CN105070017A - Wireless communication method and system for unmanned aerial vehicle - Google Patents
Wireless communication method and system for unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides a wireless communication method and system for an unmanned aerial vehicle. The flight state information of the unmanned aerial vehicle can be obtained through the system, and one optimal wireless communication mode is selected from WiFi (wireless fidelity) and networks based on operators. WiFi has the characteristic of low cost, but has a narrow effective communication range and can be interfered easily; the networks based on the operators have higher costs, but the coverage range is wider and signals are more stable. According to the wireless communication method and system, WiFi and the networks based on the operators are combined, a better communication mode is selected according to the flight state information of the unmanned aerial vehicle, costs can be reduced, and meanwhile, the usage range of the unmanned aerial vehicle can be widened. The data transmission rate between the unmanned aerial vehicle and a ground controller can be increased, and multimedia data of the unmanned aerial vehicle, especially high-definition video data can be obtained in real time and can be stored for inquiry and use later.
Description
Technical field
The present invention relates to a kind of unmanned aerial vehicle (UAV) control method and system, particularly relate to a kind of unmanned plane wireless communications method and system, belong to unmanned aerial vehicle (UAV) control field.
Background technology
In recent years, civilian consumer level unmanned plane market scale rapidly increases, and it obtains a wide range of applications in various fields.
And civilian unmanned plane great majority in the market adopt is point to point wireless communication technology, its command range is shorter, and such as: in the conventional non-gain antenna situation of use, the command range of unmanned plane and ground controller is no more than 1.5km.And when unmanned plane exceedes this command range, due to the decay of signal, just cannot it be controlled, thus easily there is the perils such as air crash, which limits the usable range of unmanned plane.
In the prior art, if want to obtain the multi-medium data that unmanned plane obtains, multi-medium data accessed by unmanned plane can be stored in this locality (such as: stored on-board card, SD card etc.), but because the memory capacity of unmanned plane this locality is limited, thus cause unmanned plane can not carry out the activities such as capture video for a long time.Obtained multi-medium data also can be sent to ground controller by point-to-point by unmanned plane in real time, but the limited bandwidth of traditional 2.4GHz point-to-point transmission, performance when high quality multi-medium data (such as: HD video) can be affected, and this just further limit the application of unmanned plane.
Summary of the invention
For solving the problems of the technologies described above, the present invention proposes a kind of wireless communications method and system of unmanned plane, the state of flight information of its Real-time Obtaining unmanned plane, utilize described state of flight information from WiFi with based on selecting a kind of optimum communication the network of operator, the multi-medium data simultaneously utilizing this optimum communication to be obtained by unmanned plane sends to ground control system.Because WiFi has the low feature of cost, but its efficient communication scope is narrow, is also easily interfered; And high based on the cost compare of the network of operator, but coverage is relatively wider, and signal is also more stable.The present invention gets up by WiFi with based on the network integration of operator, thus can select the communication mode of one of them optimum according to actual conditions, both can reduce costs, and also can expand the usable range of unmanned plane.
In order to achieve the above object, technical scheme of the present invention is as follows:
The invention provides a kind of wireless communications method of unmanned plane, comprise the steps:
Obtain the state of flight information of unmanned plane;
Utilize described state of flight information from WiFi with based on selecting a kind of optimum communication the network of operator.
As preferably, described state of flight information comprises the distance of unmanned plane and ground controller; And select the network based on operator to be optimum communication when the distance of unmanned plane and ground controller exceeds predeterminable range; Otherwise select WiFi to be optimum communication.
As preferably, the wireless communications method of described unmanned plane, also comprise the steps: to utilize described optimum communication to transmit data between unmanned plane and ground controller, described data comprise unmanned plane during flying status information, multi-medium data that UAV Flight Control information, unmanned plane obtain.
The invention provides a kind of wireless communication system of unmanned plane, comprise as lower module:
State of flight data obtaining module, for obtaining the state of flight information of unmanned plane;
Optimum communication selects module, utilizes described state of flight information from WiFi with based on selecting a kind of optimum communication the network of operator.
Preferably, described state of flight information comprises the distance of unmanned plane and ground controller; And select the network based on operator to be optimum communication when the distance of unmanned plane and ground controller exceeds predeterminable range; Otherwise select WiFi to be optimum communication.
Preferably, the wireless communication system of described unmanned plane also comprises as lower module: data transmission module, for utilizing described optimum communication to transmit data between unmanned plane and ground controller, the multi-medium data that described data comprise unmanned plane during flying status information, UAV Flight Control information, unmanned plane obtain.
The invention provides a kind of unmanned aerial vehicle (UAV) control and Multimedia Transmission System, comprise unmanned plane, ground controller, Cloud Server, wherein:
Described unmanned plane is from WiFi with based on selecting a kind of optimum communication the network of operator, utilize described optimum communication to communicate with described ground controller, comprise and send unmanned plane during flying status information, receive UAV Flight Control information, send the multi-medium data that described unmanned plane obtains;
Described ground controller utilizes described optimum communication to communicate with described unmanned plane, comprise the described unmanned plane during flying status information of reception, send described UAV Flight Control information, receive described multi-medium data, and described multi-medium data is sent to described Cloud Server;
The described multi-medium data that ground controller described in described cloud server sends, and process, store described multi-medium data.
As preferably, described from WiFi with based on selecting a kind of optimum communication to be specially the network of operator: to select the network based on operator to be optimum communication when the distance of described unmanned plane and described ground controller exceeds predeterminable range; Otherwise select WiFi to be optimum communication.
As preferably, adopt ietf standard multipath simultaneous interpretation technology between described unmanned plane and described ground controller or communicate based on the MultipathTCP technology of power consumption efficiency.
As preferably, described unmanned plane comprises further: fly to control platform, carried out the flight optimization parameter of unmanned plane described in dynamic conditioning for the correlation model based on data transmission rate-flight parameter by machine learning and prediction algorithm.
Beneficial effect of the present invention:
(1) in the prior art, unmanned plane carries out controlling often by WiFi, and the cost compare of WiFi, but its efficient communication scope narrow (being generally 1.5km), be also easily interfered; And high based on the cost compare of the network of operator, but coverage is relatively wider, and signal is also more stable.And the present invention gets up by WiFi with based on the network integration of operator, thus one of them preferably communication mode can be selected according to actual conditions, both can reduce costs, and also can expand the usable range of unmanned plane.
(2) distance is the principal element affecting Wifi communication quality, is also the parameter that a ratio is easier to measure.Therefore, in order to simple and convenient, the distance of choice for use unmanned plane of the present invention and ground controller, as index, when this index is greater than preset value, selects the network based on operator; Otherwise select WiFi.Fairly simple like this and convenient, the design of hardware and software is also than being easier to simultaneously, thus can effectively reduce cost.
(4) the present invention's utilize optimal communication mode needs that transmitting multimedia data, the state of flight information of unmanned plane and flight control information both can meet some application scenarios, also better can ensure that the normal flight of unmanned plane.
(5) the present invention adopts ietf standard multipath simultaneous interpretation technology or the MultipathTCP technical transmission data based on power consumption efficiency, so not only can improve throughput end to end, increases network utilization; Also can improve the service efficiency of battery simultaneously, improve the usable range of unmanned plane.
(6) the present invention can improve the message transmission rate between unmanned plane and ground controller, thus can the multi-medium data, particularly HD video data of Real-time Obtaining unmanned plane, can store these multi-medium datas simultaneously, for subsequent query and.
Accompanying drawing explanation
The process flow diagram of the wireless communications method of a kind of unmanned plane that Fig. 1 provides for the embodiment of the present invention 1;
The Organization Chart of the wireless communication system of a kind of unmanned plane that Fig. 2 provides for the embodiment of the present invention 2;
The Organization Chart of a kind of unmanned aerial vehicle (UAV) control that Fig. 3 provides for the embodiment of the present invention 3 and Multimedia Transmission System;
Wherein: 1. unmanned plane, 2. ground controller, 3. Cloud Server, 11. video cameras, 12. sensors, 13. fly to control platform, 14. state of flight acquisition modules, 15. multi-mode communication interfaces, 21. multi-mode communication interfaces.
Embodiment
Below in conjunction with embodiment, the present invention is further detailed explanation.
Embodiment 1
The invention provides a kind of wireless communications method of unmanned plane, as shown in Figure 1, comprise the steps:
Step S1: the state of flight information obtaining unmanned plane;
Step S2: utilize described state of flight information from WiFi with based on selecting a kind of optimum communication the network of operator.
In the prior art, unmanned plane carries out controlling often by WiFi, and the practical flight distance of unmanned plane can reach 25km (as when speed per hour is 50km/h, fly 30 minutes) more than, now will more than the effective communication distance of the 1.5km of WiFi, may have barrier, the covering of buildings between unmanned plane and ground controller, and the communication between them can be subject to the impact of the factors such as unmanned plane during flying height, speed, air borne dust simultaneously.And once can not effectively communicate between unmanned plane with ground controller, just likely there is the perils such as air crash in unmanned plane.And high based on the cost compare of the network of operator, but coverage is relatively wider, and signal is also more stable.The state of flight information of Real-time Obtaining unmanned plane of the present invention, then according to this state of flight information from WiFi with based on selecting a kind of optimum communication the network of operator, thus the effective communication between unmanned plane and ground controller can be ensured, can not only prevent unmanned plane from causing danger, the usable range of unmanned plane can also be improved.
Preferably, described state of flight information comprises the distance of unmanned plane and ground controller; And select the network based on operator to be optimum communication when the distance of unmanned plane and ground controller exceeds predeterminable range; Otherwise select WiFi to be optimum communication.
Distance is the principal element affecting Wifi communication quality, is also the parameter that a ratio is easier to measure, therefore, in order to simple and convenient, can the distance of choice for use unmanned plane and ground controller as index, when this index is greater than preset value, select the network based on operator; Otherwise select WiFi.Fairly simple like this and convenient, the design of hardware and software is also than being easier to simultaneously, thus can effectively reduce cost.
Alternatively, this predeterminable range can be 1.5km or 2km, also can determine according to actual conditions.
Preferably, described state of flight information comprises the signal intensity of WiFi; And when the signal intensity of described WiFi is greater than preset value, select WiFi to be optimum communication; Otherwise select the network based on operator to be optimum communication;
RST due to WiFi is subject to the impact of many factors, therefore the signal intensity of WiFi is selected can to react the communication quality of WiFi more accurately as index, thus can more effective unmanned plane be controlled, can more effectively prevent unmanned plane out of control or the accident such as air crash occurs.
Preferably, the wireless communications method of described unmanned plane also comprises the steps: to utilize described optimum communication to transmit data between unmanned plane and ground controller, the multi-medium data that described data comprise unmanned plane during flying status information, UAV Flight Control information, unmanned plane obtain.
In some practical applications of unmanned plane, as unmanned plane circuit is patrolled and examined, in real time in the application scenarios such as competition broadcast, unmanned plane express delivery complete monitoring, police unmanned plane real-time tracing, needed in real time multi-medium data that unmanned plane obtains (comprising: video of taking photo by plane, heat transfer agent, flight parameter etc.) to be sent to ground controller.And in order to better control the flight of unmanned plane, then need unmanned plane earthward controller send the state of flight information of this unmanned plane, unmanned plane also needs to receive the flight control information of ground controller.Utilize optimal communication mode needs that transmitting multimedia data, the state of flight information of unmanned plane and flight control information both can meet some application scenarios, also better can ensure that the normal flight of unmanned plane.
Preferably, ietf standard multipath simultaneous interpretation technical transmission data are adopted.
Ietf standard multipath simultaneous interpretation technical protocol is a kind of transport layer protocol utilizing mulitpath concurrent transmission, can improve throughput end to end, increases network utilization.Thus can more accurately, at high speed communicate.
Preferably, the MultipathTCP technical transmission data based on power consumption efficiency are adopted.
Employing is disclosed in the (IEEEGlobalCommunicationsConferenceworkshop (IEEEGlobecomworkshop) of the MultipathTCP technology based on power consumption efficiency in paper " ATrafficBurstiness-basedOffloadSchemeforEnergyEfficiency DeliveriesinHeterogeneousWirelessNetworks ", Atlanta, U.S., Dec.2013, pp.538-543) battery availability factor can be optimized further, thus the flight time of unmanned plane can be improved, improve the usable range of unmanned plane.
Embodiment 2
The invention provides a kind of wireless communication system of unmanned plane, as shown in Figure 2, comprise as lower module:
State of flight data obtaining module, for obtaining the state of flight information of unmanned plane;
Optimum communication selects module, for utilizing described state of flight information from WiFi with based on selecting a kind of optimum communication the network of operator.
In the prior art, unmanned plane carries out controlling often by WiFi, and the practical flight distance of unmanned plane can reach 25km (as when speed per hour is 50km/h, fly 30 minutes) more than, now will more than the effective communication distance of the 1.5km of WiFi, may have barrier, the covering of buildings between unmanned plane and ground controller, and the communication between them can be subject to the impact of the factors such as unmanned plane during flying height, speed, air borne dust simultaneously.And once can not effectively communicate between unmanned plane with ground controller, just likely there is the perils such as air crash in unmanned plane.And high based on the cost compare of the network of operator, but coverage is relatively wider, and signal is also more stable.The state of flight information of Real-time Obtaining unmanned plane of the present invention, then according to this state of flight information from WiFi with based on selecting a kind of optimum communication the network of operator, thus the effective communication between unmanned plane and ground controller can be ensured, can not only prevent unmanned plane from causing danger, the usable range of unmanned plane can also be improved.
Preferably, described state of flight information comprises the distance of unmanned plane and ground controller; And select the network based on operator to be optimum communication when the distance of unmanned plane and ground controller exceeds predeterminable range; Otherwise select WiFi to be optimum communication.
Alternatively, this predeterminable range can be 1.5km or 2km, also can determine according to actual conditions.
Preferably, described state of flight information comprises the signal intensity of WiFi; And when the signal intensity of described WiFi is greater than preset value, select WiFi to be optimum communication; Otherwise select the network based on operator to be optimum communication;
Preferably, the wireless communication system of described unmanned plane also comprises as lower module: data transmission module, for utilizing described optimum communication to transmit data between unmanned plane and ground controller, the multi-medium data that described data comprise unmanned plane during flying status information, UAV Flight Control information, unmanned plane obtain.Preferably, in data transmission module: adopt ietf standard multipath simultaneous interpretation technical transmission data.
Preferably, in data transmission module: adopt the MultipathTCP technical transmission data based on power consumption efficiency.
Embodiment 3
The invention provides a kind of unmanned aerial vehicle (UAV) control and Multimedia Transmission System, comprise unmanned plane 1, ground controller 2, Cloud Server 3, as shown in Figure 3, wherein:
Described unmanned plane is from WiFi with based on selecting a kind of optimum communication the network of operator, utilize described optimum communication to communicate with described ground controller, comprise and send unmanned plane during flying status information, receive UAV Flight Control information, send the multi-medium data that described unmanned plane obtains;
Described ground controller utilizes described optimum communication to communicate with described unmanned plane, comprise the described unmanned plane during flying status information of reception, send described UAV Flight Control information, receive described multi-medium data, and described multi-medium data is sent to described Cloud Server;
The described multi-medium data that ground controller described in described cloud server sends, and process, store described multi-medium data.
As shown in Figure 3, this unmanned plane 1 can comprise video camera 11, for obtaining video data of taking photo by plane; Sensor 12, for obtaining heat transfer agent; State of flight acquisition module 14, for obtaining flight parameter and state of flight information.This unmanned plane also comprises a multi-mode communication interface 15 simultaneously, and this multi-mode communication interface 15 supports WiFi communication and the network service (LTE/3G/GSM) based on operator simultaneously; When using carrier network, this multi-mode communication interface 15 can select access LTE, 3G or GSM network according to current signal strength and base station distribution situation.Described unmanned plane 1 is communicated with ground controller 2 by this multimode acquisition module 15.
Multi-mode communication can keep the stability switched between different communication interface.Due to unmanned plane high-speed mobile in three dimensions itself, and multi-mode communication can ensure timely switching, thus can avoid because signal intensity weakens rapidly or lost contact and air crash accident that the unmanned plane that causes causes because of out of control, and can the data dithering caused because of switching and time be dropped to minimum.
Cloud Server 3 can provide magnanimity distributed storage and streaming media service, and can be provided the real-time Transmission business of highly reliable QoS by commercial streaming media server.And Cloud Server 3 can allow the unmanned plane of user management oneself to take photo by plane video, and shared by proprietary social platform.User video is stored in Cloud Server, can carry out streaming media playing or download at any time.
Preferably, described from WiFi with based on selecting a kind of optimum communication to be specially the network of operator: to select the network based on operator to be optimum communication when the distance of described unmanned plane and described ground controller exceeds predeterminable range; Otherwise select WiFi to be optimum communication.
Preferably, ietf standard multipath simultaneous interpretation technology is adopted to communicate between described unmanned plane and described ground controller.
Preferably, the MultipathTCP technology based on power consumption efficiency is adopted to communicate between described unmanned plane and described ground controller.
Preferably, described unmanned plane 1 comprises further: fly to control platform 13, carried out the flight optimization parameter of unmanned plane described in dynamic conditioning for the correlation model based on data transmission rate-flight parameter by machine learning and prediction algorithm.
Message transmission rate between unmanned plane 1 and ground controller 2 can be subject to unmanned plane during flying height, the impact of speed and operator's base station distribution, and when unmanned plane during flying attitude occurs significantly to change, can cause violent shake to data transmission throughput.The solution adopted is by data transmission rate (goodput) and unmanned plane during flying parameter model, flies to control the correlation model of platform based on number biography-flight parameter by machine learning and prediction algorithm dynamic conditioning flight optimization parameter to reach the object of self-adaptation handling capacity.Communication between unmanned plane and Cloud Server can be subject to the impact of the factors such as flying height, speed, air borne dust, building defilade, can cause data-bag lost, delay time and jitter.Data rate and flight parameter model are the key input indexs flying to control platform dynamic conditioning, therefore, need accurate model and fly control platform machine learning algorithm efficiently.
Obviously, above-described embodiment is only for clearly example being described, and the restriction not to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.And thus the apparent change of extending out or variation be still among the protection domain of the invention.
Claims (10)
1. a wireless communications method for unmanned plane, is characterized in that, comprises the steps:
Obtain the state of flight information of unmanned plane;
Utilize described state of flight information from WiFi with based on selecting a kind of optimum communication the network of operator.
2. the wireless communications method of unmanned plane according to claim 1, is characterized in that:
Described state of flight information comprises the distance of unmanned plane and ground controller;
And select the network based on operator to be optimum communication when the distance of unmanned plane and ground controller exceeds predeterminable range; Otherwise select WiFi to be optimum communication.
3. the wireless communications method of unmanned plane according to claim 1 and 2, is characterized in that, also comprises the steps:
Utilize described optimum communication to transmit data between unmanned plane and ground controller, described data comprise unmanned plane during flying status information, multi-medium data that UAV Flight Control information, unmanned plane obtain.
4. a wireless communication system for unmanned plane, is characterized in that, comprises as lower module:
State of flight data obtaining module, for obtaining the state of flight information of unmanned plane;
Optimum communication selects module, utilizes described state of flight information from WiFi with based on selecting a kind of optimum communication the network of operator.
5. the wireless communication system of unmanned plane according to claim 4, is characterized in that:
Described state of flight information comprises the distance of unmanned plane and ground controller;
And select the network based on operator to be optimum communication when the distance of unmanned plane and ground controller exceeds predeterminable range; Otherwise select WiFi to be optimum communication.
6. the wireless communication system of the unmanned plane according to claim 4 or 5, is characterized in that, also comprises as lower module:
Data transmission module, the multi-medium data that for utilizing described optimum communication to transmit data between unmanned plane and ground controller, described data comprise unmanned plane during flying status information, UAV Flight Control information, unmanned plane obtain.
7. unmanned aerial vehicle (UAV) control and a Multimedia Transmission System, comprise unmanned plane, ground controller, and Cloud Server is characterized in that:
Described unmanned plane is from WiFi with based on selecting a kind of optimum communication the network of operator, utilize described optimum communication to communicate with described ground controller, comprise and send unmanned plane during flying status information, receive UAV Flight Control information, send the multi-medium data that described unmanned plane obtains;
Described ground controller utilizes described optimum communication to communicate with described unmanned plane, comprise the described unmanned plane during flying status information of reception, send described UAV Flight Control information, receive described multi-medium data, and described multi-medium data is sent to described Cloud Server;
The described multi-medium data that ground controller described in described cloud server sends, and process, store described multi-medium data.
8. unmanned aerial vehicle (UAV) control according to claim 7 and Multimedia Transmission System, is characterized in that, described from WiFi with based on selecting a kind of optimum communication to be specially the network of operator:
The network based on operator is selected to be optimum communication when the distance of described unmanned plane and described ground controller exceeds predeterminable range; Otherwise select WiFi to be optimum communication.
9. the unmanned aerial vehicle (UAV) control according to claim 7 or 8 and Multimedia Transmission System, is characterized in that:
Adopt ietf standard multipath simultaneous interpretation technology between described unmanned plane and described ground controller or communicate based on the MultipathTCP technology of power consumption efficiency.
10. unmanned aerial vehicle (UAV) control according to claim 7 and Multimedia Transmission System, is characterized in that, described unmanned plane comprises further:
Fly to control platform, carried out the flight optimization parameter of unmanned plane described in dynamic conditioning for the correlation model based on data transmission rate-flight parameter by machine learning and prediction algorithm.
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