CN103546468A - Unmanned aerial vehicle flight data transmission method and system based on Beidou satellite - Google Patents
Unmanned aerial vehicle flight data transmission method and system based on Beidou satellite Download PDFInfo
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Abstract
The invention relates to the technical field of communication, in particular to an unmanned aerial vehicle flight data transmission method and system based on a Beidou satellite. The unmanned aerial vehicle flight data transmission method based on the Beidou satellite includes the steps that collected flight data are converted into a flight data Beidou short message according to standards of a Beidou short message protocol; the flight data Beidou short message is sent to the Beidou communication satellite; the flight data Beidou short message transferred by the Beidou communication satellite is received, and message content in the flight data Beidou short message is read. The unmanned aerial vehicle flight data transmission method and system based on the Beidou satellite solve the technical problems that microwave communication is adopted for transmitting flight data in the prior art, the transmission distance is often as short as tens of kilometers, transmission is prone to being influenced by terrain and buildings, and reliability of communication is relatively poor.
Description
Technical field
The present invention relates to communication technical field, in particular to transmission method and the system of all metadata of unmanned plane during flying based on big-dipper satellite.
Background technology
Unmanned plane (Unmanned Aerial Vehicle, is abbreviated as UAV) is a kind of with wireless remotecontrol or with the not manned vehicle of self program control flight.In unmanned plane during flying process, generally need transmit earthward aeronautical data data, according to aeronautical data data, realize the position monitor to unmanned aerial vehicle.
In correlation technique, generally adopt all metadata of microwave communication transmission unmanned plane during flying, signal frequency range is 902-928MHz.But, adopting microwave communication transmission aeronautical data data, transmission range is short, generally only has tens kilometers, and is easily subject to the impact of landform and building, and the reliability of communication is poor.
Summary of the invention
The object of the present invention is to provide transmission method and the system of all metadata of unmanned plane during flying based on big-dipper satellite, to solve the above problems.
The transmission method that a kind of all metadata of unmanned plane during flying based on big-dipper satellite are provided in an embodiment of the present invention, comprising:
According to the standard of Big Dipper short message agreement, the aeronautical data data of collection are converted into aeronautical data data Big Dipper short message;
Described aeronautical data data Big Dipper short message is sent to Big Dipper communication satellite;
Receive the described aeronautical data data Big Dipper short message that Big Dipper communication satellite forwards, and read the message content in described aeronautical data data Big Dipper short message.
A transmission system for all metadata of unmanned plane during flying of big-dipper satellite, comprising:
Be equipped on the Big Dipper communication module on unmanned aerial vehicle, for according to the standard of Big Dipper short message agreement, the aeronautical data data of collection be converted into aeronautical data data Big Dipper short message; Also for described aeronautical data data Big Dipper short message is sent to Big Dipper communication satellite;
Ground receiving terminal, the described aeronautical data data Big Dipper short message forwarding for receiving Big Dipper communication satellite, and read the message content in described aeronautical data data Big Dipper short message.
In the transmission method and system of all metadata of unmanned plane during flying based on big-dipper satellite of the above embodiment of the present invention, utilize the Big Dipper short message function of Big Dipper communication satellite to realize the transmission of aeronautical data data, utilize Big Dipper communication satellite transmission aeronautical data long distance for data, signal transmission does not allow to be subject to the impact that landform and building block, and the reliability of aeronautical data transfer of data is strengthened.Therefore overcome in correlation technique and adopted microwave communication transmission aeronautical data data, transmission range is short, generally only has tens kilometers, and is easily subject to the impact of landform and building, the poor technical problem of reliability of communication.
Accompanying drawing explanation
Fig. 1 shows the flow chart of the transmission method of the unmanned plane during flying all metadata of the embodiment of the present invention based on big-dipper satellite;
Fig. 2 shows the structural representation of the transmission system of the unmanned plane during flying all metadata of the embodiment of the present invention based on big-dipper satellite.
Embodiment
Below by specific embodiment, also by reference to the accompanying drawings the present invention is described in further detail.
The embodiment of the present invention provides a kind of transmission method of all metadata of unmanned plane during flying based on big-dipper satellite, and main treatment step comprises:
Step S11: according to the standard of Big Dipper short message agreement, the aeronautical data data of collection are converted into aeronautical data data Big Dipper short message;
Step S12: aeronautical data data Big Dipper short message is sent to Big Dipper communication satellite;
Step S13: receive the aeronautical data data Big Dipper short message that Big Dipper communication satellite forwards, and read the message content in aeronautical data data Big Dipper short message.
In the transmission method of all metadata of unmanned plane during flying based on big-dipper satellite of the above embodiment of the present invention, utilize the Big Dipper short message function of Big Dipper communication satellite to realize the transmission of aeronautical data data, utilize Big Dipper communication satellite transmission aeronautical data long distance for data, signal transmission does not allow to be subject to the impact that landform and building block, and the reliability of aeronautical data transfer of data is strengthened.Therefore overcome in correlation technique and adopted microwave communication transmission aeronautical data data, transmission range is short, generally only has tens kilometers, and is easily subject to the impact of landform and building, the poor technical problem of reliability of communication.
Particularly, the aeronautical data data that gather in unmanned aerial vehicle comprise: unmanned plane coding, data acquisition time, operating latitude, flight longitude, height above sea level, flying speed, roll data, pitching data and driftage data.
The aeronautical data data that define in the embodiment of the present invention, compare with the flight parameter designing in correlation technique, and the aeronautical data data in the embodiment of the present invention are more terse, can better reflect the flight condition of unmanned plane; Secondly, the precision of the flight parameter designing in correlation technique is not high, has been not suitable with present high accuracy and has surveyed the requirements such as appearance location.
The flight aeronautical data coding proposing in the embodiment of the present invention, combine on the one hand the certainty of measurement of existing survey appearance location instrument and transducer, according to the needs of unmanned plane during flying supervision, certainty of measurement is accepted or rejected to some extent on the other hand, reduce volume of transmitted data, improved coding rate and communication efficiency
Further, in the embodiment of the present invention, according to one or more information in unmanned plane affiliated area, affiliated industry, affiliated unit, unmanned plane model and unmanned plane coding sequence number, according to default coding rule, encode, obtain unmanned plane coding.So by unmanned plane, encode and can reflect intuitively the relevant information of unmanned plane.
In the embodiment of the present invention, give a kind of concrete example of unmanned plane coding, for example, in unmanned plane coding, can comprise regional code, and this regional code is represented by two ten's digits;
In unmanned plane coding, can comprise affiliated SIC code, this affiliated SIC code is represented by two ten's digits;
In unmanned plane coding, can comprise that coding ，Gai affiliated unit of affiliated unit coding can be represented by three ten's digits;
In unmanned plane coding, can comprise unmanned plane model coding, this unmanned plane model coding can be represented by three ten's digits;
In unmanned plane coding, can comprise flying platform type coding, this flying platform type coding can be represented by a ten's digit, such as flying platform type, can be fixed-wing Platform Type and rotor Platform Type etc.
Data acquisition time comprises: time date and Greenwich mean time; Time date comprises 6 ten's digits;
Greenwich mean time is accurate to latter three of second, and Greenwich mean time comprises 9 ten's digits and 1 decimal point.
For example, the coded format of time date is YYMMDD, and wherein YY two digits byte is used for representing year; MM two digits byte is used for representing the moon; DD two digits byte is used for representing day.
The coded format of Greenwich mean time is hhmmss.sss, and hh is for expression hour, and mm is used for representing to divide, and ss is used for representing second, and decimal point sss is below for representing to be accurate to the second of rear three bit data afterwards.
Operating latitude comprises latitude data and latitude sign; Latitude data are accurate to after decimal point four, and latitude data span is 0～90, account for altogether 9 bytes; Latitude is designated the letter that is used to indicate south latitude north latitude, accounts for a byte.
Flight longitude comprises longitude data and longitude sign; Longitude data is accurate to after decimal point four, and longitude data span is 0～180, accounts for altogether 10 bytes; Longitude is designated the letter that is used to indicate east longitude west longitude, accounts for a byte.
For example, the coded format of operating latitude can be ddmm.mmmm, N; Wherein ddmm.mmmm represents latitude data, and N represents latitude sign, and wherein N represents north latitude, and this latitude sign can also be S, represents south latitude.In addition, embodiment of the present invention middle latitude data were once representing that ground distance was about 100km, for more intuitive expression, were generally with being divided into unit, and integer-bit is 4, and front two represents whole degree position, and latter two represent whole minute position.
For example, the coded format of flight longitude can be dddmm.mmmm, E; Wherein dddmm.mmmm represents longitude data, accounts for 10 bytes; E represents latitude sign, and wherein E represents east longitude, and this longitude sign can also be W, represents west longitude, and this longitude indicates and accounts for 1 byte.In the embodiment of the present invention, longitude data was once representing that ground distance was about 100km, for more intuitive expression, was generally with being divided into unit, and integer-bit is 5, and front three represents whole degree position, and latter two represent whole minute position.
Height above sea level span is 0-9999 rice; Height above sea level is accurate to 2 significant digits, and height above sea level accounts for 7 bytes altogether.For example, the coded format of height above sea level is mmmm.mm.
The unit of flying speed is km/per hour, and the span of flying speed is 0～999,000 m/h; Flying speed is accurate to after decimal point one, and flying speed accounts for 5 bytes altogether.For example, the coded format of flying speed can be mmm.m;
Determine that the direction from unmanned plane tail to head is direction of visual lines, when unmanned plane turns clockwise roll data on the occasion of, while being rotated counterclockwise, roll data are negative value; The absolute value span of roll data is 0-180 degree, and roll data account for 6 bytes, and wherein roll data can be for being also negative value data on the occasion of data, and the sign that sign roll data are positive negative value occupies a byte of roll data; The coded format of for example roll data can be ± ddd.d;
Preset level datum level, unmanned plane head is between level reference and ground time, and pitching data are negative value; Unmanned plane head is between level reference and sky time, pitching data be on the occasion of; Pitching data span is 0-90 degree, and pitching data account for 5 bytes; Wherein pitching data can be for being also negative value data on the occasion of data, and the sign that sign pitching data are positive negative value occupies a byte of pitching data; The coded format of pitching data can be ± dd.d.
Preset rotation original position, i.e. the rotation of the course-and-bearing of design, and edge rotation original position clockwise direction, the span 0-360 degree of driftage data, and driftage data account for 5 bytes.Particularly, driftage data represent with 3 ten's digits, and the coded format of for example going off course can be ddd.d.
The embodiment of the present invention also provides a kind of transmission system of all metadata of unmanned plane during flying based on big-dipper satellite, comprising:
Be equipped on the Big Dipper communication module 21 on unmanned aerial vehicle, for according to the standard of Big Dipper short message agreement, the aeronautical data data of collection be converted into aeronautical data data Big Dipper short message; Also for aeronautical data data Big Dipper short message is sent to Big Dipper communication satellite;
The all metadata of unmanned plane during flying that provide in the transmission method of all metadata of unmanned plane during flying based on big-dipper satellite of the embodiment of the present invention, more terse than flight parameter of the prior art, and can better reflect unmanned plane during flying situation.
Unmanned plane during flying aeronautical data encoding scheme in the transmission method of all metadata of unmanned plane during flying based on big-dipper satellite of the embodiment of the present invention and system, in conjunction with the existing control navigation survey appearance precision that flies, and unmanned plane online monitoring and management needs, reduced the figure place of relevant parameter, reduced amount of communication data.
In the transmission method and system of all metadata of unmanned plane during flying based on big-dipper satellite of the embodiment of the present invention, utilized the short message communication technology of the Big Dipper, transmitting effect distance, signal is not allowed to be subject to blocking of hypsography and building, and reliability is strong;
In the transmission method and system of all metadata of unmanned plane during flying based on big-dipper satellite of the embodiment of the present invention, the Big Dipper communication module of employing, volume is little, lightweight, cost is low, easy of integration, is applicable to the use of normal domestic unmanned plane.
Obviously, those skilled in the art should be understood that, above-mentioned each module of the present invention or each step can realize with general calculation element, they can concentrate on single calculation element, or be distributed on the network that a plurality of calculation elements form, alternatively, they can be realized with the executable program code of calculation element, thereby, they can be stored in storage device and be carried out by calculation element, or they are made into respectively to each integrated circuit modules, or a plurality of modules in them or step are made into single integrated circuit module to be realized.Like this, the present invention is not restricted to any specific hardware and software combination.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. a transmission method for all metadata of unmanned plane during flying based on big-dipper satellite, is characterized in that, comprising:
According to the standard of Big Dipper short message agreement, the aeronautical data data of collection are converted into aeronautical data data Big Dipper short message;
Described aeronautical data data Big Dipper short message is sent to Big Dipper communication satellite;
Receive the described aeronautical data data Big Dipper short message that Big Dipper communication satellite forwards, and read the message content in described aeronautical data data Big Dipper short message.
2. method according to claim 1, is characterized in that, described aeronautical data data comprise: unmanned plane coding, data acquisition time, operating latitude, flight longitude, height above sea level, flying speed, roll data, pitching data and driftage data.
3. method according to claim 2, it is characterized in that, according to one or more information in unmanned plane affiliated area, affiliated industry, affiliated unit, unmanned plane model and unmanned plane coding sequence number, according to default coding rule, encode, obtain unmanned plane coding.
4. method according to claim 2, is characterized in that, described data acquisition time comprises: time date and Greenwich mean time;
Described time date comprises 6 ten's digits;
Described Greenwich mean time is accurate to latter three of second, and described Greenwich mean time comprises 9 ten's digits and 1 decimal point.
5. method according to claim 2, is characterized in that, described operating latitude comprises latitude data and latitude sign;
Described latitude data are accurate to after decimal point four, and described latitude data span is 0～90, account for altogether 9 bytes;
Described latitude is designated the letter that is used to indicate south latitude north latitude, accounts for a byte.
6. method according to claim 2, is characterized in that, described flight longitude comprises longitude data and longitude sign;
Described longitude data is accurate to after decimal point four, and described longitude data span is 0～180, accounts for altogether 10 bytes;
Described longitude is designated the letter that is used to indicate east longitude west longitude, accounts for a byte.
7. method according to claim 2, is characterized in that, described height above sea level span is 0-9999 rice;
Described height above sea level is accurate to 2 significant digits, and described height above sea level accounts for 7 bytes altogether.
8. method according to claim 2, is characterized in that, the span of described flying speed is 0～999,000 m/h;
Described flying speed is accurate to after decimal point one, and described flying speed accounts for 5 bytes altogether.
9. method according to claim 2, is characterized in that, determines that the direction from unmanned plane tail to head is direction of visual lines, when unmanned plane turns clockwise roll data on the occasion of, while being rotated counterclockwise, roll data are negative value; The absolute value span of described roll data is 0-180 degree, and described roll data account for 6 bytes;
And/or,
Preset level datum level, unmanned plane head is between described level reference and ground time, and described pitching data are negative value; Unmanned plane head is between described level reference and sky time, described pitching data be on the occasion of; The absolute value span of described pitching data is 0-90 degree, and described pitching data account for 5 bytes;
And/or,
Preset rotation original position, and along described rotation original position clockwise direction rotation, the span 0-360 degree of described driftage data, and described driftage data account for 5 bytes.
10. a transmission system for all metadata of unmanned plane during flying based on big-dipper satellite, is characterized in that, comprising:
Be equipped on the Big Dipper communication module on unmanned aerial vehicle, for according to the standard of Big Dipper short message agreement, the aeronautical data data of collection be converted into aeronautical data data Big Dipper short message; Also for described aeronautical data data Big Dipper short message is sent to Big Dipper communication satellite;
Ground receiving terminal, the described aeronautical data data Big Dipper short message forwarding for receiving Big Dipper communication satellite, and read the message content in described aeronautical data data Big Dipper short message.
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| CN109856651A (en) * | 2019-03-13 | 2019-06-07 | 广东海聊科技有限公司 | A kind of position data compression method and system based on dipper system |
| CN109885085A (en) * | 2019-03-08 | 2019-06-14 | 哈尔滨工程大学 | A kind of ship replenishing method based on Beidou relative positioning and unmanned aerial vehicle (UAV) control technology |
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| CN109885085A (en) * | 2019-03-08 | 2019-06-14 | 哈尔滨工程大学 | A kind of ship replenishing method based on Beidou relative positioning and unmanned aerial vehicle (UAV) control technology |
| CN109885085B (en) * | 2019-03-08 | 2022-03-18 | 哈尔滨工程大学 | Ship replenishment method based on Beidou relative positioning and unmanned aerial vehicle control technology |
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