current serial port is failed to be connected, the ground station 30 detects the connection state with the portable ground station 50, if the connection is abnormal, the command is failed to be sent, if the connection is normal, the ground station 30 encodes the control command data packet to be sent, the ground station 30 sends the control command data packet to the portable ground station 50 through the ethernet, and the portable ground station 50 sends the control command data packet to the flight control 10; the portable ground station 50 communicates with the flight control 10 through the backup data chain, if the backup data chain is abnormal, the portable ground station 50 communicates with the flight control 10 through the ground station 30 by using the main data chain, the portable ground station 50 cannot send the control command by default, and the portable ground station 50 needs to use software to unlock the control authority to send the control command.
In conclusion, the unmanned aerial vehicle data chain backup method disclosed by the invention is communicated with flight control through the ground station and the portable ground station, so that the risk caused by the problem of a single data chain is avoided; the ground station sends a query command data packet to the flight control through the main data link, if the ground station successfully receives a flight information data packet returned by the flight control, the ground station analyzes the flight information data packet, the ground station sets the current connection state, the ground station stores the received data and records a log, and the ground station displays the flight information data to an interface; if the ground station does not successfully receive the flight information data packet returned by the flight control, the ground station communicates with the portable ground station through the Ethernet, the ground station sends a control command data packet to the portable ground station, the portable ground station requests the flight information data packet from the flight control, the portable ground station analyzes the flight information data packet returned by the flight control, and the portable ground station sends the analyzed data to the ground station through the Ethernet; the ground station sends a control command data packet to the flight control through the main data link, the ground station firstly judges whether the current serial port is connected, if the ground station judges that the connection is normal, the ground station encodes the control command data packet to be sent, and the ground station sends the data packet to the flight control through the serial port; if the ground station judges that the serial port connection fails, the ground station encodes a control command to be sent, the ground station sends a coded control command data packet to the portable ground station through the Ethernet, and the portable ground station sends the control command data packet to the flight control through a standby data link; if the communication of the standby data chain is abnormal, the portable ground station communicates with the ground station through the Ethernet, and the portable ground station communicates with the flight control through the ground station by using the main data chain; the portable ground station defaults to be incapable of sending a control command data packet to the flight control, and the portable ground station can send the control command data packet to the flight control only by unlocking the control authority through software.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical scope of the present invention, the technical solutions and the inventive concepts of the present invention with equivalent substitutions or changes.
Claims (9)
1. An unmanned aerial vehicle data chain backup method is characterized by comprising a flight control (10), a task computer (20), a ground station (30), a ground distribution board (40) and a portable ground station (50); the flight control system comprises a flight control (10) and a task computer (20), wherein the flight control (10) and the task computer (20) are arranged on an airplane, the task computer and the flight control are connected through transparent transmission, and the flight control (10) is used for controlling the airplane to fly; the ground station (30) and the ground distribution board (40) are deployed on the ground, the ground station (30) is connected with the ground distribution board (40), the ground station (30) sends control and query commands to the ground distribution board (40), the ground distribution board (40) forwards data and sends the data to the mission computer (20) and the flight control computer (10), and communication among the ground station (30), the ground distribution board (40), the flight control computer (10) and the mission computer (20) is a main data chain; the portable ground station (50) has the whole functions of a remote controller and partial functions of the ground station (30), the portable ground station (50) is directly communicated with the flight control unit (10), and the communication between the portable ground station (50) and the flight control unit (10) is a standby data chain; the portable ground station (50) and the ground station (30) may communicate with each other.
2. An unmanned aerial vehicle data link backup method according to claim 1, characterized in that when the main data link is in normal communication, the ground station (30) does not make a data request to the portable ground station (50); when the main data chain communication is abnormal, the ground station (30) uses the standby data chain to communicate with the flight control unit (10) through the portable ground station (50), so that the purposes of acquiring flight information and controlling the unmanned aerial vehicle are achieved.
3. The unmanned aerial vehicle data chain backup method according to claim 2, wherein when the backup data chain communication is normal, the portable ground station (50) does not make a data request to the ground station (30); when the communication of the standby data chain is abnormal, the portable ground station (50) uses the main data chain to communicate with the flight control unit (10) through the ground station (30), the portable ground station (50) can send a query command to the flight control unit (10) through the main data chain without obstacles, and the portable ground station (50) needs software unlocking control authority to send a control command to the flight control unit (10) through the main data chain.
4. An unmanned aerial vehicle data chain backup method according to claim 3, characterized in that the ground station (30) and the ground distribution board (40) communicate with the mission computer (20) and the flight control (10) through professional data transmission antennas, and the control distance can reach hundreds of kilometers.
5. An unmanned aerial vehicle data link backup method according to claim 4, characterized in that the portable ground station (50) directly communicates with the mission computer (20) and the flight control (10) through data transmission; within a limited distance, the portable ground station (50) may send partial control commands to the drone as a remote control.
6. The unmanned aerial vehicle data chain backup method according to claim 5, wherein the ground station (30) and the portable ground station (50) respectively request flight information data from the flight control unit (10), and the ground station (30) and the portable ground station (50) store the flight information data in an internal memory after receiving valid data.
7. A UAV data chain backup method according to claim 6, characterized in that the ground station (30) and the portable ground station (50) communicate with each other via Ethernet.
8. An unmanned aerial vehicle data link backup method according to claim 7, characterized in that the ground station (30) and the portable ground station (50) run respectively purpose-made software.
9. An unmanned aerial vehicle data link backup method according to claim 8, wherein the portable ground station (50) is also provided with a function of displaying flight information data of the ground station (30).
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| CN108196569A (en) * | 2017-12-20 | 2018-06-22 | 中国航天空气动力技术研究院 | A kind of general unmanned machine earth station |
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| CN105487534A (en) * | 2014-10-09 | 2016-04-13 | 深圳光启空间技术有限公司 | System and method for aircraft measurement and control |
| CN107409174B (en) * | 2015-03-31 | 2020-11-20 | 深圳市大疆创新科技有限公司 | System and method for regulating operation of an unmanned aerial vehicle |
| CN105404308A (en) * | 2015-11-24 | 2016-03-16 | 中国电子科技集团公司第二十七研究所 | Flight control unit for parafoil type unmanned plane |
| CN106850050A (en) * | 2016-01-22 | 2017-06-13 | 广州极飞科技有限公司 | Communication system, the method for unmanned plane and earth station and unmanned plane |
| CN108810945A (en) * | 2018-04-20 | 2018-11-13 | 广州亿航智能技术有限公司 | A kind of manned unmanned plane and its signal redundancy backup covering system and method |
| CN112435454A (en) * | 2020-11-03 | 2021-03-02 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle system, unmanned aerial vehicle control method, device, equipment and medium |
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| CN108196569A (en) * | 2017-12-20 | 2018-06-22 | 中国航天空气动力技术研究院 | A kind of general unmanned machine earth station |
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