CN101710243B - Method for selecting remote control mode of unmanned plane - Google Patents
Method for selecting remote control mode of unmanned plane Download PDFInfo
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- CN101710243B CN101710243B CN2009102437267A CN200910243726A CN101710243B CN 101710243 B CN101710243 B CN 101710243B CN 2009102437267 A CN2009102437267 A CN 2009102437267A CN 200910243726 A CN200910243726 A CN 200910243726A CN 101710243 B CN101710243 B CN 101710243B
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Abstract
The invention discloses a method for selecting a remote control mode of an unmanned plane. The method comprises the following steps: 1, constructing a remote control signal processing system; 2, selecting a working mode; 3, initiating mode information; 4, processing remote information; 5, processing warning information; 6, judging conditions of switch modes; and 7, judging remote control finishing conditions, and finishing remote control. The method constructs the remote control signal processing system without changing a hardware structure of an earth command control vehicle of the unmanned plane, and provides three application modes aiming at different flight environments, namely an automatic mode, a fixed mode and a composite mode, and generates a selection policy for priority of remote control modes in each application mode, realizes effective switch of the remote control modes and effective combination of commands, and avoids potential conflicts when a plurality of remote modes coexist.
Description
Technical field
The invention belongs to no-manned machine distant control system field, be specifically related to a kind of system of selection of remote control mode of unmanned plane.
Background technology
Unmanned plane is a kind of dynamic, may command, can carry multiple-task equipment, carry out multiple combat duty and can reusable unmanned plane tactical flying device.Unmanned plane exists ground remote control flight and two kinds of forms of autonomous flight awing, when carrying out ground remote control distributor, need ground controlling personnel's participation, remote control (comprising software panel and hardware panel) and the collaborative mode of the outer telepilot of car in the car of general using commander control car.At the high and medium mission phase, unmanned plane during flying environment and flying speed are relatively stable thereby generally use hardware panel and software panel in the car to carry out remote control; And take off and the landing stage higher to the real-time and the reliability requirement of telechirics, therefore general ground operator utilizes the outer telepilot of car to come the remotely pilotless machine by the state of observing unmanned plane.No matter take which kind of remote control mode, land station all needs after various operation states are processed into effective telecommand, and the remote control frame through command encoder formation prescribed form is uploaded to unmanned plane again.
Telecommand is a kind of order of ground station control unmanned plane and useful load running thereof.It is a kind of current order, delivers to airborne each equipment after the promptly airborne command decoder decode immediately and carries out.Telecommand comprises two kinds of switch and proportional commands, and switch order is to be provided with in order to change the unmanned plane state, as drive, cut-off, independently/remote control switching etc., a certain way switch instruction is usually with discretize monobit digital 0 and 1 expression in the remote control frame; Proportional command then is used for accurately controlling the unmanned plane attitude, as pitching, roll and course etc., in the remote control frame a certain road proportional command usually with the byte scope that quantizes in the numeral between the 0x00 to 0xFF.
Fig. 1 is the no-manned machine distant control system simplification hardware architecture of compatible multiple remote control mode.As shown in Figure 1, in the operator can select by car when practical flight outside remote control module 1, the car remote control module 2 or software remote control module 4 these the three kinds of modes on the remote control process computer 3 of running on realize remote control to unmanned plane.Remote control process computer 3 is realized the unified processing of three kinds of telecommands and the unified management of remote control mode, wherein the outer remote control module 2 of remote control module 1 and car is a mechanical electronic equipment in the car, proportional command that produces and switch order are at first gathered by signal Processing computing machine 5 with the form of digital signal, signal Processing computing machine 5 will be uploaded to remote control process computer 3 with car external instruction frame respectively with specific period in the car of certain format, and its interface mode is generally Asynchronous Serial Interface; Software remote control module 4 is because the limitation of its implementation can only realize switch order in the mode of software push buttons, by the correlation module collection and the processing of remote control process computer 3.Remote control process computer 3 is selected the proportional command and the switch order of one or both remote control modes as required, is sent to command encoder 6 formation remote control frames and is sent to unmanned plane 8 through observing and controlling R-T unit 7.
Realize that remote control module and the outer remote control module of car are generally handled by three different ground staff in the software remote control module, car of unmanned aerial vehicle (UAV) control, and the situation that three kinds of remote control modes are suitable for is slightly different.Remote control module is realized switch order in the software push buttons mode in the car, easy operation, thereby usually as the main mode that produces switch order; Remote control module is generally the rack hardware panel that is fixed on commander's control car in the car, and stability is better, and the proportional command zero point of generation and variation range are stable and the linearity is good, thereby as the main mode that sends proportional command.Remote control module is owing to adopt hardware mode in the car in addition, and the switch order of generation can be used as emergency case, the backup of switch order when for example remote control process computer mouse connects owing to vibrations disconnect; The outer remote control of car adopts portable small electromechanical equipment to realize, maneuverability is good, can carry and act on the outer certain limit of car by the operator, thereby be applicable to the limited situation in the operator visual field of remote control and software remote control in the car, be generally unmanned plane take off the landing place within commander's control car field range, landing place pavement roughness or misty rain weather etc. take off.
In the actual remote control distributor of unmanned plane, extraneous emergency case is difficult to avoid, the cooperation between three kinds of remote control modes and switch extremely importantly for the remote control distributor of safety, and this just relates to the design problem of remote control mode system of selection.And there is following defective in the system of selection of existing remote control mode:
1, the remote control mode switching is too inflexible, and the remote control mode when the part system takes initially to fly is the strategy of the remote control mode of full flight, can not switch in the flight course, a little less than the telechirics adaptive faculty;
2, three kinds of remote control mode poor compatibility, though promptly remote control mode can switch at any time, the determination strategy confusion of remote control process computer causes the situation of " switch effectively and remote control is invalid ", easily causes serious accident involving serious consequences;
3, in the car, car is outer and ratio and switch order the software remote control can not make up, during a kind of the breaking down of current remote control mode ratio that should adopt or switch order, can not be by the ratio or the switch order replacement of other remote control modes;
4, the anti-misoperation poor designs of remote control module especially for the crucial switch order of part, when the switch order of the remote control mode that switches mutually when two kinds of needs is opposite, promptly cause maloperation in case switch, and system does not have prompting when remote control mode breaks down.
Summary of the invention
The invention discloses a kind of system of selection of remote control mode of unmanned plane, this method is under the prerequisite that does not change unmanned aerial vehicle commander control car hardware architecture, design a kind of remote signal disposal system that can compatible multiple remote control mode, at different flight environment of vehicle three kinds of application models are proposed: automatic mode, fixed mode and composite mode, and in each application model, formulated the selection strategy of remote control mode priority, effective switching of remote control mode and effective combination of instruction have been realized, potential conflict when having avoided the coexistence of multiple remote control mode.
A kind of system of selection of remote control mode of unmanned plane comprises following step:
Step 1, structure remote signal disposal system;
Step 2, selection mode of operation;
Step 3: initialize mode information;
Step 4: remote information is handled;
Step 5: warning information is handled;
Step 6: switch mode condition judgment;
Step 7: the remote control termination condition is judged, finishes remote control;
The invention has the advantages that:
1, it is convenient that compatible multiple remote control mode, and mode of operation switches, and the remote control mode packing of orders is flexible;
2, adopt anti-misoperation to handle, proportional command adopts three two and declares system, and switch order adopts measures such as software remote control panel key instruction affirmation;
3, this method does not change the existing system hardware architecture, is easy to realize.
Description of drawings
Fig. 1 is the no-manned machine distant control system simplification hardware architecture of compatible multiple remote control mode;
Fig. 2 is a method flow diagram of the present invention;
Fig. 3 is a remote signal disposal system structural representation of the present invention;
Fig. 4 is a command frame structure of the present invention;
Fig. 5 is the process flow diagram of step 4 of the present invention;
Fig. 6 is step 6 kind mode of operation switching state figure of the present invention.
Among the figure: 1. the outer remote control module of remote control module 2. cars in the car
3. remote control process computer 4. software remote control modules 5. signal Processing computing machines
6. command encoder 7. observing and controlling R-T units 8. unmanned planes
9. the overall control module of signal acquisition process module 10. remote control processing modules, 11. softwares
12. software alarm module
Embodiment
Describe below in conjunction with the embodiment of accompanying drawing the inventive method.
The system of selection of a kind of remote control mode of unmanned plane of the present invention comprises following step as shown in Figure 2:
Step 1, structure remote signal disposal system;
The remote signal disposal system comprises remote control module 1 in the car, the outer remote control module 2 of car, software remote control module 4, signal acquisition module 9, remote control processing module 10, the overall control module 11 of software and software alarm module 12 as shown in Figure 3.
At first, remote control module 1 produces command frame A in the car in the car, command frame A comprises proportional command and Che Nei switch order in the car in the car, the outer remote control module 2 of car produces car external instruction frame B, car external instruction frame B comprises outer proportional command of car and the outer switch instruction of car, and command frame A and car external instruction frame B are sent to signal acquisition module 9 in the car; Signal acquisition module 9 is gathered the command frame that remote control module 1 and the outer remote control module 2 of car are sent in real time in the car with the sampling rate that sets in advance, signal acquisition module 9 with command frame A in the car and car external instruction frame B to be sent to remote control processing module 10 on the cycle t.
Then, the operator carries out the selection of software switch instruction by the man-machine interface of software remote control module 4, software remote control module 4 forms software instruction frame C according to operator's selection, and software instruction frame C only comprises the software switch instruction, and software instruction frame C sends remote control processing module 10 to;
At last, remote control processing module 10 is finished the processing to telecommand, remote control processing module 10 also finish judge command frame A, car external instruction frame B and software instruction frame C in the car with the instruction Reflector, produce warning information E, warning information E is sent to software alarm module 12, the man-machine interface display alarm information of software alarm module 12;
The overall control module 11 of software is loaded into remote control processing module 10 with overall information D, realizes the initialization of remote signal disposal system, and then finishes system-wide overall control;
Remote control module 1, the outer remote control module 2 of car and software remote control module 4 are identical as the command frame structure that telecommand generation mechanism produces in the described car, include frame head, proportional command, switch order, Reflector and postamble.
Being applied to certain type UAS with the inventive method is example, and as shown in Figure 4, its command frame structural design is as follows:
Frame head is fixing 2 byte data 0xEB, 0x90; Postamble is 1 fixing byte data 0xEE; Command source is from remote control module in the car 1, the outer remote control module 2 of car or software remote control module 4 in order to the indication telecommand, represents with 1 byte data 0xAA, 0xBB and 0xCC respectively; Proportional command is 8 the tunnel to be used for accurately controlling the byte data of unmanned plane attitude, declare system and in the frame design, adopt three two, promptly send 3 groups of 8 road identical proportional command data continuously, this command frame is valid when judging that wherein at least two groups are identical, otherwise invalid, so proportional command amounts to 8 * 3=24 byte; Switch order is 16 the tunnel to be used to change the single bit data of unmanned plane state, and 0 and 1 expression opposite effect effect amounts to 2 bytes; Reflector is produced by the failure monitoring unit of each remote control module inside, comprise proportional command Reflector and switch order Reflector, wherein the proportional command Reflector is 8 Bit datas, each Bit data characterizes the malfunction of 8 road proportional commands respectively, wherein 0 represents non-fault, and it is 16 Bit datas that 1 expression has fault, switch order Reflector, principle is instructed Reflector in proportion, and Reflector amounts to 2 bytes.
The inventive method is when being applied to the UAS of other models, and the command frame structure Design can be with reference to above-mentioned application example.
Step 2, selection mode of operation;
In the remote control distributor process, many situations that flight environment of vehicle may occur, and the range of application of various remote control modes also is not quite similar.Take into full account contingent situation, the mode of operation of unmanned plane is divided into for this reason: automatic mode, fixed mode and composite mode, the operator selects mode of operation according to actual conditions.
Automatic mode is applicable to that each remote control mode initial conditions is good, the operator of each remote control mode all puts in place, when unmanned plane landing environment and high and medium flight environment of vehicle are good, the conventional priority automatic switchover of system's decision instruction fault remote control mode avoids each remote control module may have the situation of potential faults.Conventional priority is meant that for switch order, priority is followed successively by from low to high: the outer remote control of remote control → car → software remote control in the car; For proportional command, priority is followed successively by from low to high: remote control in the outer remote control → car of car.
Fixed mode is applicable to a certain or two kinds of remote control modes break down, or the situation of operator's absence of a certain or two kinds of remote control modes, with a kind of remote control mode of the fixing use of operator's this moment.When remote control is all broken down outside remote control in the car and the car, have only the switch order of software remote control effective, no ratio instruction produces, and the proportional command of command frame all is 0x00.
The scope of application of composite mode has contained automatic mode and fixed mode, it is abominable to be particularly useful for unmanned plane landing environment, when there is hidden failure in abominable or each remote control module of high and medium flight environment of vehicle, so that the operator is switched remote control mode at any time as required, by self-defining instruction priority and the combination to adapt to various emergency case.
Step 3: initialize mode information;
Proportional command and switch order combination comprise: ratio in a. software switch+car; B. the outer ratio of software switch+car; C. ratio in switch+car in the car; D. the outer ratio of switch+car in the car; E. the outer ratio of the outer switch+car of car; F. ratio in the outer switch+car of car.Described "+" expression combination, for example ratio is an example in a. software switch+car, the expression present instruction is combined as the combination of proportional command in software switch instruction and the car;
The operator selects a kind of mode of operation by step 2, the information of this pattern of initialization then, and these information comprise: the priority separately of proportional command and switch order in the telecommand combination of institute's lectotype correspondence and each remote control mode.The packing of orders and priority thereof are in case after determining, the remote control processing module has just formed the selection strategy of remote control mode.
Be specially:
If be automatic mode, instruction priority is conventional priority, and promptly effectively switch order is defaulted as the software remote control, and effectively proportional command is defaulted as remote control in the car.When switch order or proportional command broke down, system automatically switched to this instruction than the packing of orders when the low one-level of prior fault instruction priority.
Example: current for remote control proportional command in the good car of software teleswitch instruction breaks down, packing of orders automatic switchover is in proper order: 1. the outer ratio of software switch+car of ratio in software switch+car → 2.;
Example: be that the remote control proportional command is good and switch order recurs fault in the car with current, packing of orders automatic switchover is in proper order: ratio in switch+car in ratio → c. car in the outer switch+car of ratio in a. software switch+car → f. car.
If be fixed mode, remote control mode selects to be provided with respectively " acquiescence "/" selection " dual mode.
If adopt " acquiescence ", then switch order is defaulted as the software remote control; Proportional command is defaulted as remote control in the car.
If select " selection ", then in car outside remote control and the car one of two kinds of remote controls select fixing remote control mode, switch order and proportional command are all from selected remote control mode, this moment, switch order lost efficacy, and the packing of orders can only be selected interior ratio of switch+car and the outer ratio of the outer switch+car of e. car in the c. car.
If be composite mode, three kinds of switch orders of the outer remote control of remote control and car in software remote control, the car are provided with high/medium/low three kinds of priority, two kinds of proportional commands of remote control in the car and the outer remote control of car are provided with high/low two kinds of priority.The initial packing of orders is two kinds of instruction priority all the highest combinations, and when the proportional command of this combination or switch order broke down, system automatically switched to this instruction than the packing of orders of hanging down one-level when prior fault instruction priority.
Example: current switch order priority set gradually from low to high in: the car → software → car is outer, proportional command priority set gradually from low to high into: car outer → car in, the packing of orders of then giving tacit consent to limit priority is ratio in the outer switch+car of f. car.Packing of orders automatic switchover is in proper order when switch order recurs fault: ratio in switch+car in ratio → c. car in ratio in switch+car → a. software switch+car outside the f. car.
Therefore for automatic mode and composite mode packing of orders range of choice be: a-f, and for fixed mode packing of orders range of choice be: a, c and e.
Step 4: remote information is handled;
Step 2 and step 3 are provided with in the overall control module 11 of software, so the overall information D of its generation comprises mode of operation and initialize mode information, and overall information passes to remote control processing module 10 with the form of function parameter.Remote control processing module 10 is nucleus modules that whole remote information is handled.
The remote information treatment scheme comprises following step as shown in Figure 5:
1. remote control processing module 10 is written into overall information D, forms the selection strategy to remote control in the car, the outer remote control of car and three kinds of remote control modes of software remote control.
2. remote control processing module 10 is finished the reception and the filtration of command frame, car external instruction frame and software instruction frame in the car that remote control in the car, the outer remote control of car and software remote control are uploaded, the criterion follow procedures three default packing of orders and the priority thereof of filtration.Remote control processing module 10 judges at first whether the instruction of current limit priority breaks down, and judges promptly whether the fault flag that is provided with in each road telecommand frame is effective.When judged result for being, i.e. the telecommand of current selection (one of proportional command and switch order at least) breaks down, the man-machine interface of software alarm module 12 shows failure message, enters step 3.; When judged result for not, then instruct non-fault, form effective telecommand, forward step to 4..
3. after breaking down, judge whether that the instruction of low priority is replaced.
If the judgment is Yes, the telecommand that then has low priority is as backup, and then current telecommand is replaced by the trouble-free instruction of low priority, replaces the back and forms effective telecommand, forwards step to 4.; If the judgment is No, the man-machine interface of software alarm module 12 prompting operator switching working mode.
4. remote control processing module is returned reception and filtration that 2. step continues to finish each road telecommand frame of following one-period after trouble-free telecommand is handled the effective telecommand of formation.
Step 5: warning information is handled;
One of proportional command or switch order break down in the remote control mode of current employing, or when needing switch mode, software alarm module 12 is sent the warning information with detailed description;
Example: when present instruction is combined as the outer ratio of b. software switch+car, ratio breaks down outside car, and proportional command of its low priority is in the car during ratio non-fault, and then the man-machine interface of software alarm module 12 shows " the outer ratio fault of car will automatically switch to ratio in the car ";
Example: when present instruction is combined as in the c. car in switch+car ratio, ratio breaks down in car, and the proportional command of its low priority is when ratio has fault equally outside the car, then the man-machine interface of software alarm module 12 shows " ratio fault in the car; no replacement instruction needs switching working mode ".
Have crucial switch order in the unmanned plane State Control, these instructions often do not have remedial measures after enforcement, as " cut-offfing ", " self-destruction " etc.Effectively the time, man-machine interface display reminding " key instruction sends and the confirms " dialog box in software alarm module 12 can send after the operator reaffirms crucial switch order, avoids maloperation in the present instruction combined frames.
Step 6: switch mode condition judgment.
Judge whether switch mode, according to step 5, after current telecommand broke down, software alarm module 12 showed the instruction replacement that does not have low priority, needs operator's switching working mode; Change or the operator needs under the situation of alternation at flight environment of vehicle, also can carry out the switching of mode of operation.When judgement need be carried out switch mode, return step 2.
Remote control mode switches as shown in Figure 6, after initialization is finished first, enter selected mode of operation, in case the packing of orders of this mode of operation is all broken down or flight environment of vehicle changes, then need to carry out switching working mode, the switching state between the various patterns is specially:
When system brought into operation, the operator carried out the initialization first of system by the man-machine interface of the overall control module 11 of software, can select automatic mode, fixed mode and composite mode; When selecting automatic mode, can carry out initialization once more by the man-machine interface of the overall control module 11 of software in case meet the condition of switch mode, select fixed mode or composite mode or return the selection automatic mode; When selecting fixed mode, meet also initialization once more after the condition of switch mode, select automatic mode or composite mode or return the selection fixed mode; When selecting composite mode, meet also initialization once more after the condition of switch mode, select automatic mode or fixed mode or return the selection composite mode.
No matter whether break down and to change mode of operation at any time; The packing of orders of current selection and the low priority packing of orders thereof are broken down, but when there is the trouble-free packing of orders in this pattern, can temporarily withdraw from this mode of operation, carry out initialization once more and enter the trouble-free packing of orders of this model selection, for example the fixed mode outer remote control of getting off is broken down and can temporarily be withdrawed from this pattern, and enters remote control in the trouble-free car of this model selection once more; The packing of orders of current selection and the low priority packing of orders thereof are broken down, and when not having other non-fault packings of orders, can switch to other mode of operations earlier and carry out remote control, enter this pattern once more after pending fault is eliminated.
If do not need switch mode, execution in step seven;
Step 7: the remote control termination condition is judged, finishes remote control.
Whether whole flight remote control finishes to depend on operator's Real Time Observation warning information, understands aircraft state, flight environment of vehicle and mission phase.Judge whether to finish remote control, when four each and every one conditions below the generation, remote control finishes:
1, each remote control mode all produces fault;
2, there is trouble-free remote control mode, but the inapplicable current flight environment of this mode;
3, aircraft grease it in, flight finishes.
4, flight condition need not ground remote control, switches to autonomous flight.
After satisfying above four conditions, can finish remote control.1 and 2 two kind of situation under, finishing remote control is not the control of abandoning unmanned plane, but finishes the ground remote control state of flight, unmanned plane enters the autonomous flight state.
If, return step 4 for not.
Claims (5)
1. the system of selection of a remote control mode of unmanned plane is characterized in that, comprises following step:
Step 1, structure remote signal disposal system;
The remote signal disposal system comprises remote control module in the car, the outer remote control module of car, software remote control module, signal acquisition module, remote control processing module, the overall control module of software and software alarm module;
At first, remote control module produces command frame A in the car in the car, command frame A comprises proportional command and Che Nei switch order in the car in the car, the outer remote control module of car produces car external instruction frame B, car external instruction frame B comprises outer proportional command of car and the outer switch instruction of car, and command frame A and car external instruction frame B are sent to signal acquisition module in the car;
Signal acquisition module is gathered the command frame that remote control module and the outer remote control module of car are sent in real time in the car with the sampling rate that sets in advance, signal acquisition module with command frame A in the car and car external instruction frame B to be sent to the remote control processing module on the cycle t;
Then, the operator carries out the selection of software switch instruction by the software remote control module, the software remote control module forms software instruction frame C according to operator's selection, and software instruction frame C only comprises the software switch instruction, and software instruction frame C also sends the remote control processing module to;
At last, the remote control processing module is finished the processing to telecommand, judge command frame A, car external instruction frame B and software instruction frame C in the car with the instruction Reflector, produce warning information E, be sent to the software alarm module, software alarm module display alarm information;
The overall control module of software is loaded into the remote control processing module with overall information D, realizes the initialization of remote signal disposal system;
Step 2, selection mode of operation;
The mode of operation of unmanned plane is divided into: automatic mode, fixed mode and composite mode, and the operator selects mode of operation according to actual conditions;
Step 3: initialize mode information;
Proportional command and switch order combination comprise: ratio in a. software switch+car; B. the outer ratio of software switch+car; C. ratio in switch+car in the car; D. the outer ratio of switch+car in the car; E. the outer ratio of the outer switch+car of car; F. ratio in the outer switch+car of car; Described "+" expression combination;
The operator selects a kind of mode of operation by step 2, the information of this pattern of initialization then, and these information comprise: the priority separately of proportional command and switch order in the telecommand combination of institute's lectotype correspondence and each remote control mode;
Be specially:
If be automatic mode, instruction priority is conventional priority, and promptly effectively switch order is defaulted as the software remote control, and effectively proportional command is defaulted as remote control in the car; When switch order or proportional command break down, automatically switch to this instruction than the packing of orders when the low one-level of prior fault instruction priority;
If be fixed mode, remote control mode selects to be provided with respectively " acquiescence " and " selection " dual mode;
If " acquiescence " mode of selection, then switch order is defaulted as the software remote control; Proportional command is defaulted as remote control in the car;
If " selection " mode of selection, then in car outside remote control and the car one of two kinds of remote controls select fixing remote control mode, switch order and proportional command are all from selected remote control mode, this moment, switch order lost efficacy, and the packing of orders can only be selected interior ratio of switch+car and the outer ratio of the outer switch+car of e. car in the c. car;
If be composite mode, three kinds of switch orders of the outer remote control of remote control and car in software remote control, the car are provided with high/medium/low three kinds of priority, two kinds of proportional commands of remote control in the car and the outer remote control of car are provided with high/low two kinds of priority; The initial packing of orders is two kinds of instruction priority all the highest combinations, and when the proportional command of this combination or switch order broke down, system automatically switched to this instruction than the packing of orders of hanging down one-level when prior fault instruction priority;
For automatic mode and composite mode packing of orders range of choice be: a-f for fixed mode packing of orders range of choice is: a, c and e;
Step 4: remote information is handled;
Step 2 and step 3 are provided with in the overall control module of software, and the overall control module of software produces overall information D, and it comprises mode of operation and initialize mode information, and overall information D passes to the remote control processing module;
The remote control processing module is handled remote information, comprises following step:
1. remote control processing module is written into overall information D, forms the selection strategy to remote control in the car, the outer remote control of car and software telecontrol mode;
2. remote control processing module is finished reception and the filtration of command frame A, car external instruction frame B and software instruction frame C in the car that the outer remote control of remote control in the car, car and software remote control are uploaded, the criterion follow procedures three default packing of orders and the priority thereof of filtering, the remote control processing module judges whether the instruction of current limit priority breaks down, and judges promptly whether the fault flag that is provided with in each road telecommand frame is effective; When judged result for being, i.e. the telecommand of current selection breaks down, the man-machine interface of software alarm module shows failure message, enters step 3.; When judged result for not, then instruct non-fault, form effective telecommand, forward step to 4.;
3. after breaking down, judge whether that the instruction of low priority is replaced;
If the judgment is Yes, the telecommand that then has low priority is as backup, and then current telecommand is replaced by the trouble-free instruction of low priority, replaces the back and forms effective telecommand, forwards step to 4.; If the judgment is No, the man-machine interface of software alarm module prompting operator switching working mode;
4. remote control processing module is returned reception and filtration that 2. step continues to finish each road telecommand frame of following one-period after trouble-free telecommand is handled the effective telecommand of formation;
Step 5: warning information is handled;
One of proportional command or switch order break down in the remote control mode of current employing, or when needing switch mode, the software alarm module is sent warning information;
Step 6: switch mode condition judgment;
Judge whether switch mode, after initialization is finished first, enter selected mode of operation, in case the packing of orders of this mode of operation is all broken down or flight environment of vehicle changes, then switching working mode returns step 2, and the switching state between the various patterns is specially:
When system brought into operation, the operator carried out the initialization first of system by the overall control module of software, selected automatic mode, fixed mode or composite mode;
When selecting automatic mode, meet the condition of switch mode, then carry out initialization once more by the overall control module of software, select fixed mode or composite mode or return the selection automatic mode;
When selecting fixed mode, meet the condition of switch mode, then initialization is once more selected automatic mode or composite mode or is returned the selection fixed mode;
When selecting composite mode, meet the condition of switch mode, then initialization is once more selected automatic mode or fixed mode or is returned the selection composite mode;
If do not need switch mode, execution in step seven;
Step 7: the remote control termination condition is judged, finishes remote control;
Judge whether to finish remote control, when satisfying one of following four conditions, finish remote control; When (1) and (2), finish the ground remote control state of flight, unmanned plane enters the autonomous flight state;
(1) each remote control mode all produces fault;
(2) there is trouble-free remote control mode, but the inapplicable current flight environment of this mode;
(3) aircraft grease it in, flight finishes;
(4) flight condition need not ground remote control, switches to autonomous flight;
If, return step 4 for not.
2. the system of selection of a kind of remote control mode of unmanned plane according to claim 1, it is characterized in that command frame A, car external instruction frame B and software instruction frame C include frame head, proportional command, switch order, Reflector and postamble in the car that remote control module, the outer remote control module of car and software remote control module produce in the described car.
3. the system of selection of a kind of remote control mode of unmanned plane according to claim 1 is characterized in that, in the described step 2, automatic mode is according to conventional priority automatic switchover remote control mode; Fixed mode is used a kind of remote control mode for the operator is fixing; Composite mode is according to self-defining instruction priority of operating personnel and combination selection remote control mode thereof.
4. the system of selection of a kind of remote control mode of unmanned plane according to claim 3 is characterized in that, described conventional priority is that switch order priority is followed successively by from low to high: the outer remote control of remote control → car → software remote control in the car; Proportional command priority is followed successively by from low to high: remote control in the outer remote control → car of car.
5. the system of selection of a kind of remote control mode of unmanned plane according to claim 1, it is characterized in that, in the described step 6, mode of operation can be changed at any time, the packing of orders of current selection and the low priority packing of orders thereof are broken down, but when there is the trouble-free packing of orders in this pattern, temporarily withdraw from this mode of operation, carry out initialization once more and enter the trouble-free packing of orders of this model selection.
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