CN115866020A - Communication method, device, equipment and system - Google Patents
Communication method, device, equipment and system Download PDFInfo
- Publication number
- CN115866020A CN115866020A CN202211629692.7A CN202211629692A CN115866020A CN 115866020 A CN115866020 A CN 115866020A CN 202211629692 A CN202211629692 A CN 202211629692A CN 115866020 A CN115866020 A CN 115866020A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- message
- server
- network address
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 title claims abstract description 111
- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000004044 response Effects 0.000 claims description 22
- 238000003860 storage Methods 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 5
- 230000003993 interaction Effects 0.000 abstract description 5
- 230000007246 mechanism Effects 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 9
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 241000714197 Avian myeloblastosis-associated virus Species 0.000 description 1
- 101150037717 Mavs gene Proteins 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010617 multipoint ground Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Landscapes
- Mobile Radio Communication Systems (AREA)
Abstract
The embodiment of the invention discloses a communication method, a communication device, communication equipment and a communication system. The method comprises the following steps: after the server side is in communication connection with the unmanned aerial vehicle, determining network address information of the unmanned aerial vehicle; acquiring a unique identifier of the unmanned aerial vehicle requested to be sent to the unmanned aerial vehicle; receiving the unique identification of the unmanned aerial vehicle returned by the unmanned aerial vehicle; and binding the network address information of the unmanned aerial vehicle with the unique identifier of the unmanned aerial vehicle. By adopting the method and the system, after the server establishes communication connection with the unmanned aerial vehicle and before service data message communication, the unique identification of the unmanned aerial vehicle is obtained through a question-answering mechanism, and the binding relationship between the network address information of the unmanned aerial vehicle and the unique identification of the unmanned aerial vehicle is established, so that the server can identify the unmanned aerial vehicle according to the network address information of the unmanned aerial vehicle at the data sending end, the number of connections between the server and the unmanned aerial vehicle is greatly expanded, and the identification accuracy of the unmanned aerial vehicle and the consistency of data interaction are ensured.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a communication method, apparatus, device, and system.
Background
In recent years, unmanned aerial vehicles have become more and more popular, and the application range has become more and more extensive, including detection and attack unmanned aerial vehicles in the military, but also play an important role in the civil field, such as consumption-level unmanned aerial vehicles for entertainment and leisure, police unmanned aerial vehicles for search and rescue, industrial unmanned aerial vehicles for routing inspection, agricultural unmanned aerial vehicles for mapping and pesticide spraying, and the like.
MAVLINK is a very lightweight messaging protocol that is widely used for communication between ground stations and drones (and on-board drone components). MAVLINK allows for two-way communication between a drone and a ground station, with the ground control station sending commands and control information to the drone and the drone sending telemetry and other status information to the ground station.
In the prior art, when unmanned aerial vehicle and ground satellite station communicate based on the MAVLINK agreement, the ground satellite station discerns unmanned aerial vehicle through the unmanned aerial vehicle serial number of transmission in the MAVLINK agreement, and the field of this serial number only is 1 Byte, and the ground satellite station can only communicate with 256 unmanned aerial vehicles at most simultaneously promptly, has restricted ground satellite station and unmanned aerial vehicle's the number of being connected greatly.
Disclosure of Invention
The embodiment of the invention aims to provide a communication method, a communication device, communication equipment and a communication system, and aims to solve the problem that the number of connections between a ground station and an unmanned aerial vehicle is limited in the prior art.
In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions:
according to an aspect of the present invention, there is provided a communication method applied to a server, the method including:
after establishing communication connection with an unmanned aerial vehicle, determining network address information of the unmanned aerial vehicle;
sending an identification request message to the unmanned aerial vehicle to request to send the unique identification of the unmanned aerial vehicle;
receiving an identification response message returned by the unmanned aerial vehicle, wherein the identification response message carries a unique identification of the unmanned aerial vehicle;
and binding the network address information of the unmanned aerial vehicle with the unique identifier of the unmanned aerial vehicle, so that a service end associates the service data message transmitted by the unmanned aerial vehicle based on the communication connection with the unique identifier of the unmanned aerial vehicle.
Optionally, the method comprises:
after receiving a service data message transmitted by an unmanned aerial vehicle, acquiring network address information of the unmanned aerial vehicle;
determining a unique identifier of the unmanned aerial vehicle according to the network address information;
associating the traffic data message to a unique identification of the drone.
Optionally, the network address information is an IP address, or an IP address + port number.
Optionally, the drone and the server transmit message data based on a MAVLINK protocol.
Optionally, the message data includes an identification response message and a service data message, where an MSG field in a MAVLINK packet that transmits the identification response message is a preset first message number; the MSG field in the MAVLINK data packet for transmitting the service data message is a preset second message number, and the first message number is different from the second message number.
Optionally, the method further comprises:
after receiving a MAVLINK data packet transmitted by an unmanned aerial vehicle, acquiring network address information of the unmanned aerial vehicle;
analyzing the MAVLINK data packet;
if the MSG field in the MAVLINK data packet is the first message number, the MAVLINK data packet carries the unique identifier of the unmanned aerial vehicle, and the network address information of the unmanned aerial vehicle is bound with the unique identifier of the unmanned aerial vehicle;
if the MSG field in the MAVLINK data packet is the second message number, the MAVLINK data packet carries a service data message, the unique identifier of the unmanned aerial vehicle is determined according to the network address information of the unmanned aerial vehicle, and the service data message is associated with the unique identifier of the unmanned aerial vehicle.
According to a zero aspect of the present invention, there is provided a communication apparatus, applied to a server, the apparatus including:
the address determination module is used for determining network address information of the unmanned aerial vehicle after establishing communication connection with the unmanned aerial vehicle;
the message request module is used for sending an identification request message to the unmanned aerial vehicle and requesting to send the unique identification of the unmanned aerial vehicle;
the message receiving module is used for receiving an identification response message returned by the unmanned aerial vehicle, wherein the identification response message carries the unique identification of the unmanned aerial vehicle;
and the identification binding module is used for binding the network address information of the unmanned aerial vehicle with the unique identification of the unmanned aerial vehicle so that the service end associates the service data message transmitted by the unmanned aerial vehicle based on the communication connection with the unique identification of the unmanned aerial vehicle.
According to yet another aspect of the present invention, there is provided an electronic device comprising a memory, a processor and a computer program stored in the memory for execution, wherein the processor implements the steps of any of the above-mentioned communication methods when executing the program.
According to still another aspect of the present invention, there is provided a communication system comprising a plurality of drones and a server, wherein,
the unmanned aerial vehicle is used for establishing communication connection with the server, returning the unique identifier of the unmanned aerial vehicle to the server based on the identifier request of the server, carrying out service data communication with the server and transmitting a service data message to the server;
the server is configured to perform the steps of the communication method described in any one of the above.
According to yet another aspect of the present invention, there is provided a computer-readable storage medium storing a computer program which, when executed by a processor, performs the communication method of any one of the above.
The embodiment of the invention has the beneficial effects that: different from the situation of the prior art, in the embodiment of the invention, after the server side is in communication connection with the unmanned aerial vehicle, the network address information of the unmanned aerial vehicle is determined; requesting the unmanned aerial vehicle to send a unique identifier of the unmanned aerial vehicle; receiving the unique identification of the unmanned aerial vehicle returned by the unmanned aerial vehicle; and binding the network address information of the unmanned aerial vehicle with the unique identifier of the unmanned aerial vehicle. By adopting the invention, after the server establishes communication connection with the unmanned aerial vehicle and before service data message communication, the unique identification of the unmanned aerial vehicle is obtained through a question-answering mechanism, and the binding relationship between the network address information of the unmanned aerial vehicle and the unique identification of the unmanned aerial vehicle is established, so that the server can identify the unmanned aerial vehicle according to the network address information of the unmanned aerial vehicle at the data sending end, the unmanned aerial vehicle is not identified by relying on the unmanned aerial vehicle number field in the protocol, the connection number between the server and the unmanned aerial vehicle is greatly expanded, and the identification accuracy of the unmanned aerial vehicle and the consistency of data interaction are ensured.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a structural diagram of a structure of an unmanned aerial vehicle system according to an embodiment of the present invention;
fig. 2 is a flowchart of an alternative communication method according to an embodiment of the present invention;
fig. 3 is a diagram of a message packet structure of the MAVLINK protocol according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an alternative communication device according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of an alternative electronic device according to a third embodiment of the present disclosure.
Fig. 6 is a schematic structural diagram of an alternative communication system according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, fig. 1 is a structural diagram of an unmanned aerial vehicle system according to an embodiment of the present invention. The unmanned aerial vehicle system mainly comprises three major parts: unmanned aerial vehicle organism, ground control website and communication link. The Unmanned Aerial Vehicle is an Unmanned Aerial Vehicle body part in the system, is called an Unmanned Aerial Vehicle (Unmanned Aerial Vehicle), is called a UAV for short, and consists of a frame body, a power system, a flight control system, a communication system and an onboard plug-in service system. The frame fuselage of unmanned aerial vehicle means unmanned aerial vehicle's bearing structure, generally selects high strength light material to make, and all equipment of unmanned aerial vehicle are installed on the frame fuselage. The unmanned aerial vehicle power system is a component for providing flight power for an unmanned aerial vehicle, and generally comprises an oil-driven part and an electric part. The flight control system is a flight control system of the unmanned aerial vehicle, and all flight states of the unmanned aerial vehicle need to be adjusted in real time through the flight control system. The flight control system is a control core of the whole unmanned aerial vehicle and mainly comprises a flight control part, an accelerometer, a barometer, a sensor, a gyroscope, a geomagnetic instrument, a positioning chip, a main control chip and the like. Besides the flight navigation function, the high-order flight control system also has the functions of safety redundancy, flight data recording, flight parameter adjustment, automatic flight optimization and the like. The communication system is an essential unit on the unmanned aerial vehicle body, is responsible for data interaction tasks with ground control stations, and generally comprises a wireless data transmission module, a radio frequency communication module and the like. The unmanned aerial vehicle airborne plug-in service system mainly comprises task unit equipment for completing the type of unmanned aerial vehicle, such as consumption-level unmanned aerial vehicle opportunistic plug-in cloud deck, plug-in light camera and other effective loads. The payload of the military unmanned aerial vehicle generally comprises sensors such as visible light/infrared and radar, electronic reconnaissance and communication relay equipment and the like; an atmospheric hydrological surveying and mapping instrument, a pesticide sprayer and the like are additionally arranged on the effective load of the agricultural unmanned aerial vehicle according to actual needs.
The Ground Control Station (GCS) is a device or Station for directing the flight of the airplane, the Ground Station can be divided into a single-point Ground Station or a multi-point Ground Station, and most of the unmanned aerial vehicles are single-point Ground stations. The ground station is composed of remote control device, display, power supply system and radio station, and is equipped with software for controlling airplane, and can be used for planning airplane flying circuit and setting flying height, flying speed, flying place and flying task. The ground control station of the common civil unmanned aerial vehicle is relatively simple, and particularly the control station of the consumer-grade unmanned aerial vehicle is mainly a control handle or a tablet personal computer or a smart phone provided with matched software.
The communication link is an important component of an unmanned aerial vehicle system, and the main task of the communication link is to establish an air-ground bidirectional data transmission channel for completing remote control, remote measurement and task information transmission of a ground control station to the unmanned aerial vehicle. By range, there are a line-of-sight link (the distance between the drone and the control station is within radio "visibility" distance) and a beyond-the-line-of-sight link (via satellite or aircraft relays). The communication link in fig. 1 belongs to a line-of-sight link, and a beyond-the-line-of-sight link is generally used in military drones. At present, there are three main physical layer transmission modes of a communication link of an unmanned aerial vehicle: radio, wiFi, and operator public networks. The physical layer transmission of the communication link is mostly in a wireless channel mode, and the application layer protocols loaded on the communication link mainly comprise MAVLINK, UAVCan, uranusLink and proprietary protocols self-developed by various manufacturers. Of these protocols, the MAVLINK protocol is the most common and widely used communication protocol, supported by a large number of drones and ground control stations. MAVLINK allows for two-way communication between a drone and a ground station, with the ground control station sending commands and control information to the drone and the drone sending telemetry and other status information to the ground station.
Example one
According to an embodiment of the present invention, a communication method is provided. It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
Referring to fig. 2, fig. 2 is a flowchart illustrating an optional communication method according to an embodiment of the present invention, where the method is applied to a server end communicating with an unmanned aerial vehicle, where the server end generally refers to a ground station and may also include other mobile end electronic devices or unmanned aerial vehicles. The method comprises the following steps:
step S201, after establishing communication connection with the unmanned aerial vehicle, determining network address information of the unmanned aerial vehicle.
In an embodiment of the invention, the drone establishes a communication connection with the server based on the operator public network. After the unmanned aerial vehicle is started, the operator public network allocates an IP address + port number for the unmanned aerial vehicle. The unmanned aerial vehicle and the server establish communication connection with the server through the network address based on a TCP three-way handshake protocol.
Step S202, an identification request message is sent to the unmanned aerial vehicle, and the unique identification of the unmanned aerial vehicle is requested to be sent.
After the server establishes communication connection with the unmanned aerial vehicle, immediately sending an identification request message to the unmanned aerial vehicle, and requesting to send the unique identification of the unmanned aerial vehicle.
Step S203, receiving an identification response message returned by the unmanned aerial vehicle, wherein the identification response message carries the unique identification of the unmanned aerial vehicle.
After receiving the request of the server, the unmanned aerial vehicle acquires the unique identifier of the unmanned aerial vehicle from the airplane parameters, generates an identifier response message and returns the identifier response message to the server. The unique identification of the unmanned aerial vehicle is written into an unmanned aerial vehicle memory after an unmanned aerial vehicle manufacturer codes a whole machine product in a production and manufacturing link, and has uniqueness and non-tamper property.
Step S204, binding the network address information of the unmanned aerial vehicle with the unique identifier of the unmanned aerial vehicle, so that the service end associates the service data message transmitted by the unmanned aerial vehicle based on the communication connection with the unique identifier of the unmanned aerial vehicle.
When unmanned aerial vehicle and server belong to the lug connection (promptly unmanned aerial vehicle through self IP lug connection to the server), unmanned aerial vehicle's IP address has the uniqueness, and the server binds unmanned aerial vehicle's IP address and unmanned aerial vehicle's unique sign to when making unmanned aerial vehicle follow-up transmission business data message based on this communication connection, the server can discern unmanned aerial vehicle according to its IP address, and with the business data message of transmission relevant to unmanned aerial vehicle's unique sign.
When the unmanned aerial vehicle and the server belong to forwarding connection (namely, a plurality of unmanned aerial vehicles are connected to the server through IP forwarding of the same network device), the IP addresses of the unmanned aerial vehicles are all the IP addresses of the network device. In order to identify a plurality of unmanned aerial vehicles in the intranet, different port numbers are distributed for different unmanned aerial vehicles, so that the IP address + the port number of the unmanned aerial vehicle are unique, the server binds the IP address + the port number of the unmanned aerial vehicle and the unique identifier of the unmanned aerial vehicle, so that when the unmanned aerial vehicle transmits service data messages based on the communication connection, the server can identify the unmanned aerial vehicle according to the IP address + the port number of the unmanned aerial vehicle, and the transmitted service data messages are associated to the unique identifier of the unmanned aerial vehicle.
Different from the prior art, after the communication connection is established between the unmanned aerial vehicle and the server side, before the service data message communication is carried out, the server side firstly obtains the unique identification of the unmanned aerial vehicle through a question-answering mechanism, establishes the binding relationship between the network address information of the unmanned aerial vehicle and the unique identification of the unmanned aerial vehicle, and then starts the service data message communication. Specifically, after binding network address information of the unmanned aerial vehicle with a unique identifier of the unmanned aerial vehicle, the server sends a command or control information to the unmanned aerial vehicle, monitors a corresponding port number, receives service data messages such as remote measurement and state information transmitted by the unmanned aerial vehicle, and acquires the network address information of the unmanned aerial vehicle after receiving the service data messages transmitted by the unmanned aerial vehicle; determining a unique identifier of the unmanned aerial vehicle according to the network address information; and associating the service data message to the unique identification of the unmanned aerial vehicle.
In one embodiment, the drone and the drone transmit message data on an ongoing basis based on the MAVLINK protocol. MAVLINK is an open source communication protocol designed for Micro Air Vehicle MAVs. The communication protocol is a common protocol for communication between the unmanned aerial vehicle and the ground station and between the unmanned aerial vehicles. During MAVLINK transmission, a message packet is taken as a basic unit, and the data length is 8-263 bytes. The structure of the message packet is shown in fig. 3. The meaning of each field in the message packet is shown in table 1 below:
TABLE 1
In an embodiment of the present invention, the message data transmitted by the drone to the server includes an identification response message and a service data message, where an MSG field in a MAVLINK packet transmitting the identification response message is a preset first message number, an MSG field in a MAVLINK packet transmitting the service data message is a preset second message number, and the first message number is different from the second message number.
Specifically, after receiving the MAVLINK data packet transmitted by the unmanned aerial vehicle, the server acquires network address information of the unmanned aerial vehicle; analyzing the MAVLINK data packet to obtain the information of each field; if the MSG field is the first message number, the PAYLOAD field carries the unique identification of the unmanned aerial vehicle, and the network address information of the unmanned aerial vehicle is bound with the unique identification of the unmanned aerial vehicle; if the MSG field is the second message number, the PAYLOAD field carries a service data message, the unique identification of the unmanned aerial vehicle is determined according to the network address information of the unmanned aerial vehicle, and the service data message is associated to the unique identification of the unmanned aerial vehicle.
According to the communication method provided by the embodiment of the invention, after the server side is in communication connection with the unmanned aerial vehicle, the network address information of the unmanned aerial vehicle is determined; requesting the unmanned aerial vehicle to send a unique identification of the unmanned aerial vehicle; receiving the unique identification of the unmanned aerial vehicle returned by the unmanned aerial vehicle; and binding the network address information of the unmanned aerial vehicle with the unique identifier of the unmanned aerial vehicle. By adopting the invention, after the server establishes communication connection with the unmanned aerial vehicle and before service data message communication, the unique identification of the unmanned aerial vehicle is obtained through a question-answering mechanism, and the binding relationship between the network address information of the unmanned aerial vehicle and the unique identification of the unmanned aerial vehicle is established, so that the server can identify the unmanned aerial vehicle according to the network address information of the unmanned aerial vehicle at the data sending end, the unmanned aerial vehicle is not identified by relying on the unmanned aerial vehicle number field in the protocol, the connection number between the server and the unmanned aerial vehicle is greatly expanded, and the identification accuracy of the unmanned aerial vehicle and the consistency of data interaction are ensured.
Example two
According to an embodiment of the present invention, there is provided a communication apparatus, as shown in fig. 4, which is a schematic structural diagram of an optional communication apparatus provided in a second embodiment of the present invention, where the communication apparatus 400 includes:
an address determining module 402, configured to determine network address information of an unmanned aerial vehicle after establishing a communication connection with the unmanned aerial vehicle;
a message request module 404, configured to send an identifier request message to the drone, requesting to send a unique identifier of the drone;
a message receiving module 406, configured to receive an identification response message returned by the unmanned aerial vehicle, where the identification response message carries a unique identifier of the unmanned aerial vehicle;
an identifier binding module 408, configured to bind the network address information of the drone with the unique identifier of the drone, so that the server associates the service data message, which is transmitted by the drone based on the communication connection, with the unique identifier of the drone.
The apparatus can execute the communication method according to any one of the first embodiment of the present invention, and has corresponding functional modules and advantageous effects of the method, and reference may be made to the communication method provided in the first embodiment of the present invention for technical details that are not described in detail in this embodiment.
EXAMPLE III
According to an embodiment of the present invention, an electronic device is provided, as shown in fig. 5, which is a schematic structural diagram of an optional electronic device provided in the third embodiment of the present invention, and the electronic device may include a processor 501, a communication interface 502, a memory 503, and a communication bus 504, where the processor 501, the communication interface 502, and the memory 503 complete mutual communication through the communication bus 504. The processor 501 may call logic instructions in the memory 503 to perform a communication method comprising: after establishing communication connection with an unmanned aerial vehicle, determining network address information of the unmanned aerial vehicle; sending an identification request message to the unmanned aerial vehicle to request to send the unique identification of the unmanned aerial vehicle; receiving an identification response message returned by the unmanned aerial vehicle, wherein the identification response message carries a unique identification of the unmanned aerial vehicle; and binding the network address information of the unmanned aerial vehicle with the unique identifier of the unmanned aerial vehicle, so that a service end associates the service data message transmitted by the unmanned aerial vehicle based on the communication connection with the unique identifier of the unmanned aerial vehicle.
Furthermore, the logic instructions in the memory 503 may be implemented in the form of software functional units and stored in several computer readable storage media when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of any one of the methods in the first embodiment of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
The product can execute the communication method described in the first embodiment, and has corresponding functional modules and beneficial effects of the method, and reference may be made to the communication method provided in the first embodiment without detailed technical details described in the present embodiment.
Example four
According to an embodiment of the present invention, a communication system is provided. As shown in fig. 6, which is a schematic structural diagram of an optional communication system according to a fourth embodiment of the present invention, the communication system 600 includes a plurality of drones 601 and a server 602, wherein,
the unmanned aerial vehicle 601 is used for establishing a communication connection with the server 602, returning a unique identifier of the unmanned aerial vehicle 601 to the server 602 based on an identifier request of the server 602, performing service data communication with the server 602, and transmitting a service data message to the server 602;
the server 602 is configured to perform the steps of the communication method according to any one of the first embodiment.
After the drone 601 is powered on, the operator public network allocates an IP address + port number to the drone. The unmanned aerial vehicle 601 and the server 602 establish a communication connection with the server 602 through the network address based on a TCP three-way handshake protocol. The server 602 acquires the network address information of the unmanned aerial vehicle 601 and sends an identification request message to the unmanned aerial vehicle 601, the unmanned aerial vehicle 601 returns the unique identification of the unmanned aerial vehicle to the server 602 based on the identification request of the server 602, and the server 602 binds the IP address + port number of the unmanned aerial vehicle 601 with the unique identification of the unmanned aerial vehicle. After binding is completed, the unmanned aerial vehicle 601 and the server 602 perform service data communication, the server 602 sends an instruction or control information to the unmanned aerial vehicle 601, monitors a corresponding port number, receives service data messages such as telemetry information and state information transmitted by the unmanned aerial vehicle 601, and acquires network address information of the unmanned aerial vehicle 601 after receiving the service data messages transmitted by the unmanned aerial vehicle 601; determining a unique identifier of the unmanned aerial vehicle according to the network address information; the traffic data message is associated to the unique identification of the drone 601.
In the communication system provided by the embodiment of the invention, after the server side is in communication connection with the unmanned aerial vehicle, the network address information of the unmanned aerial vehicle is determined; requesting the unmanned aerial vehicle to send a unique identifier of the unmanned aerial vehicle; receiving the unique identification of the unmanned aerial vehicle returned by the unmanned aerial vehicle; and binding the network address information of the unmanned aerial vehicle with the unique identifier of the unmanned aerial vehicle. By adopting the invention, after the server establishes communication connection with the unmanned aerial vehicle and before service data message communication, the unique identification of the unmanned aerial vehicle is obtained through a question-answering mechanism, and the binding relationship between the network address information of the unmanned aerial vehicle and the unique identification of the unmanned aerial vehicle is established, so that the server can identify the unmanned aerial vehicle according to the network address information of the unmanned aerial vehicle at the data sending end, the unmanned aerial vehicle is not identified by relying on the unmanned aerial vehicle number field in the protocol, the connection number between the server and the unmanned aerial vehicle is greatly expanded, and the identification accuracy of the unmanned aerial vehicle and the consistency of data interaction are ensured.
EXAMPLE five
According to an embodiment of the invention, a computer-readable storage medium is provided, of the type described in embodiment 3, which stores a computer program which, when executed by a processor, performs the steps of the communication method described in the first embodiment.
The product can execute the communication method according to any one of the embodiments, has corresponding functional modules and beneficial effects of the method, and reference may be made to the communication method provided in the first embodiment of the present invention for technical details that are not described in detail in the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the technical solutions mentioned above may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute the method according to each embodiment or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A communication method applied to a server side is characterized by comprising the following steps:
after establishing communication connection with an unmanned aerial vehicle, determining network address information of the unmanned aerial vehicle;
sending an identification request message to the unmanned aerial vehicle, requesting to send the unique identification of the unmanned aerial vehicle;
receiving an identification response message returned by the unmanned aerial vehicle, wherein the identification response message carries a unique identification of the unmanned aerial vehicle;
and binding the network address information of the unmanned aerial vehicle with the unique identifier of the unmanned aerial vehicle, so that a service end associates the service data message transmitted by the unmanned aerial vehicle based on the communication connection with the unique identifier of the unmanned aerial vehicle.
2. The method according to claim 1, characterized in that it comprises:
after receiving a service data message transmitted by an unmanned aerial vehicle, acquiring network address information of the unmanned aerial vehicle;
determining a unique identifier of the unmanned aerial vehicle according to the network address information;
associating the traffic data message to a unique identification of the drone.
3. The method of claim 1, wherein the network address information is an IP address, or an IP address + port number.
4. The method of any of claims 1-3, wherein the drone and the server communicate message data based on the MAVLINK protocol.
5. The method of claim 4, wherein the message data comprises an identification response message and a service data message, and wherein the MSG field in the MAVLINK packet transmitting the identification response message is a preset first message number; the MSG field in the MAVLINK data packet for transmitting the service data message is a preset second message number, and the first message number is different from the second message number.
6. The method of claim 5, further comprising:
after receiving a MAVLINK data packet transmitted by an unmanned aerial vehicle, acquiring network address information of the unmanned aerial vehicle;
analyzing the MAVLINK data packet;
if the MSG field in the MAVLINK data packet is the first message number, the MAVLINK data packet carries the unique identifier of the unmanned aerial vehicle, and the network address information of the unmanned aerial vehicle is bound with the unique identifier of the unmanned aerial vehicle;
if the MSG field in the MAVLINK data packet is the second message number, the MAVLINK data packet carries a service data message, the unique identifier of the unmanned aerial vehicle is determined according to the network address information of the unmanned aerial vehicle, and the service data message is associated with the unique identifier of the unmanned aerial vehicle.
7. A communication apparatus applied to a server, the apparatus comprising:
the address determination module is used for determining network address information of the unmanned aerial vehicle after establishing communication connection with the unmanned aerial vehicle;
the message request module is used for sending an identification request message to the unmanned aerial vehicle and requesting to send the unique identification of the unmanned aerial vehicle;
the message receiving module is used for receiving an identification response message returned by the unmanned aerial vehicle, wherein the identification response message carries the unique identification of the unmanned aerial vehicle;
and the identification binding module is used for binding the network address information of the unmanned aerial vehicle with the unique identification of the unmanned aerial vehicle so that the service end associates the service data message transmitted by the unmanned aerial vehicle based on the communication connection with the unique identification of the unmanned aerial vehicle.
8. An electronic device comprising a memory, a processor and a computer program stored for execution on the memory, wherein the steps of the communication method of any of claims 1-6 are implemented when the program is executed by the processor.
9. A communication system is characterized by comprising a plurality of unmanned aerial vehicles and a server side, wherein,
the unmanned aerial vehicle is used for establishing communication connection with the server, returning the unique identifier of the unmanned aerial vehicle to the server based on the identifier request of the server, carrying out service data communication with the server and transmitting a service data message to the server;
the server for performing the steps of the communication method of any one of claims 1 to 6.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, performs the steps of the communication method according to any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211629692.7A CN115866020A (en) | 2022-12-19 | 2022-12-19 | Communication method, device, equipment and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211629692.7A CN115866020A (en) | 2022-12-19 | 2022-12-19 | Communication method, device, equipment and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115866020A true CN115866020A (en) | 2023-03-28 |
Family
ID=85673942
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211629692.7A Pending CN115866020A (en) | 2022-12-19 | 2022-12-19 | Communication method, device, equipment and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115866020A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106412046A (en) * | 2016-09-23 | 2017-02-15 | 北京京东尚科信息技术有限公司 | One-station-multi-machine control method, apparatus and system |
| CN108319294A (en) * | 2018-01-19 | 2018-07-24 | 成都天麒科技有限公司 | A kind of unmanned aerial vehicle (UAV) control method |
| US20180268719A1 (en) * | 2015-01-13 | 2018-09-20 | Guangzhou Xaircraft Technology Co., Ltd. | Scheduling method and system for unmanned aerial vehicle, and unmanned aerial vehicle |
-
2022
- 2022-12-19 CN CN202211629692.7A patent/CN115866020A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180268719A1 (en) * | 2015-01-13 | 2018-09-20 | Guangzhou Xaircraft Technology Co., Ltd. | Scheduling method and system for unmanned aerial vehicle, and unmanned aerial vehicle |
| CN106412046A (en) * | 2016-09-23 | 2017-02-15 | 北京京东尚科信息技术有限公司 | One-station-multi-machine control method, apparatus and system |
| US20200301450A1 (en) * | 2016-09-23 | 2020-09-24 | Beijing Jingdong Shangke Information Technology Co, Ltd. | Method, device and system for controlling uav |
| CN108319294A (en) * | 2018-01-19 | 2018-07-24 | 成都天麒科技有限公司 | A kind of unmanned aerial vehicle (UAV) control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108445902B (en) | Unmanned aerial vehicle formation control method, device and system | |
| CA2984021C (en) | Systems and methods for remote distributed control of unmanned aircraft | |
| CN106970650B (en) | Multi-unmanned aerial vehicle communication control system and control method | |
| CN108886514B (en) | Flight path control based on cell broadcast messages | |
| EP3035558B1 (en) | Cellular communication network through unmanned aerial vehicle cellular communication links | |
| US20180026705A1 (en) | Communications system for use with unmanned aerial vehicles | |
| WO2017185607A1 (en) | Method and device for switching unmanned aerial vehicle flight control modes, and unmanned aerial vehicle | |
| WO2019119355A1 (en) | Method and device for determining flight path of unmanned aerial vehicle | |
| CN111436050B (en) | Wireless network communication method, network equipment and terminal | |
| CN110493249B (en) | Unmanned aerial vehicle terminal load real-time control method and system based on various network switching | |
| KR20180038231A (en) | System and method for control of multi drone | |
| CN112672323A (en) | Unmanned aerial vehicle networking flight system and unmanned aerial vehicle remote communication method applying same | |
| WO2017185651A1 (en) | Method and device for switching unmanned aerial vehicle image transmission modes, and unmanned aerial vehicle | |
| WO2020192473A1 (en) | Unmanned aerial vehicle control method and related apparatus | |
| CN107087441B (en) | A kind of information processing method and its device | |
| EP3327529B1 (en) | Control station for unmanned air vehicles and working procedure | |
| Solidakis et al. | An Arduino-based subsystem for controlling UAVs through GSM | |
| CN114915968A (en) | Authentication and authorization method and communication device | |
| CN115866020A (en) | Communication method, device, equipment and system | |
| Kakamoukas et al. | High level drone application enabler: An open source architecture | |
| CN114793242A (en) | Unmanned aerial vehicle communication management method and device | |
| KR102657344B1 (en) | Communication Device and Method, and Unmanned Aerial Vehicle Employing the Same | |
| CN113708786B (en) | Formation airplane radio station signal and data acquisition method, airplane radio station, medium and application | |
| Manasa et al. | Design and development of communication protocol for micro air vehicle | |
| US11949492B2 (en) | Data stream object for device networking |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |