CN117826838A

CN117826838A - Remote take-off and landing control method and system for unmanned aerial vehicle

Info

Publication number: CN117826838A
Application number: CN202311867228.6A
Authority: CN
Inventors: 白军良
Original assignee: Hebei Tongfei Future Aircraft Co ltd
Current assignee: Hebei Tongfei Future Aircraft Co ltd
Priority date: 2023-12-29
Filing date: 2023-12-29
Publication date: 2024-04-05

Abstract

The application provides a method and a system for controlling off-site take-off and landing of an unmanned aerial vehicle, wherein the method comprises the following steps: the ground station equipment acquires the take-off place and landing place of the unmanned aerial vehicle; the ground station equipment determines the communication mode of the ground station equipment and the unmanned aerial vehicle according to the take-off place and the landing place of the unmanned aerial vehicle, wherein the communication mode comprises the following steps: a line-of-sight link communication mode or a guard link communication mode; if the communication mode is a defensive link communication mode, the ground station equipment establishes a defensive link through a defensive ground data end on the ground station equipment and an airborne defensive data end on the unmanned aerial vehicle, and sends a take-off instruction and a landing instruction to the unmanned aerial vehicle through the defensive ground data end, the defensive link and the airborne defensive data end so as to control the unmanned aerial vehicle to take off at a take-off place and land at a landing place. The cost of controlling the off-site take-off and landing of the unmanned aerial vehicle is reduced, and the efficiency of controlling the off-site take-off and landing of the unmanned aerial vehicle is improved.

Description

Remote take-off and landing control method and system for unmanned aerial vehicle

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to a method and a system for controlling off-site take-off and landing of an unmanned aerial vehicle.

Background

The large and medium-sized freight unmanned aerial vehicle is a large-load, medium-and long-distance linear freight unmanned aerial vehicle. The flight straight line distance of the large and medium-sized freight unmanned aerial vehicle is generally 10-1000KM, the load can reach 1-2 tons, the endurance time can reach several hours, and the large and medium-sized freight unmanned aerial vehicle can be applied to transregional freight transportation, island material transportation, freight transfer among logistics hubs, plant protection work of ultra-large mechanized farms and the like. The problems of local take-off and remote landing of the unmanned aerial vehicle are all related to the application scenes.

At present, when a large and medium-sized unmanned aerial vehicle takes off and land in different places, a mode of controlling the unmanned aerial vehicle by two stations is generally adopted to control the unmanned aerial vehicle to take off and land in different places, namely, two ground control stations are required to be built to realize the take off and land in different places of the large and medium-sized unmanned aerial vehicle, when the large and medium-sized unmanned aerial vehicle needs to execute a plurality of tasks in different places in a short time, the mode of controlling the unmanned aerial vehicle by two stations greatly improves personnel cost and equipment cost, the control mode is complex, and the flight efficiency of the unmanned aerial vehicle is reduced.

Disclosure of Invention

The purpose of the application is to provide a method and a system for controlling off-site take-off and landing of an unmanned aerial vehicle aiming at the defects in the prior art, so as to solve the problems of complex control mode, high cost and low efficiency in the prior art when the off-site take-off and landing of the unmanned aerial vehicle is controlled by adopting a mode of two stations to control one machine.

In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

in a first aspect, an embodiment of the present application provides a method for controlling off-site take-off and landing of an unmanned aerial vehicle, where the method includes:

the ground station equipment acquires the take-off place and landing place of the unmanned aerial vehicle;

the ground station equipment determines a communication mode between the ground station equipment and the unmanned aerial vehicle according to the take-off place and the landing place of the unmanned aerial vehicle, wherein the communication mode comprises the following steps: a line-of-sight link communication mode or a guard link communication mode;

If the communication mode is the guard link communication mode, the ground station equipment establishes a guard link through a guard ground data end on the ground station equipment and an airborne guard data end on the unmanned aerial vehicle, and sends a take-off instruction and a landing instruction to the unmanned aerial vehicle through the guard ground data end, the guard link and the airborne guard data end so as to control the unmanned aerial vehicle to take off at the take-off place and land at the landing place.

As an optional implementation manner, the ground station device determines a communication manner between the ground station device and the unmanned aerial vehicle according to a take-off place and a landing place of the unmanned aerial vehicle, and includes:

the ground station equipment determines the flight distance of the unmanned aerial vehicle according to the take-off place and the landing place of the unmanned aerial vehicle;

and the ground station equipment determines the communication mode of the ground station equipment and the unmanned aerial vehicle according to the flight distance of the unmanned aerial vehicle.

As an optional implementation manner, the determining, by the ground station device, a communication manner between the ground station device and the unmanned aerial vehicle according to a flight distance of the unmanned aerial vehicle includes:

If the flight distance is within the distance interval of the line-of-sight link, determining that the communication mode between the ground station equipment and the unmanned aerial vehicle is the line-of-sight link communication mode;

and if the flight distance is not in the distance interval of the line-of-sight link and the flight distance is in the distance interval of the guard link, determining that the communication mode of the ground station equipment and the unmanned aerial vehicle is a guard link communication mode.

As an optional implementation manner, the sending, by the guard ground data end, the guard link and the airborne guard data end, a take-off instruction and a landing instruction to the unmanned aerial vehicle so as to control the unmanned aerial vehicle to take off at the take-off place and land at the landing place, includes:

the ground station equipment generates the take-off instruction, sends the take-off instruction to the defending ground data end, transmits the take-off instruction to the airborne defending data end through the defending link by the defending ground data end, and sends the take-off instruction to the unmanned aerial vehicle by the airborne defending data end so that the unmanned aerial vehicle executes take-off according to the take-off instruction;

the ground station equipment acquires the real-time position of the unmanned aerial vehicle through the guard ground data end, the guard link and the airborne guard data end;

If the real-time position is the landing place of the unmanned aerial vehicle, the ground station equipment generates a landing instruction, the landing instruction is sent to the defending ground data end, the defending ground data end transmits the landing instruction to the airborne defending data end through the defending link, and the airborne defending data end sends the landing instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle executes landing according to the landing instruction.

As an optional implementation manner, after the ground station device determines the communication mode between the ground station device and the unmanned aerial vehicle according to the take-off location and the landing location of the unmanned aerial vehicle, the method further includes:

if the communication mode is the line-of-sight link communication mode, the ground station equipment establishes a line-of-sight link through a line-of-sight ground data end on the ground station equipment and an airborne line-of-sight data end on the unmanned aerial vehicle, and sends a take-off instruction and a landing instruction to the unmanned aerial vehicle through the line-of-sight ground data end, the line-of-sight link and the airborne line-of-sight data end so as to control the unmanned aerial vehicle to take off at the take-off place and land at the landing place.

As an optional implementation manner, the sending, by the line-of-sight ground data end, the line-of-sight link, and the airborne line-of-sight data end, a take-off instruction and a landing instruction to the unmanned aerial vehicle, so as to control the unmanned aerial vehicle to take off at the take-off location and land at the landing location, includes:

the ground station equipment generates the take-off instruction, sends the take-off instruction to the sight distance ground data end, transmits the take-off instruction to the airborne sight distance data end through the sight distance link by the sight distance ground data end, and sends the take-off instruction to the unmanned aerial vehicle by the airborne sight distance data end so that the unmanned aerial vehicle executes take-off according to the take-off instruction;

the ground station equipment acquires the real-time position of the unmanned aerial vehicle through the sight distance ground data end, the sight distance link and the airborne sight distance data end;

if the real-time position is a landing place of the unmanned aerial vehicle, the ground station equipment generates a landing instruction, the landing instruction is sent to the line-of-sight ground data end, the line-of-sight ground data end transmits the landing instruction to the airborne line-of-sight data end through the line-of-sight link, and the airborne line-of-sight data end sends the landing instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle executes landing according to the landing instruction.

In a second aspect, an embodiment of the present application provides another method for controlling off-site take-off and landing of a unmanned aerial vehicle, where the method includes:

when the communication mode of the unmanned aerial vehicle and the ground station equipment is a guard link communication mode, the unmanned aerial vehicle establishes a guard link through a guard ground data end on the ground station equipment and an airborne guard data end on the unmanned aerial vehicle, and receives a take-off instruction and a landing instruction from the ground station equipment through the guard ground data end, the guard link and the airborne guard data end so as to take-off at a take-off place and land at a landing place according to the landing instruction according to take-off execution.

As an alternative implementation, the method further includes:

when the communication mode of the unmanned aerial vehicle and the ground station equipment is a line-of-sight link communication mode, the unmanned aerial vehicle establishes a line-of-sight link through a line-of-sight ground data end on the ground station equipment and an airborne line-of-sight data end on the unmanned aerial vehicle, and receives a take-off instruction and a landing instruction from the ground station equipment through the line-of-sight ground data end, the line-of-sight link and the airborne line-of-sight data end, so that take-off is carried out at a take-off place according to take-off execution, and landing is carried out at a landing place according to the landing instruction.

In a third aspect, an embodiment of the present application provides an off-site take-off and landing control system for an unmanned aerial vehicle, the system including: the ground station equipment is provided with a defensive ground data end and a sight distance ground data end, and the unmanned aerial vehicle is provided with an airborne defensive data end and an airborne sight distance data end;

the ground station device communicates with the unmanned aerial vehicle based on the method of the first aspect to take-off and landing control for the unmanned aerial vehicle;

the drone communicates with the ground station apparatus to perform take-off and landing based on the method of the second aspect above.

As an alternative implementation, the ground station apparatus is a fixed ground station apparatus or a mobile ground station apparatus.

In a fourth aspect, embodiments of the present application provide a ground station apparatus, including: the first processor executes the machine-readable instructions to execute the steps of the unmanned aerial vehicle off-site take-off and landing control method according to the first aspect.

In a fifth aspect, embodiments of the present application provide a unmanned aerial vehicle, including: the second memory stores machine-readable instructions executable by the second processor, when the unmanned aerial vehicle operates, the second processor and the second memory communicate through the second bus, and the second processor executes the machine-readable instructions to execute the steps of the unmanned aerial vehicle off-site take-off and landing control method according to the second aspect.

In a sixth aspect, embodiments of the present application provide a computer readable storage medium, where a computer program is stored, where the computer program is executed by a processor to perform the steps of the method for controlling off-site take-off and landing of a drone according to the first aspect.

In a seventh aspect, embodiments of the present application provide another computer readable storage medium, where a computer program is stored, where the computer program is executed by a processor to perform the steps of the method for controlling off-site take-off and landing of a drone according to the second aspect.

The beneficial effects of this application are:

the application provides a method and a system for controlling off-site take-off and landing of an unmanned aerial vehicle, wherein a guard ground data end and a sight distance ground data end are installed on ground station equipment, and an airborne guard data end and an airborne sight distance data end are installed on the unmanned aerial vehicle; the ground station equipment determines the communication mode of the ground station equipment and the unmanned aerial vehicle according to the take-off place and the landing place of the unmanned aerial vehicle; when the ground station equipment is communicated with the unmanned aerial vehicle through the guard link, the ground equipment station controls the unmanned aerial vehicle to take off at a take-off place and land at a landing place through the guard ground data end, the guard link and the airborne guard data end. By establishing the satellite communication link, the unmanned aerial vehicle can be controlled to take off and land from different places by using only one ground station device, the device cost is reduced, and the control mode is more efficient.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic architecture diagram of a remote take-off and landing control system of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 2 is a schematic flow chart of a method for controlling off-site take-off and landing of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 3 is a flow chart of a communication mode according to a landing place determination of the method for controlling the off-site landing of the unmanned aerial vehicle according to the embodiment of the present application;

fig. 4 is a schematic flow chart of determining a communication mode according to a flight distance according to the method for controlling off-site take-off and landing of the unmanned aerial vehicle provided in the embodiment of the present application;

fig. 5 is a schematic flow chart of controlling the take-off and landing of the unmanned aerial vehicle in a satellite link communication mode according to the method for controlling the take-off and landing of the unmanned aerial vehicle in the embodiment of the present application;

fig. 6 is a schematic flow chart of controlling the take-off and landing of the unmanned aerial vehicle in a line-of-sight link communication mode of the method for controlling the take-off and landing of the unmanned aerial vehicle provided in the embodiment of the present application;

fig. 7 is a schematic flow chart of performing take-off and landing by an unmanned aerial vehicle in a satellite communication link communication mode according to another method for controlling take-off and landing of the unmanned aerial vehicle in a different place according to an embodiment of the present application;

fig. 8 is a schematic flow chart of performing take-off and landing by an unmanned aerial vehicle in a line-of-sight link communication mode of another method for controlling take-off and landing of the unmanned aerial vehicle according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a ground station apparatus according to an embodiment of the present application;

Fig. 10 is a schematic structural diagram of the unmanned aerial vehicle according to the embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the accompanying drawings in the present application are only for the purpose of illustration and description, and are not intended to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this application, illustrates operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to the flow diagrams and one or more operations may be removed from the flow diagrams as directed by those skilled in the art.

In addition, the described embodiments are only some, but not all, of the embodiments of the present application. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the presence of the features stated hereinafter, but not to exclude the addition of other features.

At present, when a large and medium unmanned aerial vehicle takes off and land in a different place, a mode of controlling the unmanned aerial vehicle by two stations and one machine is generally adopted to control the unmanned aerial vehicle to take off and land in a different place.

Based on the above problems, the application provides a remote take-off and landing control method of an unmanned aerial vehicle, which comprises the steps of installing an airborne guard data end on the unmanned aerial vehicle, installing a guard ground data end on ground station equipment, and establishing a guard link, wherein the ground station controls the unmanned aerial vehicle to take off at a take-off place and land at a landing place through the guard ground data end, the guard link and the airborne guard data end. By introducing satellite communication, one ground equipment station can control the unmanned aerial vehicle to take off and land in a plurality of different places through Wei Tongtong signals, so that the cost for controlling the unmanned aerial vehicle to take off and land in different places is reduced.

Fig. 1 is a schematic architecture diagram of a remote take-off and landing control system of an unmanned aerial vehicle according to an embodiment of the present application, where, as shown in fig. 1, the remote take-off and landing control system of an unmanned aerial vehicle includes: ground station equipment and unmanned aerial vehicle install on the unmanned aerial vehicle and carry and defend logical data end and airborne stadia data end. And the ground station equipment is provided with a line-of-sight ground data end. In addition, the ground station equipment further comprises a sanitary ground data end, and the sanitary ground data end can be installed inside the ground station equipment or can be deployed separately from the ground station equipment, for example, the sanitary ground data end can be arranged at a position with a smaller distance from the ground station equipment.

With continued reference to fig. 1, the off-site take-off and landing control system of the unmanned aerial vehicle may further include a communication satellite, a positioning satellite and a differential station, and the unmanned aerial vehicle is further provided with a differential global positioning system (Global PositionSystem, abbreviated as GPS) module and a beidou GPS module for high-precision positioning of the unmanned aerial vehicle.

Fig. 2 is a schematic flow chart of a method for controlling off-site take-off and landing of an unmanned aerial vehicle according to an embodiment of the present application, where an execution body of the method is ground station equipment. As shown in fig. 2, the method includes:

s201, the ground station equipment acquires the take-off place and the landing place of the unmanned aerial vehicle.

Optionally, the ground station device obtains the take-off location and the landing location of the unmanned aerial vehicle by obtaining predicted route information of the unmanned aerial vehicle, wherein the route information comprises the take-off location and the landing location of the unmanned aerial vehicle. For example, if the estimated route information of the unmanned aerial vehicle is a land to B land, the take-off point of the unmanned aerial vehicle is a land and the landing point is B land.

S202, the ground station equipment determines a communication mode between the ground station equipment and the unmanned aerial vehicle according to a take-off place and a landing place of the unmanned aerial vehicle, wherein the communication mode comprises the following steps: line-of-sight link communication or defensive link communication.

Optionally, the communication link is used for establishing an air-ground two-way data transmission channel for completing remote control and remote measurement of the unmanned aerial vehicle by the ground station equipment, the remote control is used for realizing remote control of the unmanned aerial vehicle by the ground station equipment, and the remote measurement is used for realizing monitoring of the unmanned aerial vehicle state by the ground station equipment.

The ground equipment station determines the communication mode of the ground equipment and the unmanned aerial vehicle according to the obtained take-off place and landing place of the unmanned aerial vehicle, wherein the communication mode of the ground equipment and the unmanned aerial vehicle comprises a line-of-sight link communication mode or a defensive link communication mode. Referring to fig. 1, the line-of-sight link communication method is that a ground equipment station directly performs wireless communication with an unmanned aerial vehicle, and the guard link communication method is that a communication satellite is connected between ground equipment stations as a relay station to perform wireless communication with the unmanned aerial vehicle.

And S203, if the communication mode is a defending link communication mode, the ground station equipment establishes a defending link through a defending ground data end on the ground station equipment and an airborne defending data end on the unmanned aerial vehicle, and sends a take-off instruction and a landing instruction to the unmanned aerial vehicle through the defending ground data end, the defending link and the airborne defending data end so as to control the unmanned aerial vehicle to take off at a take-off place and land at a landing place.

Optionally, if the communication mode between the ground station and the unmanned aerial vehicle is a guard link communication mode, the ground station device sends a guard link establishment request instruction to the communication satellite through the guard ground data end, the communication satellite serves as a relay station, the guard link establishment request instruction is sent to the airborne guard data end on the unmanned aerial vehicle, and the unmanned aerial vehicle receives and responds to the guard link establishment request instruction, so that the ground station device establishes a guard link through the guard ground data end on the ground station device and the airborne guard data end on the unmanned aerial vehicle. After the guard link is established, the guard ground data end on the ground station equipment transmits a take-off instruction and a landing instruction to the airborne guard data end of the unmanned aerial vehicle through the guard link, and the unmanned aerial vehicle takes off at a take-off place and lands at a landing place according to the take-off instruction and the landing instruction received by the airborne guard data end.

The sanitary ground data end can be a KU wave band ground data end and comprises a KU wave band ground receiver and a KU wave band ground transmitter; the airborne satellite communication data end can be a KU wave band airborne data end and comprises a KU wave band airborne receiver and a KU wave band airborne transmitter. The KU band has a frequency range of 12-18GHZ.

The ground equipment station can send a take-off instruction for controlling the unmanned aerial vehicle to take off at the C ground through a KU band ground transmitter when the take-off place of the unmanned aerial vehicle is C ground and the landing place is D ground and the communication mode of the unmanned aerial vehicle ground equipment station and the unmanned aerial vehicle is a defensive link communication mode, and send the take-off instruction to a KU band airborne receiver of the unmanned aerial vehicle through a communication satellite in the defensive link, and the unmanned aerial vehicle receives the take-off instruction and takes off at the C ground; the ground equipment station can send a landing instruction for controlling the unmanned aerial vehicle to land on the D ground through the KU band ground transmitter, and the landing instruction is sent to a KU band airborne receiver of the unmanned aerial vehicle through a communication satellite in a satellite communication link, and the unmanned aerial vehicle receives the landing instruction and lands on the D ground.

In the embodiment, a defensive ground data end and a visual range ground data end are installed on ground station equipment, and an airborne visual range data end are installed on an unmanned aerial vehicle; the ground station equipment determines the communication mode of the ground station equipment and the unmanned aerial vehicle according to the take-off place and the landing place of the unmanned aerial vehicle; when the ground station equipment is communicated with the unmanned aerial vehicle through the guard link, the ground equipment station controls the unmanned aerial vehicle to take off at a take-off place and land at a landing place through the guard ground data end, the guard link and the airborne guard data end. By establishing the satellite communication link, the unmanned aerial vehicle can be controlled to take off and land from different places by using only one ground station device, the device cost is reduced, and the control mode is more efficient.

Hereinafter, a process of determining a communication method between the ground station apparatus and the unmanned aerial vehicle by the ground station apparatus according to the take-off point and the landing point of the unmanned aerial vehicle will be described in detail.

Fig. 3 is a flow chart of a communication mode determined according to a landing place of the unmanned aerial vehicle in the off-site landing control method provided by the embodiment of the present application, as shown in fig. 3, in the step S202, a step of determining, by a ground station device, a communication mode of the ground station device and the unmanned aerial vehicle according to a landing place and a take-off place of the unmanned aerial vehicle, includes:

s301, the ground station equipment determines the flight distance of the unmanned aerial vehicle according to the take-off place and the landing place of the unmanned aerial vehicle.

Optionally, in the preset route of the unmanned aerial vehicle, if the unmanned aerial vehicle takes off at the land a and lands at the land B, the ground station device obtains the flight distance of the unmanned aerial vehicle from the land a to the land B according to the absolute coordinates of the two lands A, B.

S302, the ground station equipment determines a communication mode between the ground station equipment and the unmanned aerial vehicle according to the flight distance of the unmanned aerial vehicle.

Optionally, in the communication mode of the ground station device and the unmanned aerial vehicle, the signal coverage of the line-of-sight link communication is different from the signal coverage of the satellite link communication, the signal coverage of the line-of-sight link communication is smaller than the signal coverage of the Yu Weitong link communication, and the cost of the line-of-sight link communication is lower. The ground station equipment selects an optimal communication mode of the flight distance within a signal coverage range according to the flight distance of the unmanned aerial vehicle, so that the ground station equipment remotely controls the unmanned aerial vehicle in the whole process of the unmanned aerial vehicle from a take-off place to a landing place.

In this embodiment, the ground station device calculates the flight distance from the take-off location to the landing location of the unmanned aerial vehicle, and selects the optimal communication mode within the signal coverage according to the flight distance, so as to realize the whole-course control of the ground station device on the unmanned aerial vehicle in the flight process from the take-off location to the landing location, improve the flight safety of the unmanned aerial vehicle, and reduce the cost of the off-site take-off and landing control of the unmanned aerial vehicle.

Hereinafter, a process of determining a communication mode between the ground station apparatus and the unmanned aerial vehicle according to the flight distance of the unmanned aerial vehicle by the ground station apparatus will be described in detail.

Fig. 4 is a schematic flow chart of determining a communication mode according to a flight distance of the method for controlling off-site take-off and landing of an unmanned aerial vehicle according to the embodiment of the present application, as shown in fig. 4, the step of determining, by a ground station device, a communication mode of the ground station device and the unmanned aerial vehicle according to the flight distance of the unmanned aerial vehicle in step S302 includes:

s401, if the flight distance is within the distance interval of the line-of-sight link, determining that the communication mode between the ground station equipment and the unmanned aerial vehicle is the line-of-sight link communication mode.

Optionally, the control radius of the line-of-sight link communication mode can reach 200-300 km, and the control radius of the satellite link communication mode can reach 2000 km. The ground station equipment judges whether the flight distance judgment of the unmanned aerial vehicle is located in a distance interval of the line-of-sight link or not so as to determine the communication mode of the ground station equipment and the unmanned aerial vehicle. Specifically, if the flight distance of the unmanned aerial vehicle is located in the distance section of the line-of-sight link and the distance section of the defensive link at the same time, the ground station device selects the line-of-sight link communication mode to perform communication between the ground station device and the unmanned aerial vehicle because the communication cost of the line-of-sight link communication mode is smaller. For example, if the take-off point of the unmanned aerial vehicle is the ground a, the landing point is the ground B, and the flight distance between the two places A, B is 260 km, and the flight distance is within the distance range of the line-of-sight link, the ground station apparatus controls the unmanned aerial vehicle to take-off at the ground a and land at the ground B through the line-of-sight link communication.

And S402, if the flight distance is not in the distance interval of the line-of-sight link and the flight distance is in the distance interval of the guard link, determining that the communication mode of the ground station equipment and the unmanned aerial vehicle is the guard link communication mode.

Optionally, if the flight distance of the unmanned aerial vehicle is not located in the distance interval of the line-of-sight link and the flight distance is located in the distance interval of the guard link, the ground station device selects the guard link communication mode to perform communication between the ground station device and the unmanned aerial vehicle. For example, if the take-off point of the unmanned aerial vehicle is C, the landing point is D, the flight distance between the two places of C, D is 500 km, and the flight distance of 500 km is not located in the distance interval of the line-of-sight link, and the flight distance of 500 km is located in the distance interval of the satellite link communication mode, the ground station apparatus controls the unmanned aerial vehicle to take off at C and land at D through the satellite link communication mode.

In this embodiment, the ground station device determines whether the ground station communicates with the unmanned aerial vehicle through the line-of-sight link communication mode by determining whether the flight distance of the unmanned aerial vehicle is within the distance range of the line-of-sight link. If the flight distance is within the distance range of the line-of-sight link, the ground station equipment communicates with the unmanned aerial vehicle in a line-of-sight link communication mode; if the flight distance is not located in the distance interval of the line-of-sight link and the flight distance is located in the distance interval of the guard link, the ground station equipment communicates with the unmanned aerial vehicle through the guard link communication mode. The ground station equipment determines a communication mode according to the flight distance, so that the efficiency and the safety of the ground station equipment on unmanned aerial vehicle control are improved.

In the following, under the communication mode of the guard link, a take-off instruction and a landing instruction are sent to the unmanned aerial vehicle through the guard ground data end, the guard link and the airborne guard data end so as to control the unmanned aerial vehicle to take off at a take-off place and land at a landing place.

Fig. 5 is a schematic flow chart of controlling the take-off and landing of the unmanned aerial vehicle in the guard link communication mode of the method for controlling the take-off and landing of the unmanned aerial vehicle according to the embodiment of the present application, as shown in fig. 5, in the step S203, a take-off instruction and a landing instruction are sent to the unmanned aerial vehicle through the guard ground data end, the guard link and the airborne guard data end, so as to control the unmanned aerial vehicle to take-off at a take-off place and land at a landing place, and the method includes the steps of:

s501, the ground station equipment generates a take-off instruction, the take-off instruction is sent to a guard ground data end, the guard ground data end transmits the take-off instruction to an airborne guard data end through a guard link, and the airborne guard data end sends the take-off instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle executes take-off according to the take-off instruction.

For example, when the preset route information of the unmanned aerial vehicle is C-land flying to D-land and the flight distance of the two lands C, D is 500 km, the ground station equipment communicates with the unmanned aerial vehicle through a defensive link communication mode, and controls the unmanned aerial vehicle to take off from C-land and land on D-land.

Specifically, the ground station equipment generates an instruction for controlling the unmanned aerial vehicle to take off in the C place according to the take-off place of the unmanned aerial vehicle, the ground station equipment sends the take-off instruction to a KU-band ground transmitter in a guard ground data end, the KU-band ground transmitter sends the take-off instruction to a communication satellite through a guard link of the KU band, the communication satellite serves as a relay station and sends the take-off instruction to a KU-band airborne receiver in the on-board guard data end of the unmanned aerial vehicle, the KU-band airborne receiver sends the take-off instruction to the unmanned aerial vehicle, and the unmanned aerial vehicle executes the take-off operation in the C place according to the received take-off instruction.

S502, the ground station equipment acquires the real-time position of the unmanned aerial vehicle through the satellite ground data end, the satellite link and the airborne satellite data end.

Optionally, referring to fig. 1, the off-site take-off and landing control system of the unmanned aerial vehicle further includes a positioning satellite and a differential station, and the unmanned aerial vehicle is further provided with a differential GPS module and a beidou GPS module for monitoring position information of the unmanned aerial vehicle in real time, wherein the position information of the unmanned aerial vehicle includes longitude and latitude and flying height of the unmanned aerial vehicle. The differential GPS module can communicate with the differential station through a positioning satellite to acquire the longitude and latitude of the unmanned aerial vehicle in real time; the Beidou GPS module can communicate with the differential station through positioning satellites, and the flying height of the unmanned aerial vehicle is obtained in real time.

And the KU wave band ground receiver in the satellite communication ground data end of the ground station equipment receives the real-time position of the unmanned aerial vehicle sent by the KU wave band airborne transmitter in the airborne satellite communication data end of the unmanned aerial vehicle through the communication satellite in the satellite communication link.

And S503, if the real-time position is the landing place of the unmanned aerial vehicle, the ground station equipment generates a landing instruction, the landing instruction is sent to the defending ground data end, the defending ground data end transmits the landing instruction to the airborne defending data end through the defending link, and the airborne defending data end sends the landing instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle executes landing according to the landing instruction.

Optionally, the ground station device determines a positional relationship between a real-time position and a landing location of the unmanned aerial vehicle, and determines whether to generate a landing instruction according to the positional relationship so as to control the unmanned aerial vehicle to execute a landing operation. In an exemplary embodiment, if the real-time position of the unmanned aerial vehicle is the landing site D ground in the predicted route, the ground station device generates a landing instruction at D ground, the ground station device transmits the landing instruction to the KU-band ground transmitter in the satellite-through ground data end, the KU-band ground transmitter transmits the landing instruction to the communication satellite through the satellite-through link of the KU band, the communication satellite serves as a relay station, the landing instruction is transmitted to the KU-band onboard receiver in the unmanned aerial vehicle-mounted satellite-through data end, the KU-band onboard receiver transmits the landing instruction to the unmanned aerial vehicle, and the unmanned aerial vehicle performs the landing operation at D ground according to the received landing instruction.

In the embodiment, the ground station equipment sends a take-off instruction to the unmanned aerial vehicle through the guard ground data end, the communication satellite in the guard link and the airborne guard data end, and controls the unmanned aerial vehicle to execute take-off operation at a take-off place; and the real-time position of the unmanned aerial vehicle is obtained through the satellite ground data terminal, the communication satellite in the satellite link and the airborne satellite data terminal. Determining whether to generate a landing instruction to control the unmanned aerial vehicle to land according to the position relation between the real-time position and the landing place of the unmanned aerial vehicle; if the real-time position is the landing place of the unmanned aerial vehicle, the ground station equipment sends a landing instruction to the unmanned aerial vehicle through the satellite communication ground data end, the satellite communication satellite in the satellite communication link and the airborne satellite communication data end, and the unmanned aerial vehicle is controlled to execute landing operation at the landing place. The ground station equipment generates and transmits take-off and landing instructions according to the real-time position of the unmanned aerial vehicle, and accurately controls take-off and landing operations of the unmanned aerial vehicle.

As an optional implementation manner, after the step of determining the communication mode between the ground station device and the unmanned aerial vehicle according to the take-off location and the landing location of the unmanned aerial vehicle in the step S202, the method further includes:

if the communication mode is a line-of-sight link communication mode, the ground station equipment establishes a line-of-sight link through a line-of-sight ground data end on the ground station equipment and an airborne line-of-sight data end on the unmanned aerial vehicle, and sends a take-off instruction and a landing instruction to the unmanned aerial vehicle through the line-of-sight ground data end, the line-of-sight link and the airborne line-of-sight data end so as to control the unmanned aerial vehicle to take off at a take-off place and land at a landing place.

Optionally, if the communication mode between the ground station and the unmanned aerial vehicle is a line-of-sight link communication mode, the ground station device directly sends a line-of-sight link establishment request to an airborne line-of-sight data end on the unmanned aerial vehicle through the line-of-sight ground data end, and the unmanned aerial vehicle receives and responds to the line-of-sight link establishment request instruction, so that the ground station device establishes a line-of-sight link through the line-of-sight ground data end on the ground station device and the airborne line-of-sight data end on the unmanned aerial vehicle. After the line-of-sight link is established, the ground station equipment establishes the line-of-sight link through the line-of-sight ground data end on the ground station equipment and the airborne line-of-sight data end on the unmanned aerial vehicle. And the line-of-sight ground data end on the ground station equipment transmits a take-off instruction and a landing instruction to the airborne line-of-sight data end of the unmanned aerial vehicle through the line-of-sight link, and the unmanned aerial vehicle takes off at a take-off place and lands at a landing place according to the take-off instruction and the landing instruction received by the airborne line-of-sight data end.

The line-of-sight ground data end can be an L-band ground data end and a U-band ground data end, wherein the L-band ground data end comprises an L-band ground receiver and an L-band ground transmitter, and the U-band ground data end comprises a U-band ground receiver and a U-band ground transmitter; the airborne vision distance data end can be an L-band airborne data end and a U-band airborne data end, wherein the L-band airborne data end comprises an L-band airborne receiver and an L-band airborne transmitter, and the U-band airborne data end comprises a U-band airborne receiver and a U-band airborne transmitter. The frequency range of the L wave band is 1-2GHZ, and the frequency range of the U wave band is 40-60GHZ.

For example, if the take-off location of the unmanned aerial vehicle is the ground a, the landing location is the ground B, the flight distance of the two places A, B is 260 km, and the flight distance is within the distance range of the line-of-sight link, the ground station device communicates with the unmanned aerial vehicle through the line-of-sight link communication mode, and controls the unmanned aerial vehicle to take off at the ground a and land at the ground B. The ground equipment station can simultaneously send a take-off instruction for controlling the unmanned aerial vehicle to take off at the A land through the L-band ground transmitter and the U-band ground transmitter, and directly send the take-off instruction to an L-band airborne receiver and a U-band airborne receiver of the unmanned aerial vehicle through the line-of-sight link, and the unmanned aerial vehicle receives the take-off instruction and takes off at the A land; the ground equipment station can simultaneously send a landing instruction for controlling the unmanned aerial vehicle to land on the B ground through the L-band ground transmitter and the U-band ground transmitter, and the landing instruction is directly sent to an L-band airborne receiver and a U-band airborne receiver of the unmanned aerial vehicle through the line-of-sight link, and the unmanned aerial vehicle receives the landing instruction and lands on the B ground.

In this embodiment, when the ground station device communicates with the unmanned aerial vehicle through the line-of-sight link, the ground station device directly controls the unmanned aerial vehicle to take off at the take-off site and land at the landing site through the line-of-sight ground data end, the line-of-sight link and the airborne line-of-sight data end. The ground station equipment reduces the communication cost by establishing the line-of-sight link, and simultaneously communicates by using the L-band link and the U-band link, thereby greatly increasing the reliability of the line-of-sight link.

In the following, under the communication mode of the sight distance link, a take-off instruction and a landing instruction are sent to the unmanned aerial vehicle through the sight distance ground data end, the sight distance link and the airborne sight distance data end, so that the unmanned aerial vehicle is controlled to take off at a take-off place and land at a landing place.

Fig. 6 is a schematic flow chart of controlling the take-off and landing of an unmanned aerial vehicle by using a line-of-sight link communication method of a control method for taking-off and landing of an unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 6, in the line-of-sight link communication method, a take-off instruction and a landing instruction are sent to the unmanned aerial vehicle by using a line-of-sight ground data end, a line-of-sight link and an airborne line-of-sight data end, so as to control the unmanned aerial vehicle to take-off at a take-off place and land at a landing place, and the method includes the steps of:

s601, the ground station equipment generates a take-off instruction, the take-off instruction is sent to the line-of-sight ground data end, the line-of-sight ground data end transmits the take-off instruction to the airborne line-of-sight data end through the line-of-sight link, and the airborne line-of-sight data end sends the take-off instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle executes take-off according to the take-off instruction.

For example, when the preset route information of the unmanned aerial vehicle is that the unmanned aerial vehicle flies to the ground B from the ground A and the flight distance of the unmanned aerial vehicle from the ground A, B is 260 km, the ground station equipment communicates with the unmanned aerial vehicle through a line-of-sight link communication mode to control the unmanned aerial vehicle to take off from the ground A and land at the ground B.

Specifically, the ground station equipment generates an instruction for controlling the unmanned aerial vehicle to take off in the A land according to the take-off place of the unmanned aerial vehicle, the ground station equipment sends the take-off instruction to an L-band ground transmitter and a U-band ground transmitter in the line-of-sight ground data end, the L-band ground transmitter and the U-band ground transmitter simultaneously send the take-off instruction to an L-band airborne receiver and a U-band airborne receiver in the on-board line-of-sight data end of the unmanned aerial vehicle through the line-of-sight link, the L-band airborne receiver and the U-band airborne receiver simultaneously send the take-off instruction to the unmanned aerial vehicle, and the unmanned aerial vehicle executes the take-off operation in the A land according to the received take-off instruction.

S602, the ground station equipment acquires the real-time position of the unmanned aerial vehicle through the line-of-sight ground data end, the line-of-sight link and the airborne line-of-sight data end.

Optionally, the L-band ground receiver and the U-band ground receiver in the line-of-sight ground data end on the ground station device receive, through the line-of-sight link, real-time positions of the unmanned aerial vehicle transmitted by the L-band airborne transmitter and the U-band airborne transmitter in the on-board line-of-sight data end on the unmanned aerial vehicle.

And S603, if the real-time position is the landing place of the unmanned aerial vehicle, the ground station equipment generates a landing instruction, the landing instruction is sent to the sight-distance ground data end, the sight-distance ground data end transmits the landing instruction to the airborne sight-distance data end through the sight-distance link, and the airborne sight-distance data end sends the landing instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle executes landing according to the landing instruction.

Optionally, the ground station device determines a positional relationship between a real-time position and a landing location of the unmanned aerial vehicle, and determines whether to generate a landing instruction according to the positional relationship so as to control the unmanned aerial vehicle to execute a landing operation. For example, if the real-time position of the unmanned aerial vehicle is the landing site B ground in the predicted route, the ground station device generates a landing instruction at the B ground, the ground station device transmits the landing instruction to the L-band ground transmitter and the U-band ground transmitter in the line-of-sight ground data end, the L-band ground transmitter and the U-band ground transmitter simultaneously transmit the landing instruction directly to the L-band on-board receiver and the U-band on-board receiver in the on-board line-of-sight data end of the unmanned aerial vehicle through the line-of-sight guard link, the L-band on-board receiver and the U-band on-board receiver simultaneously transmit the landing instruction to the unmanned aerial vehicle, and the unmanned aerial vehicle performs the landing operation at the B ground according to the received landing instruction.

In the embodiment, the ground station equipment sends a take-off instruction to the unmanned aerial vehicle through the line-of-sight ground data end, the line-of-sight link and the airborne line-of-sight data end, and controls the unmanned aerial vehicle to execute take-off operation at a take-off place; acquiring the real-time position of the unmanned aerial vehicle through the sight-distance ground data end, the sight-distance link and the airborne sight-distance data end; determining whether to generate a landing instruction to control the unmanned aerial vehicle to land according to the position relation between the real-time position and the landing place of the unmanned aerial vehicle; if the real-time position is the landing place of the unmanned aerial vehicle, the ground station equipment sends a landing instruction to the unmanned aerial vehicle through the sight-distance ground data end, the sight-distance link and the airborne sight-distance data end, and the unmanned aerial vehicle is controlled to execute landing operation at the landing place. The ground station equipment generates and transmits take-off and landing instructions according to the real-time position of the unmanned aerial vehicle, and the take-off and landing operation of the unmanned aerial vehicle is accurately controlled through the dual-band link in the line-of-sight link, so that the communication cost is reduced.

The embodiment of the application also provides another unmanned aerial vehicle off-site take-off and landing control method, wherein an execution main body of the method is an unmanned aerial vehicle, and the method comprises the following steps:

when the communication mode of the unmanned aerial vehicle and the ground station equipment is a defending link communication mode, the unmanned aerial vehicle establishes a defending link through a defending ground data end on the ground station equipment and an airborne defending data end on the unmanned aerial vehicle, and receives a take-off instruction and a landing instruction from the ground station equipment through the defending ground data end, the defending link and the airborne defending data end so as to take off at a take-off place according to take-off execution and land at a landing place according to the landing instruction.

If the take-off place of the unmanned aerial vehicle is C, the landing place is D, and when the communication mode between the ground equipment station of the unmanned aerial vehicle and the unmanned aerial vehicle is a guard link communication mode, the on-board guard data end on the unmanned aerial vehicle receives a guard link establishment request instruction sent by the ground equipment of the communication satellite through the guard ground data end, and the unmanned aerial vehicle responds to the guard link establishment request instruction, so that the unmanned aerial vehicle establishes a guard link through the guard ground data end on the ground equipment of the unmanned aerial vehicle and the on-board guard data end on the unmanned aerial vehicle. After the guard link is established, the unmanned aerial vehicle establishes the guard link through a guard ground data end on ground station equipment and an airborne guard data end on the unmanned aerial vehicle. The sanitary ground data end can be a KU wave band ground data end and comprises a KU wave band ground receiver and a KU wave band ground transmitter; the airborne satellite communication data end can be a KU wave band airborne data end and comprises a KU wave band airborne receiver and a KU wave band airborne transmitter. The KU band has a frequency range of 12-18GHZ.

The method comprises the steps that a KU wave band receiver in a defensive data end of an unmanned aerial vehicle is loaded on the unmanned aerial vehicle, and a take-off instruction which is sent by a KU wave band ground transmitter in ground station equipment and controls the unmanned aerial vehicle to take off at C ground is received through a communication satellite in a defensive link and takes off at C ground; and the KU wave band receiver in the on-board satellite communication data end receives a landing instruction which is sent by the KU wave band ground transmitter in the ground station equipment and controls the unmanned aerial vehicle to land in the D place through the communication satellite in the satellite communication link and land in the D place.

Next, in the defending link communication mode, the unmanned aerial vehicle receives the take-off instruction and the landing instruction from the ground station device through the defending ground data end, the defending link and the airborne defending data end, so as to describe in detail the process of taking off at the take-off place according to the take-off execution and landing at the landing place according to the landing instruction.

Fig. 7 is a schematic flow chart of taking off and landing executed by an unmanned aerial vehicle in a guard link communication mode of another method for controlling taking off and landing of an unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 7, the unmanned aerial vehicle receives a take-off instruction and a landing instruction from a ground station device through a guard ground data end, a guard link and an airborne guard data end, so as to execute steps of taking off at a take-off place according to take-off and landing at a landing place according to the landing instruction, including:

S701, the unmanned aerial vehicle receives a take-off instruction generated by ground station equipment transmitted through a guard link through an airborne guard link data end, and takes off according to the take-off instruction.

For example, when the preset route information of the unmanned aerial vehicle is C-land flying to D-land and the flight distance between the two lands C, D is 500 km, the unmanned aerial vehicle communicates with the ground station device through a defensive link communication mode, and takes off at C-land according to a take-off instruction.

Specifically, a KU wave band receiver in an on-board satellite communication data end of the unmanned aerial vehicle receives a take-off instruction generated by ground station equipment through a communication satellite in a satellite communication link, and the unmanned aerial vehicle executes take-off operation in the C place according to the take-off instruction.

S702, the unmanned aerial vehicle sends the real-time position of the unmanned aerial vehicle to the ground station equipment through the guard ground data end, the guard link and the airborne guard data end.

Optionally, the unmanned aerial vehicle communicates with the positioning satellite and the differential station respectively through the differential GPS module and the Beidou GPS module, so that the real-time position of the unmanned aerial vehicle is obtained. The method comprises the steps that the real-time position of the unmanned aerial vehicle is sent to a KU-band airborne transmitter in an airborne satellite communication data end, the KU-band airborne transmitter sends the real-time position of the unmanned aerial vehicle to a communication satellite through a satellite communication link of the KU band, the communication satellite serves as a relay station, the real-time position of the unmanned aerial vehicle is sent to a KU-band ground receiver in a satellite communication ground data end on ground station equipment, and the KU-band ground receiver sends the real-time position of the unmanned aerial vehicle to the ground station equipment.

And S703, if the real-time position is the landing place of the unmanned aerial vehicle, the unmanned aerial vehicle receives a landing instruction generated by ground station equipment transmitted through a satellite link through an airborne satellite communication data end, and performs landing according to the landing instruction.

For example, if the real-time position of the unmanned aerial vehicle is the landing site D in the predicted route, the unmanned aerial vehicle uploads the KU-band airborne receiver in the satellite communication data end, receives a landing instruction generated by the ground station device through the communication satellite in the satellite communication link, and executes the landing operation of the unmanned aerial vehicle on the D site according to the landing instruction.

In the embodiment, the unmanned aerial vehicle receives a take-off instruction generated by ground station equipment through a satellite communication ground data end, a communication satellite in a satellite communication link and an airborne satellite communication data end, and the unmanned aerial vehicle executes take-off operation at a take-off place; acquiring the real-time position of the unmanned aerial vehicle and sending the real-time position to ground station equipment through a guard ground data end, a guard link and an airborne guard data end; if the real-time position is the landing place of the unmanned aerial vehicle, the unmanned aerial vehicle receives a landing instruction generated by ground station equipment through a satellite communication ground data end, a satellite communication satellite in a satellite communication link and an airborne satellite communication data end, and the unmanned aerial vehicle executes the landing operation at the landing place. The unmanned aerial vehicle performs defensive link communication with the ground station equipment, and realizes off-site take-off and landing according to take-off instructions and landing instructions of the ground station equipment.

As an alternative embodiment, the method further comprises:

when the communication mode of the unmanned aerial vehicle and the ground station equipment is a line-of-sight link communication mode, the unmanned aerial vehicle establishes a line-of-sight link through a line-of-sight ground data end on the ground station equipment and an airborne line-of-sight data end on the unmanned aerial vehicle, and receives a take-off instruction and a landing instruction from the ground station equipment through the line-of-sight ground data end, the line-of-sight link and the airborne line-of-sight data end, so that the unmanned aerial vehicle takes off at a take-off place according to take-off execution and lands at a landing place according to the landing instruction.

If the take-off place of the unmanned aerial vehicle is the ground a, the landing place is the ground B, and when the communication mode between the ground equipment station of the unmanned aerial vehicle and the unmanned aerial vehicle is the line-of-sight link communication mode, the on-board line-of-sight data terminal on the unmanned aerial vehicle receives a line-of-sight link establishment request directly sent by the ground equipment of the unmanned aerial vehicle through the line-of-sight ground data terminal, and the unmanned aerial vehicle responds to the line-of-sight link establishment request instruction, so that the unmanned aerial vehicle establishes a line-of-sight link through the line-of-sight ground data terminal on the ground equipment of the unmanned aerial vehicle and the on-board line-of-sight data terminal on the unmanned aerial vehicle. After the sight line link is established, the unmanned aerial vehicle establishes a satellite communication link through a sight line ground data end on ground station equipment and an airborne sight line data end on the unmanned aerial vehicle. The line-of-sight ground data end can be an L-band ground data end and a U-band ground data end, wherein the L-band ground data end comprises an L-band ground receiver and an L-band ground transmitter, and the U-band ground data end comprises a U-band ground receiver and a U-band ground transmitter; the airborne vision distance data end can be an L-band airborne data end and a U-band airborne data end, wherein the L-band airborne data end comprises an L-band airborne receiver and an L-band airborne transmitter, and the U-band airborne data end comprises a U-band airborne receiver and a U-band airborne transmitter. The frequency range of the L wave band is 1-2GHZ, and the frequency range of the U wave band is 40-60GHZ.

An L-band airborne receiver and a U-band airborne receiver in an airborne vision distance data end of the unmanned aerial vehicle simultaneously receive a take-off instruction which is simultaneously transmitted by an L-band ground transmitter and a U-band ground transmitter in ground station equipment through a vision distance link and controls the unmanned aerial vehicle to take off at the A site and take off at the A site; and simultaneously receiving a landing instruction which is simultaneously transmitted by the L-band ground transmitter and the U-band ground transmitter in the ground station equipment and controls the unmanned aerial vehicle to land on the ground B through a sight line.

Next, in the line-of-sight link communication mode, the unmanned aerial vehicle receives a take-off instruction and a landing instruction from the ground station device through the line-of-sight ground data terminal, the line-of-sight link and the airborne line-of-sight data terminal, so as to describe in detail a process of taking off at a take-off place according to take-off execution and landing at a landing place according to the landing instruction.

Fig. 8 is a schematic flow chart of taking off and landing executed by an unmanned aerial vehicle in a line-of-sight link communication mode of another method for controlling taking off and landing of an unmanned aerial vehicle according to an embodiment of the present application, where as shown in fig. 8, the unmanned aerial vehicle receives a take-off instruction and a landing instruction from a ground station device through a line-of-sight ground data end, a line-of-sight link and an on-board line-of-sight data end, so as to execute a step of taking off at a take-off place according to take-off and landing at a landing place according to the landing instruction, and includes:

S801, the unmanned aerial vehicle receives a take-off instruction generated by ground station equipment transmitted through a line-of-sight link through an airborne line-of-sight data terminal, and takes off according to the take-off instruction.

For example, when the preset route information of the unmanned aerial vehicle is that the unmanned aerial vehicle flies from the ground A to the ground B and the flying distance between the two places A, B is 260 km, the unmanned aerial vehicle communicates with the ground station device through the line-of-sight link communication mode, and takes off from the ground A according to the take-off instruction.

Specifically, an L-band airborne receiver and a U-band airborne receiver in an airborne line-of-sight data end of the unmanned aerial vehicle simultaneously receive a take-off instruction which is generated by ground station equipment and controls the unmanned aerial vehicle to take off at the ground A through a line-of-sight link, and the unmanned aerial vehicle executes the take-off operation at the ground A according to the take-off instruction.

S802, the unmanned aerial vehicle sends the real-time position of the unmanned aerial vehicle to the ground station equipment through the line-of-sight ground data end, the line-of-sight link and the airborne line-of-sight data end.

Optionally, the unmanned aerial vehicle communicates with the positioning satellite and the differential station respectively through the differential GPS module and the Beidou GPS module, so that the real-time position of the unmanned aerial vehicle is obtained. The unmanned aerial vehicle sends the real-time position to an L-band airborne transmitter and a U-band airborne transmitter in an airborne line-of-sight data end, the L-band airborne transmitter and the U-band airborne transmitter simultaneously send the real-time position of the unmanned aerial vehicle to an L-band ground receiver and a U-band ground receiver in an line-of-sight ground data end on ground station equipment through a line-of-sight link, and the L-band ground receiver and the U-band ground receiver simultaneously send the real-time position of the unmanned aerial vehicle to the ground station equipment.

And S803, if the real-time position is the landing place of the unmanned aerial vehicle, the unmanned aerial vehicle receives a landing instruction generated by ground station equipment transmitted through a line-of-sight link through an airborne line-of-sight data terminal, and performs landing according to the landing instruction.

For example, if the real-time position of the unmanned aerial vehicle is the landing site B in the predicted route, the L-band airborne receiver and the U-band airborne receiver in the on-board line-of-sight data end of the unmanned aerial vehicle directly receive the landing instruction generated by the ground station device and controlling the unmanned aerial vehicle to land in the B site through the line-of-sight link, and the unmanned aerial vehicle performs the landing operation in the B site according to the landing instruction.

In the embodiment, the unmanned aerial vehicle receives a take-off instruction generated by ground station equipment through a line-of-sight ground data end, a line-of-sight link and an airborne line-of-sight data end, and the unmanned aerial vehicle executes take-off operation at a take-off place; acquiring the real-time position of the unmanned aerial vehicle and sending the real-time position to ground station equipment through a sight distance ground data end, a sight distance link and an airborne sight distance data end; if the real-time position is the landing place of the unmanned aerial vehicle, the unmanned aerial vehicle receives a landing instruction generated by ground station equipment through the line-of-sight ground data end, the line-of-sight link and the airborne line-of-sight data end, and the unmanned aerial vehicle executes the landing operation at the landing place. The unmanned aerial vehicle performs line-of-sight link communication with the ground station equipment, realizes off-site take-off and landing according to the take-off instruction and the landing instruction of the ground station equipment, and reduces the communication cost.

The embodiment of the application also provides a remote take-off and landing control system of the unmanned aerial vehicle, which comprises: ground station equipment and unmanned aerial vehicle install on the ground station equipment and defend logical ground data end and sight ground data end, install on the unmanned aerial vehicle and defend logical data end and airborne sight data end.

The ground station device communicates with the unmanned aerial vehicle based on the unmanned aerial vehicle off-site take-off and landing control method described in the above embodiment to take-off and landing control for the unmanned aerial vehicle.

The unmanned aerial vehicle communicates with the ground station apparatus to perform take-off and landing based on another unmanned aerial vehicle off-site take-off and landing control method described in the above embodiments.

The embodiment of the present application further provides a ground station apparatus 90, as shown in fig. 9, which is a schematic structural diagram of the ground station apparatus 90 provided in the embodiment of the present application, including: a satellite ground data terminal 901, a line-of-sight ground data terminal 902, a first processor 903, a first memory 904, and a first bus 905. The first memory 904 stores machine readable instructions executable by the first processor 903, which when executed by the first processor 903, perform the steps of the method for controlling off-site take-off and landing of a drone in the above embodiment, when the ground station apparatus 90 is in operation, and the first processor 903 communicates with the first memory 904 via the first bus 905.

The embodiment of the application further provides an unmanned aerial vehicle 100, as shown in fig. 10, which is a schematic structural diagram of the unmanned aerial vehicle 100 provided in the embodiment of the application, including: an on-board satellite data terminal 1001, an on-board line-of-sight data terminal 1002, a second processor 1003, a second memory 1004, and a second bus 1005. The second memory 1004 stores machine-readable instructions executable by the second processor 1003, and when the unmanned aerial vehicle is running, the second processor 1003 communicates with the second memory 1004 through the second bus 1005, and when the machine-readable instructions are executed by the second processor 1003, the steps of another unmanned aerial vehicle off-site take-off and landing control method in the above embodiment are executed.

The embodiment of the application also provides a computer readable storage medium, and a computer program is stored on the computer readable storage medium, and when the computer program is run by a processor, the steps of the off-site take-off and landing control method of the unmanned aerial vehicle in the embodiment are executed.

The embodiment of the application also provides another computer readable storage medium, and a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the off-site take-off and landing control method of the other unmanned aerial vehicle in the embodiment are executed.

It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the method embodiments, which are not described in detail in this application. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, and the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, and for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, indirect coupling or communication connection of devices or modules, electrical, mechanical, or other form.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes or substitutions are covered in the protection scope of the present application.

Claims

1. The off-site take-off and landing control method of the unmanned aerial vehicle is characterized by comprising the following steps of:

2. The method of claim 1, wherein the ground station apparatus determining a communication mode of the ground station apparatus with the unmanned aerial vehicle according to a takeoff location and a landing location of the unmanned aerial vehicle comprises:

3. The method of claim 2, wherein the ground station apparatus determining a communication mode of the ground station apparatus with the unmanned aerial vehicle according to a flight distance of the unmanned aerial vehicle comprises:

4. The method of claim 1, wherein the sending, by the guard ground data end, the guard link, and the on-board guard data end, a take-off instruction and a landing instruction to the unmanned aerial vehicle to control the unmanned aerial vehicle to take off at the take-off location and land at the landing location comprises:

5. The method of claim 1, wherein the ground station apparatus, after determining the communication mode between the ground station apparatus and the unmanned aerial vehicle according to the takeoff location and the landing location of the unmanned aerial vehicle, further comprises:

6. The method of claim 5, wherein the sending, by the line-of-sight ground data side, the line-of-sight link, and the on-board line-of-sight data side, a take-off instruction and a landing instruction to the unmanned aerial vehicle to control the unmanned aerial vehicle to take off at the take-off location and land at the landing location comprises:

7. The off-site take-off and landing control method of the unmanned aerial vehicle is characterized by comprising the following steps of:

8. The method of claim 7, wherein the method further comprises:

9. The utility model provides a unmanned aerial vehicle off-site take-off and landing control system which characterized in that includes: the ground station equipment is provided with a defensive ground data end and a sight distance ground data end, and the unmanned aerial vehicle is provided with an airborne defensive data end and an airborne sight distance data end;

the ground station apparatus communicating with the drone for take-off and landing control of the drone based on the method of any one of claims 1-6;

the drone communicates with the ground station apparatus to perform take-off and landing based on the method of claim 7 or 8.

10. The system of claim 9, wherein the ground station apparatus is a fixed ground station apparatus or a mobile ground station apparatus.