CN103901839A - Communication method and system of unmanned aerial vehicle - Google Patents
Communication method and system of unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides a communication method and system of an unmanned aerial vehicle. The system comprises a flight controller, an onboard processor and a data transmission interface, wherein the flight controller is connected with the onboard processor through the data transmission interface. The flight controller detects the data transmission interface to acquire message data sent by the onboard processor and acquires corresponding flight data according to packet header information of the message data so as to control the flight of the unmanned aerial vehicle; the onboard processor detects the data transmission interface to acquire the message data sent by the flight controller, and the message data are analyzed to obtain flight attitude data of the unmanned aerial vehicle. According to the system, the flight controller and the onboard processor are connected through the data transmission interface so that the flight of the unmanned aerial vehicle can be controlled, the data processing and communication efficiency is improved, and very high expansibility is achieved.
Description
Technical field
The present invention relates to UAV Communication technical field, particularly a kind of communication means of unmanned plane and system.
Background technology
Unmanned plane has that cost effectiveness is low, zero injures and deaths and dispose the advantages such as flexible, can help or even replace the mankind to play a role in a lot of scenes, as personnel's search and rescue, infrastructure supervision etc. after calamity.No matter, in civilian or military domain, unmanned plane all has wide application and development prospect.
Unmanned plane because being subject to the impact of the many factors such as weather, illumination and electromagnetic interference (EMI), is faced with the danger such as locating information that disconnects communication connection with land station and cannot receive GPS in flight course.Extend thus unmanned plane autonomous navigation system, the environment that processor and flight control system gather according to airborne sensor and UAV position and orientation information are controlled the flight of unmanned plane.For this reason, need to ensure that airborne processor communicates by letter unimpeded with system for flight control computer.Existing unmanned plane great majority are that flight control system is separated with processor, and processor is positioned at land station, by Wireless Data Transmission, corresponding steering order are transferred to the flight control system on aircraft.The interference that such communication mode is easy to because being subject to external environment condition disconnects, thus serious threat the flight safety of aircraft.
Summary of the invention
Object of the present invention is intended at least solve one of above-mentioned technological deficiency.
For this reason, one aspect of the present invention provides a kind of communication system of unmanned plane.
Another aspect of the present invention proposes a kind of communication means of unmanned plane.
In view of this, the embodiment of one aspect of the present invention proposes a kind of communication system of unmanned plane, comprise: flight controller, airborne processor, data transmission interface, flight controller is connected with airborne processor by data transmission interface, described flight controller detects described data transmission interface and obtains the message data that described airborne processor sends, and obtains corresponding flying quality according to the header packet information of described message data, controls with the flight to unmanned plane; And described airborne processor detects described data transmission interface and obtain the message data that described flight controller sends, and resolve the flight attitude data that obtain described unmanned plane.
According to the system of the embodiment of the present invention, by data transmission interface, flight controller is connected with airborne processor, control with the flight to unmanned plane, improve data processing and communication efficiency, there is very strong extendability.
In one embodiment of the invention, the header packet information that described airborne processor is sent to the described message data of described flight controller comprises: LO mark, WA mark and IM mark.
In one embodiment of the invention, in the time that described header packet information is LO mark, this packet is that described airborne processor sends on described flight controller, and described flight controller is resolved the three-dimensional coordinate information that obtains described unmanned plane to described message data.
In one embodiment of the invention, in the time that described header packet information is WA mark, this packet is that described airborne processor sends on described flight controller, described flight controller is resolved the flight path dot information that obtains described unmanned plane to described message data, and adjusts flying speed and the direction of described unmanned plane.
In one embodiment of the invention, in the time that described header packet information is IM mark, be the two-way communication of described airborne processor and described flight controller.Described flight controller is resolved and is obtained the attitude data request message that described airborne processor sends described message data, and described airborne processor is resolved the flight attitude data that obtain the unmanned plane that described flight controller sends to described message data.
In one embodiment of the invention, described data transmission interface is UART serial ports.
In one embodiment of the invention, described flight controller and described airborne processor carry out bidirectional data transfers by described UART serial ports.
The present invention embodiment has on the other hand proposed a kind of communication means of unmanned plane, comprises the following steps: data acquisition step, by detecting data transmission interface to obtain message data; Message identification step, resolves and obtains the flying quality corresponding with described header packet information the header packet information of described message data, and the header packet information of described message data comprises LO mark, WA mark and IM mark; Step is controlled in flight, according to unmanned plane described in the communication protocol of described header packet information, correspondence and described flying quality control.
According to the method for the embodiment of the present invention, by data transmission interface, flight controller is connected with airborne processor, control with the flight to unmanned plane, improve data processing and communication efficiency, there is very strong extendability.
In one embodiment of the invention, described flying quality comprises positional information, the flight path dot information of described unmanned plane.
In one embodiment of the invention, in the time that described header packet information is LO mark, flight controller is resolved the three-dimensional coordinate information that obtains described unmanned plane to described message data;
In the time that described header packet information is WA mark, flight controller is resolved the flight path dot information that obtains described unmanned plane to described message data, and adjusts flying speed and the direction of described unmanned plane;
In the time that described header packet information is IM mark, flight controller resolves to obtain attitude data request message to described message data, and described airborne processor resolves to obtain the flight attitude data of unmanned plane to described message data.
The aspect that the present invention is additional and advantage in the following description part provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Brief description of the drawings
The present invention above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments obviously and easily and understand, wherein,
Fig. 1 is the structured flowchart of the communication system of unmanned plane according to an embodiment of the invention; And
Fig. 2 is the process flow diagram of the communication means of unmanned plane according to an embodiment of the invention.
Embodiment
Describe embodiments of the invention below in detail, the example of embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of identical or similar functions from start to finish.Be exemplary below by the embodiment being described with reference to the drawings, only for explaining the present invention, and can not be interpreted as limitation of the present invention.
In description of the invention, it will be appreciated that, term " " center ", " longitudinally ", " laterally ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", orientation or the position relationship of instructions such as " outward " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of device or the element of instruction or hint indication must have specific orientation, with specific orientation structure and operation, therefore can not be interpreted as limitation of the present invention.In addition, term " first ", " second " be only for describing object, and can not be interpreted as instruction or hint relative importance.
In description of the invention, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and for example, can be to be fixedly connected with, and can be also to removably connect, or connect integratedly; Can be mechanical connection, can be also electrical connection; Can be to be directly connected, also can indirectly be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, can concrete condition understand above-mentioned term concrete meaning in the present invention.
Fig. 1 is the structured flowchart of the communication system of unmanned plane according to an embodiment of the invention.As shown in Figure 1, comprise according to the communication system of the unmanned plane of the embodiment of the present invention: flight controller 100, airborne processor 200 and data transmission interface 300.
Particularly, flight controller 100 is connected with airborne processor 200 by data transmission interface 300, flight controller 100 detects data transmission interface 300 and obtains the message data that airborne processor 200 sends, and obtain corresponding flying quality according to the header packet information of message data, control with the flight to unmanned plane.Airborne processor 200 detects data transmission interface 300 and obtains the message data that flight controller 100 sends, and resolves the flight attitude data that obtain unmanned plane.
According to the system of the embodiment of the present invention, by data transmission interface, flight controller is connected with airborne processor, control with the flight to unmanned plane, improve data processing and communication efficiency, there is very strong extendability.
In one embodiment of the invention, the header packet information of message data comprises: LO mark, WA mark and IM mark.In the time that header packet information is LO mark, this packet is that airborne processor 200 sends on described flight controller 100, and flight controller 100 is resolved the three-dimensional coordinate information that obtains unmanned plane to message data.In the time that header packet information is WA mark, this packet is that airborne processor 200 sends on flight controller 100, and flight controller 100 is resolved the flight path dot information that obtains unmanned plane to message data, and adjusts flying speed and the direction of unmanned plane.In the time that header packet information is IM mark, it is the two-way communication of airborne processor 200 and flight controller 100.Flight controller 100 is resolved and is obtained the attitude data request message that airborne processor 200 sends message data, and airborne processor 200 is resolved the flight attitude data that obtain the unmanned plane that flight controller 100 sends to message data.
In one embodiment of the invention, data transmission interface 300 is UART serial ports, and flight controller 100 and airborne processor 200 carry out transmitted in both directions by UART serial ports.
Flight controller 100, by detecting UART serial ports, obtains unmanned plane current location information (packet header is designated the message data of " LO "), flight path dot information (packet header is designated the message data of " WA ") and attitude data solicited message (packet header is designated the message data of " IM ") that airborne processor 200 sends.Airborne processor 200, by detecting UART serial ports, obtains the unmanned plane during flying attitude data that flight controller 100 sends.
The message data that comprises current location information, flight path dot information and unmanned plane during flying attitude data solicited message is sent to flight controller 100 by airborne processor 200, and receive the UAV Attitude data that flight controller 100 sends.The message data that flight controller 100 obtains detection UART serial ports is resolved the current location information, flight path dot information and the unmanned plane during flying attitude data solicited message that obtain unmanned plane, and the flight of unmanned plane is controlled.
According to the system of the embodiment of the present invention, by data transmission interface, flight controller is connected with airborne processor, control with the flight to unmanned plane, improve data processing and communication efficiency, there is very strong extendability.
Fig. 2 is the process flow diagram of the communication means of unmanned plane according to an embodiment of the invention.As shown in Figure 2, comprise the following steps according to the communication means of the unmanned plane of the embodiment of the present invention: by detecting data transmission interface to obtain message data (step 101).The header packet information of message data is resolved and obtained the flying quality corresponding with header packet information, and the header packet information of message data comprises LO mark, WA mark and IM mark (step 103).According to communication protocol and the flying quality control unmanned plane (step 105) of header packet information, correspondence.
In one embodiment of the invention, flight controller and airborne processor are by detecting data transmission interface to obtain message data.The main control chip of flight controller is STM32 single-chip microcomputer, when concrete enforcement, in the time that receiving data, triggers its UART serial ports the interrupt control routine of STM32, interrupt control routine reads the data cached of UART serial ports, and according to the good structure resolution data of predefined.Airborne processor is x86 framework, in the time needing the flight attitude data of unmanned plane, sends a request message to flight controller by data transmission interface, receives afterwards the unmanned plane during flying attitude data being sent by flight controller.
In one embodiment of the invention, the header packet information of message data comprises: LO mark, WA mark and IM mark.In the time that header packet information is LO mark, flight controller is resolved the three-dimensional coordinate information that obtains unmanned plane to message data.In the time that header packet information is WA mark, flight controller is resolved the flight path dot information that obtains unmanned plane to message data, and adjusts flying speed and the direction of unmanned plane.In the time that header packet information is IM mark, flight controller resolves to obtain attitude data request message to message data, and airborne processor resolves to obtain the flight attitude data of unmanned plane to message data.
Concrete, data packet head (" LO ", " WA ", " IM ") represents with 2 byte characters, and its data structure body is defined as:
(1) packet of LO mark is that airborne processor sends to flight controller:
(2) packet of WA mark is that airborne processor sends to flight controller:
(3) packet of IM mark is the unmanned plane during flying attitude data that airborne processor sends to the unmanned plane during flying attitude data request of flight controller or flight controller and return to airborne processor, and wherein the structure of unmanned plane during flying attitude data is defined as:
In one embodiment of the invention, flight controller is resolved the flight control data that obtain airborne processor transmission, and carries out Kalman filtering processing.Then generate the structure data that bottom control chip can be resolved: comprise the controlled quentity controlled variable of pitch, roll, yaw, height, and be transferred to the control chip of aircraft bottom, thereby realize the flight control of unmanned plane.
According to the method for the embodiment of the present invention, by data transmission interface, flight controller and airborne processor are carried out to data interaction, and according to the header packet information of message data, the flight of unmanned plane is controlled, improve data processing and communication efficiency, there is very strong extendability.
Although illustrated and described embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, those of ordinary skill in the art can change above-described embodiment within the scope of the invention in the situation that not departing from principle of the present invention and aim, amendment, replacement and modification.
Claims (10)
1. a communication system for unmanned plane, comprising: flight controller, and airborne processor, data transmission interface, is characterized in that,
Described flight controller is connected with described airborne processor by described data transmission interface;
Described flight controller detects described data transmission interface and obtains the message data that described airborne processor sends, and obtains corresponding flying quality according to the header packet information of described message data, controls with the flight to unmanned plane; And
Described airborne processor detects described data transmission interface and obtains the message data that described flight controller sends, and resolves the flight attitude data that obtain described unmanned plane.
2. the communication system of unmanned plane as claimed in claim 1, is characterized in that, the header packet information that described airborne processor is sent to the described message data of described flight controller comprises: LO mark, WA mark and IM mark.
3. the communication system of unmanned plane as claimed in claim 2, it is characterized in that, in the time that described header packet information is LO mark, this packet is that described airborne processor sends on described flight controller, and described flight controller is resolved the three-dimensional coordinate information that obtains described unmanned plane to described message data.
4. the communication system of unmanned plane as claimed in claim 2, it is characterized in that, in the time that described header packet information is WA mark, this packet is that described airborne processor sends on described flight controller, described flight controller is resolved the flight path dot information that obtains described unmanned plane to described message data, and adjusts flying speed and the direction of described unmanned plane.
5. the communication system of unmanned plane as claimed in claim 2, is characterized in that, in the time that described header packet information is IM mark, is the two-way communication of described airborne processor and described flight controller.Described flight controller is resolved and is obtained the attitude data request message that described airborne processor sends described message data, and described airborne processor is resolved the flight attitude data that obtain the unmanned plane that described flight controller sends to described message data.
6. the communication system of unmanned plane as claimed in claim 1, is characterized in that, described data transmission interface is UART serial ports.
7. the communication system of unmanned plane as claimed in claim 6, is characterized in that, described flight controller and described airborne processor carry out bidirectional data transfers by described UART serial ports.
8. a communication means for unmanned plane, is characterized in that, comprises the following steps:
Data acquisition step, by detecting data transmission interface to obtain message data;
Message identification step, resolves and obtains the flying quality corresponding with described header packet information the header packet information of described message data, and the header packet information of described message data comprises LO mark, WA mark and IM mark;
Step is controlled in flight, according to unmanned plane described in the communication protocol of described header packet information, correspondence and described flying quality control.
9. the communication means of unmanned plane as claimed in claim 8, is characterized in that, described flying quality comprises positional information, the flight path dot information of described unmanned plane.
10. the communication means of unmanned plane as claimed in claim 9, is characterized in that, in the time that described header packet information is LO mark, flight controller is resolved the three-dimensional coordinate information that obtains described unmanned plane to described message data;
In the time that described header packet information is WA mark, flight controller is resolved the flight path dot information that obtains described unmanned plane to described message data, and adjusts flying speed and the direction of described unmanned plane;
In the time that described header packet information is IM mark, flight controller resolves to obtain attitude data request message to described message data, and described airborne processor resolves to obtain the flight attitude data of described unmanned plane to described message data.
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Cited By (5)
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| CN105116907A (en) * | 2015-07-20 | 2015-12-02 | 清华大学 | Method for designing data transmission and control system of miniature unmanned aerial vehicle |
| CN109101039A (en) * | 2018-06-29 | 2018-12-28 | 太原理工大学 | Vertical detection method and system |
| CN109477891A (en) * | 2017-03-21 | 2019-03-15 | 深圳市大疆创新科技有限公司 | Unmanned plane detection method and detecting devices, the control method of server and server |
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| US11610496B2 (en) | 2017-03-21 | 2023-03-21 | SZ DJI Technology Co., Ltd. | Monitoring method and system |
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| CN103901839B (en) | 2018-02-09 |
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