CN105682158A - Communication control method and apparatus for unmanned aerial vehicle - Google Patents
Communication control method and apparatus for unmanned aerial vehicle Download PDFInfo
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- CN105682158A CN105682158A CN201610003298.0A CN201610003298A CN105682158A CN 105682158 A CN105682158 A CN 105682158A CN 201610003298 A CN201610003298 A CN 201610003298A CN 105682158 A CN105682158 A CN 105682158A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/0005—Control or signalling for completing the hand-off
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/0005—Control or signalling for completing the hand-off
- H04W36/0055—Transmission or use of information for re-establishing the radio link
- H04W36/0066—Transmission or use of information for re-establishing the radio link of control information between different types of networks in order to establish a new radio link in the target network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/24—Reselection being triggered by specific parameters
- H04W36/30—Reselection being triggered by specific parameters by measured or perceived connection quality data
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W24/08—Testing, supervising or monitoring using real traffic
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Abstract
The invention discloses a communication control method and apparatus for an unmanned aerial vehicle. The method comprises the steps of: detecting whether network parameters corresponding to a current network meet preset conditions; when the network parameters meet the preset conditions, generating a network switching request of a communication network; sending the network switching request to a control terminal; and if receiving a switching confirmation instruction returned by the control terminal in a preset time period, according to the switching confirmation instruction, switching the current network into a target network. Namely, when the unmanned aerial vehicle detects that the current network is interfered, the unmanned aerial vehicle generates the communication network switching request and fulfills the communication network switching aim by communication with the control terminal, so that the problem that the unmanned aerial vehicle is out of control due to interference to the communication network can be avoided, thereby improving control stability and safety of the unmanned aerial vehicle.
Description
Technical field
The application relates to communication technical field, particularly relates to communication control method and the device of a kind of unmanned vehicle.
Background technology
Unmanned vehicle exploitation producer and user's problem of interest has been become along with the extensive use of unmanned vehicle particularly many rotor unmanned aircrafts, unmanned vehicle and unmanned vehicle control the communication of safety between end. Current main flow unmanned vehicle is generally adopted point-to-point control, namely a ground control cabinet controls a unmanned vehicle, and within the control method of unmanned vehicle is limited in visual range substantially, limited span of control is largely determined by unmanned vehicle and unmanned vehicle controls the remote range frequency that end communication frequency adopts, its transmitting power is limited, controls for over the horizon and image passback all exists bottleneck. On the other hand, unmanned vehicle controls frequency range many employings 2.4GHz frequency range, 2.4GHzISM is the radio band that the whole world discloses general use, WLAN, Bluetooth communication, microwave oven, wireless phone, wireless camera, outdoor microwave link, wireless game controller, Zigbee, WiMax etc. are all operated in this frequency range, therefore under 2.4GHz frequency range, control unmanned vehicle be easily subject to the interference from the same frequency of other electronic equipment or adjacent frequency equipment, causing that unmanned vehicle is uncontrollable, even the situation such as air crash or loss occurs.
Summary of the invention
Embodiments provide communication control method and the equipment of a kind of unmanned vehicle, in order to solve prior art controls under fixed frequency range the problem that unmanned vehicle is easily disturbed and out of control.
Its concrete technical scheme is as follows:
A kind of communication control method of unmanned vehicle, described method includes:
Whether the network parameter detecting current network corresponding meets pre-conditioned;
When described network parameter meets pre-conditioned, generate first network handover request;
Described first network handover request is sent to controlling end;
Detect whether to receive in preset time period and control the switching confirmation instruction that end returns;
If so, then confirm instruction according to described switching, switch to described purpose network from current network.
Optionally, detection network parameter corresponding to current network whether meet pre-conditioned before, described method also includes:
Carry out code, the point-to-point communication set up and control between end with controlling end;
Start mobile communication module, to control terminal authenticate, network attachment, set up mobile communication route.
Optionally, whether the network parameter detecting current network corresponding meets pre-conditioned, including:
Signal intensity in described network parameter and signalc threshold are compared;
If described signal intensity is less than described signalc threshold, then described network parameter meets fore condition;
If described signal intensity is more than described signalc threshold, then whether detect the bit error rate in described network parameter more than wrong code distortion;
If the described bit error rate is more than described wrong code distortion, then described network parameter meets pre-conditioned;
If the described bit error rate is less than described wrong code distortion, then described network parameter is unsatisfactory for pre-conditioned.
Optionally, when receiving described control end group in the switching confirmation instruction that described network switching request returns, confirm instruction according to described switching, switch to described purpose network from current network, including:
Open timer, and detect whether in the preset time period that timer sets, receive the switching confirmation instruction that described control end group returns in described network switching request;
If so, then confirm instruction according to described switching, switch to described purpose network from described current network;
If it is not, be then directly switch into the described purpose network of limit priority.
Optionally, confirm instruction according to described switching, switch to described purpose network from current network, including:
Output information, wherein, described information is used for pointing out user that communication network is switched over;
Detect whether that there is the switching based on described information manipulates instruction;
If there is described switching manipulation instruction, then switch to described purpose network from described current network.
Optionally, described according to described switching confirm instruction, switch to described purpose network from current network, including:
Confirm that instruction carries out network switching according to described switching;
Detect whether successfully to switch to described purpose network from described current network;
If success switches to described purpose network from described current network, then keep the network service between described control end;
Described purpose network is switched to from described current network if unsuccessful. Then generate output and characterize the information of network connection failure.
Optionally, confirming instruction according to described switching, after current network switches to described purpose network, described method also includes:
Whether the real-time signal intensity detecting described current network and the bit error rate are recovered;
If the signal intensity of described current network and the bit error rate are recovered, then generate the second network switching request, and described second network switching request is sent to described control end;
If the switching based on described second network switching request generation receiving the return of described control end confirms instruction, then switch back into described current network from described purpose network.
A kind of communication control unit of unmanned vehicle, including:
Detection module, for detecting whether network parameter corresponding to current network meets pre-conditioned;
Generation module, for when described network parameter meets pre-conditioned, generating first network handover request;
Sending module, for sending described first network handover request to controlling end;
Network handover module, controls, for detecting whether to receive in preset time period, the switching confirmation instruction that end returns, if so, then confirms instruction according to described switching, switch to described purpose network from current network.
Optionally, described detection module, specifically for comparing the signal intensity in described network parameter and signalc threshold; If described signal intensity is less than described signalc threshold, then described network parameter meets fore condition; If described signal intensity is more than described signalc threshold, then whether detect the bit error rate in described network parameter more than wrong code distortion; If the described bit error rate is more than described wrong code distortion, then described network parameter meets pre-conditioned; If the described bit error rate is less than described wrong code distortion, then described network parameter is unsatisfactory for pre-conditioned.
Optionally, described network handover module, specifically for detecting whether to receive the switching confirmation instruction that described control end group returns in described network switching request in the preset time period that timer sets; If so, then confirm instruction according to described switching, switch to described purpose network from described current network; If it is not, be then directly switch into the described purpose network of limit priority.
In method provided by the present invention, whether the network parameter that unmanned vehicle detects current network corresponding meets pre-conditioned, when network parameter meets pre-conditioned, generate the network switching request of communication network, network switching request is sent to controlling end, if receive the switching confirmation instruction controlling end return in preset time period, confirm instruction according to switching, switch to purpose network from current network. That is, when unmanned vehicle detects that current network is interfered, unmanned vehicle will generate communication network handover request, by having communicated the purpose of communication network switching with control end, the problem that thus communication network can be avoided to be interfered and to cause unmanned vehicle out of control, and then promote control stability and the safety of unmanned vehicle.
Additionally; in the present invention; control end and can generate switching confirmation instruction based on the network switching request of unmanned vehicle; and confirm that instruction indicates unmanned vehicle to carry out network switching according to switching; and self also will switch to map network; this ensure that unmanned vehicle with control communicate between end appearance exception or unstable time; by timely handover network; and also control unmanned vehicle and carry out network switching, this ensure that the control stability of unmanned vehicle and reliability.
Accompanying drawing explanation
Fig. 1 is the structural representation of the control part of unmanned vehicle in the embodiment of the present invention;
Fig. 2 is the flow chart of the communication control method of a kind of unmanned vehicle in the embodiment of the present invention;
Fig. 3 is the structural representation of the control part controlling end in the embodiment of the present invention;
Fig. 4 is the flow chart of the communication control method of a kind of unmanned vehicle in the embodiment of the present invention;
Fig. 5 is the structural representation of the communication control unit of a kind of unmanned vehicle in the embodiment of the present invention;
Fig. 6 is the structural representation of the communication control unit of a kind of unmanned vehicle in the embodiment of the present invention.
Detailed description of the invention
Embodiment one:
Embodiments provide the communication control method of a kind of unmanned vehicle, the method includes: whether the network parameter detecting current network corresponding meets pre-conditioned, when network parameter meets pre-conditioned, generate the network switching request of communication network, network switching request is sent to controlling end, controlling end group when the switching that network switching request returns confirms instruction if receiving in preset time period, confirming instruction according to switching, switching to purpose network from current network. That is, when unmanned vehicle detects that current network is interfered, unmanned vehicle will generate communication network handover request, by having communicated the purpose of communication network switching with control end, the problem that thus communication network can be avoided to be interfered and to cause unmanned vehicle out of control, and then promote control stability and the safety of unmanned vehicle.
Below by accompanying drawing and specific embodiment, technical solution of the present invention is described in detail, it is to be understood that, concrete technical characteristic in the embodiment of the present invention and embodiment is the explanation to technical solution of the present invention, rather than limit, when not conflicting, the embodiment of the present invention and the concrete technical characteristic in embodiment can be mutually combined.
The communication control method of a kind of unmanned vehicle that the embodiment of the present invention one provides is applied in unmanned vehicle, the structural representation of the control part being illustrated in figure 1 in the embodiment of the present invention in unmanned vehicle, and this control part includes:
Application processor module 101, as the core processing module of unmanned vehicle, including: CPU, memory ram, operating system and application software. This module is responsible for multi-task scheduling, including sensing data process accessing application module, radio communication function, memory read/write and unmanned vehicle etc.
Memorizer and SD interface 102, including: can the SDD hard disk of fast reading and writing and can be inserted into the mobile read-write equipment of SD card, it is mainly used in storage unmanned vehicle device data and types of applications data, for instance: unmanned vehicle device code, hardware data, Default Value, video media stream, Flight Condition Data etc.
Mobile communication base band and radio frequency processing module 103, this mobile communication base band and radio frequency processing module 103 are main by 2G/3G/4G wireless communication chips fabric one-tenth, it is responsible for being received by mobile communications network flight control signal and the types of applications layer instruction message of the unmanned vehicle that ground control terminal sends, video, audio frequency, sensing data and other application software information that unmanned plane gathers is sent the control end to ground by mobile communications network simultaneously. When using mobile communications network as data transmission network, control video, voice data that end may choose whether that passback unmanned plane gathers in real time, and the volume sensing data of unmanned vehicle can remain transmission state with controlling data.
SIM module 104, including: SIM socket and data-reading unit, SIM or usim card are that user is sent by Mobile Network Operator after signing network service contract, this SIM module 104 can read user profile in SIM or usim card, including: user signing contract information, IMSI (IMSI International Mobile Subscriber Identity) number, authentication tlv triple or five-tuple data.
2.4GHz communication module 105, this 2.4GHz communication module 105 sets up short haul connection by 2.4GHz communication frequency, and the outdoor environment moved at indoor or low speed preferably this 2.4GHz communication module 105 can set up the communication connection controlled between end on unmanned Fetion device and ground.
Satellite communication module 106, this module utilizes satellite communication channel to set up the communication connection controlled between end on unmanned vehicle and ground, is usually when without other available wireless communication networks, can use satellite communication module 106, as emergency communication. Certainly satellite communication module 106 here is optional module, is not necessarily need assembling on unmanned vehicle.
Communication network control module 107, this communication network control module 107 controls channel by analyzing uplink communication in real time, signal intensity that different communication network monitors and error rate data, determine that unmanned plane selects which kind of communication network and ground control terminal to be controlled command communication and data transmission, generate network switching request and be sent to control end, or receive the switching confirmation request that control end sends, and make the switching of communications control mode.
State of flight module 108, gathers and records various sensing datas and the gps data of unmanned vehicle, and the wireless communication module selected by communication network control module 107 is back to control end in real time.
GPS module 109: by high sensitivity GPS receptor, when capturing effective satellite-signal, this module is for determining the longitude and latitude position that unmanned plane is current.
Gyroscope 110: by sensor, real-time collecting unmanned vehicle azimuth information.
Accelerometer 111: by sensor, the conversion of the speed on real-time collecting unmanned vehicle traffic direction.
Gravity sensor 112: by sensor, the difference of real-time collecting unmanned vehicle and earth horizontal plane, i.e. flight attitude.
Flight control modules 113, receives the high in the clouds management server control instruction to unmanned plane, reads flight status parameter in real time, perform aerial mission according to planning flight path, sends in nearly barrier warning situation in automatic obstacle-avoiding module 114, takes avoidance flare maneuver.
Automatic obstacle-avoiding module 114; unmanned plane configures ultrasonic listening sensor in a different direction; sensorcraft peripheral obstacle; when the certain distance of heading detects barrier; the request of deceleration avoidance is sent to flight control modules 113; when distance reduces further, send hovering or the request that rises to flight control modules.
Camera module 115, Airborne Camera is responsible for gathering HD video and static graphic information.
Media Stream processing module 116, carries out high efficiency of compression coded treatment by video or picture so that image or video content are easy to transmit in all kinds of cordless communication networks in real time, are back to control end.
Expansible application module 117, the reserved exploitation applied as all kinds of unmanned planes of this module, the User Exploitation interface increased income and SDK (SDK) allow developer can easily call the application programming interfaces of unmanned plane, access photographic head, radio communication function, data base and various kinds of sensors initial data.
Above-mentioned structure is the modules structure of the control part in unmanned vehicle and function corresponding to modules, based on above-mentioned middle control part, the flow process of the communication control method of a kind of unmanned vehicle provided in the embodiment of the present invention is as in figure 2 it is shown, the method includes:
S201, whether the network parameter detecting current network corresponding meets pre-conditioned;
If so, S202 is then performed; If it is not, then perform 206.
S202, generates communication network handover request;
S203, sends network switching request to controlling end;
S204, detects whether that in preset time period receiving the switching controlling end return confirms instruction;
If so, S205 is then performed; If it is not, then perform S206.
S205, confirms instruction according to switching, switches to purpose network from current network;
S206, continues through current network and communicates with controlling end.
First, flight characteristic according to unmanned vehicle, the control of unmanned vehicle and high speed data transfers need the support of wireless network, existing wireless network is broadly divided into: WLAN, mobile communications network, satellite communication network etc., feature according to wireless network, 2.4GHz Control on Communication frequency range and image transmitting frequency range, this band transmissions speed is high, transmission range is within the scope of 100-300m, is suitable in unmanned vehicle horizon range and controls and image transmitting. So unmanned vehicle can prioritizing selection 2.4GHz frequency range.
Specifically, unmanned vehicle is started shooting, 2.4GHz is carried out to code with controlling end, the Point-to-Point Data communication lines set up and control between end by, unmanned vehicle and control the mobile communication module of end and carry out network authentication, network attachment, set up with the mobile communication network communication lines controlled between end by. For the horizon range of unmanned vehicle, prioritizing selection 2.4GHz frequency range.
If not setting up 2.4GHz point-to-point communication, then prompting network service connection failure. Certainly, if mobile radio communication data communication route is set up unsuccessfully, also will be prompted to network service connection failure, remind connection failure timely so can to user, in order to user can reconnect timely.
After setting up above-mentioned network data communication route, unmanned vehicle would first, through 2.4GHz frequency range to controlling end passback sensing data and view data.
In unmanned vehicle use procedure, the network parameter of real-time detection current network, network parameter here has included at least signal intensity and the bit error rate, and the two parameter can directly react the degree that current network is disturbed.
First the signal intensity in network parameter and signalc threshold are compared, if signal intensity is less than the first signalc threshold, then illustrate that signal intensity meets pre-conditioned, namely being interfered of 2.4GHz communication network, data transmission instability, current 2.4GHz frequency range can not normally use, and 2.4GHz communication network will can not complete current data transmission, therefore be accomplished by generating first network handover request. Here the first signal strength threshold can be-85dbm.
If, when this signal intensity is more than the first signalc threshold, now by the bit error rate that judges further in network parameter whether more than the first wrong code distortion, if the bit error rate is less than the first wrong code distortion, then illustrate that current network is stable, 2.4GHz network service can be maintained, this ensures that there the stability of data transmission. Here the first wrong code distortion can be 10-3。
If the bit error rate is more than the first wrong code distortion, then illustrate that network parameter meets pre-conditioned, namely illustrate that current network error code in data transmission procedure is more, if being continuing with current network to will result in corrupt data, so first network handover request will be generated. The switching of this network is please used for asking switching communication network exactly, such as switches to cordless communication network from current 2.4GHz communication network, or switches to satellite communication network etc. from current 2.4GHz communication network.
After generating network switching request, this first network handover request is sent to controlling end, and the real-time switching detecting whether to receive control end return confirms instruction, in embodiments of the present invention, in order to point out communication network switching efficiency, therefore, after have sent network switching request to control end, open timer, and in the preset time period that timer sets, detect whether that receiving switching confirms instruction.
If receiving switching in preset time period to confirm instruction, then confirm that instruction communicates network switching according to switching; If not receiving switching in preset time period to confirm instruction, then it is made directly network switching, that is, if receiving switching in preset time period to confirm instruction, then switch over according to this instruction, if not receiving switching in preset time period to confirm instruction, then it is directly switch into the purpose network of limit priority, this ensure that when current network occurs abnormal, the switching of network can be communicated timely, thus the communication stability improved between unmanned vehicle and control section.
Further, in the above-described embodiment, so that the network switching process process that to be user controlled, therefore, switching for communication network can also allow user get involved, specifically: after receiving the switching controlling end return and confirming instruction, it is also possible to export an information, this information can point out user to communicate network switching. After output information, will detect whether there is the handover operation instruction based on information, if there is this switching manipulation instruction, then switch to purpose network from current network. The process of namely network switching can be controlled by user, it is ensured that the reliability of unmanned vehicle communication network switching and stability.
Need exist for explanation, in embodiments of the present invention, 2.4GHz communication network could be arranged to the communication network that priority is the highest, next to that cordless communication network, such as 2G/3G/4G communication network, can be thirdly wireless MAN network, can be Stratosphere Communication network secondarily, be thirdly satellite communication network. The priority of certain communication network can be adjusted according to different application scenarios.
For example, when 2.4GHz communication network occurs abnormal, then the communication network of unmanned vehicle is by the sequencing according to priority, first selects to be switched to cordless communication network. Certainly, if the switching being not received by controlling end confirms instruction, also can first select to be switched to cordless communication network.
Further, after unmanned vehicle is switched to cordless communication network from 2.4GHz communication network, unmanned vehicle will remain in and communicates with control end under cordless communication network. And whether the signal intensity of real-time detection current network and the bit error rate recover, if the signal intensity of current network and the bit error rate are recovered, then generate the second network switching request, and the second network switching request is sent to controlling end.
Specifically, unmanned vehicle is by the real-time signal intensity detecting 2.4GHz communication network and the bit error rate, it is determined that whether the signal intensity of 2.4GHz communication network is more than secondary signal threshold value.
If the signal intensity of 2.4GHz communication network is less than secondary signal thresholding, then maintains cordless communication network and connect;
If the signal intensity of 2.4GHz communication network is more than secondary signal thresholding, whether then detect the bit error rate of 2.4GHz communication network further lower than the second wrong code distortion, if the bit error rate is higher than the second wrong code distortion, then illustrating that current 2.4GHz communication network is unstable, connecting so continuing to cordless communication network; If the bit error rate is lower than the second wrong code distortion, then illustrating that 2.4GHz communication network is stable, so unmanned vehicle will generate the second network switching request, the second network switching request here switches to 2.4GHz communication network for request. Here secondary signal thresholding can be-78dbm, and the second threshold bit error rate can be 10-4。
Second network switching request is sent to controlling end by unmanned vehicle, and open timer, then detect and in preset time period, whether receive control end group in the second network switching request return switching confirmation instruction, if receive this switching confirmation instruction in this preset time period, then current cordless communication network switches back into 2.4GHz communication network; If do not receive this switching confirmation instruction in preset time period, then directly switch back into 2.4GHz communication network from current cordless communication network, this ensure that unmanned vehicle can carry out network switching timely.
When second time carries out network switching, it is also possible to point out user to communicate the switching of network by information, after the instruction obtaining user, then communicate the switching of network, here just repeat no more.
Certainly, when switching over, in addition it is also necessary to whether detection network switching is successful, if during network handover success, then 2.4GHz communication network is used to carry out data transmission and communicate.
If handoff failure, then generating information, this information is used for information, and this information can network handoff failure.
Can when there is exception in current network communication or current network communication occurs unstable at a kind of communication control method providing a kind of unmanned vehicle of inventive embodiments; the network switching request that will generate timely; and confirm that instruction carries out network switching based on the switching controlling end return; so can so that keeping of communication between unmanned vehicle and control end is real-time unimpeded, thus ensure that the stability that unmanned vehicle uses.
Embodiment two:
In the embodiment of the present invention, additionally providing the communication control method of a kind of unmanned vehicle, the method is applied in control end, and the structural representation of this control end is as it is shown on figure 3, this control end includes:
Application processor module 301, as the core processing module controlling end, including: CPU, memory ram, operating system and application software. This module is responsible for multi-task scheduling, including accessing application module function, radio communication function, memory read/write function etc.
Memorizer and SD interface 302, including: can the SDD hard disk of fast reading and writing and can be inserted into the mobile read-write equipment of SD card, be mainly used in flying quality and the types of applications data of storage unmanned vehicle passback.
Mobile communication base band and radio frequency processing module 303, this module is mainly become by 2G/3G/4G wireless communication chips fabric, is responsible for receiving, by mobile communications network, all kinds of flight sensor data and the view data that unmanned vehicle sends; Control the end control instruction message to unmanned vehicle by sending simultaneously. When using mobile communications network as data transmission network, control video, voice data that end may choose whether that passback unmanned vehicle gathers in real time, and unmanned vehicle sensing data can remain transmission state with controlling data.
SIM module 304, including: SIM socket and data-reading unit, SIM or usim card are that user is sent by Mobile Network Operator after signing network service contract, this module can read user profile in SIM or usim card, including: user signing contract information, IMSI (IMSI International Mobile Subscriber Identity) number, authentication tlv triple or five-tuple data.
2.4GHz communication module 305, this module sets up horizon range communication by 2.4GHz communication frequency, preferably this module can set up the communication connection between unmanned vehicle and ground control terminal at indoor or 0-500m visual range scope outdoor environment.
Satellite communication module 306, this module utilizes satellite communication channel to set up the communication connection between unmanned vehicle and ground control terminal, is usually when without other available wireless communication networks, can use satellite communication module, as emergency communication. This satellite communication module 306 is optional module, can not comprise this module in this control end.
Communication network control module 307, this module is responsible for analyzing downlink communication channel, the signal intensity of different communication network and error rate data, processes the communication pattern handover request that unmanned vehicle proposes, or generate communication pattern handover request, and make the switching of communications control mode.
Human-computer interaction module 308, it is achieved the control instruction of unmanned vehicle is issued, it is achieved the flight of monitor in real time unmanned vehicle performs process.
Media Stream processing module 309, carries out real time codec process to media stream datas such as the sound of unmanned plane passback, images.
Display screen 310, presents GIS map information, presents every sensing data of unmanned vehicle, including: position, direction, speed, attitude, highly, the information such as course continuation mileage. When controlling end and selecting unmanned vehicle passback view data, realtime image data can be presented.
Flight sensor data module 311, every flight sensor data of Real-time Collection unmanned vehicle passback.
Flight line customized module 312, according to controlling end subscriber demand, based on the geography information that GIS module 313 provides, formulate aircraft autonomous flight route flight path, including aircraft landing point, hovering point, level point, track points, make a return voyage a little, the flying height on flight path, flight speed.
Based on above-mentioned control end structure, the method flow diagram that this control end will perform as shown in Figure 4, the method includes:
S401, detects whether to receive network switching request;
If receiving, then perform S402; If not receiving, then perform S406.
S402, whether detection control signal loses;
If so, S405 is then performed; If it is not, then perform S403.
S403, sends switching to unmanned vehicle and confirms instruction;
S404, switches to purpose network by current network;
S405, generates the information of network connection failure;
S406, keeps current network and unmanned vehicle to communicate.
Specifically, control end and carry out 2.4GHz to code with unmanned vehicle, set up and unmanned vehicle between Point-to-Point Data communication lines by, the mobile communication module controlling end and unmanned vehicle carries out network authentication, network attachment, set up with the mobile communication network communication lines controlled between end by. For the horizon range of unmanned vehicle, prioritizing selection 2.4GHz frequency range.
If not setting up 2.4GHz point-to-point communication, then prompting network service connection failure. Certainly, if mobile radio communication data communication route is set up unsuccessfully, also will be prompted to network service connection failure, remind connection failure timely so can to user, in order to user can reconnect timely.
After setting up above-mentioned network data communication route, control end and would first, through the 2.4GHz frequency range data to unmanned vehicle transmission control instruction and reception unmanned vehicle transmission.
After setting up above-mentioned network and connecting, what control end can be real-time detects whether to receive network switching request, and the switching of this network please be for switching communication network.
If receiving network switching request, then whether detection control signal loses, if control signal is lost, then generates the information of network connection failure, so can point out network connection failure timely, it is impossible to by control signal transmission to unmanned vehicle.
If control signal is not lost, then sending switching to unmanned vehicle and confirm instruction, this switching confirms that instruction is used for indicating unmanned vehicle to switch to purpose network from current network. Such as switch to mobile communications network from 2.4GHz communication network.
Certainly, in order to ensure to control the communication between end and unmanned vehicle, after by switching confirmation instruction transmission to unmanned vehicle, controlling end will switch to purpose network from current network, namely switch to mobile communications network from 2.4GHz communication network.
When switching, control end and can detect whether successful network switches, if handover success, then communicated by mobile communications network and unmanned vehicle; If handoff failure, then generating information, this information is used for pointing out network connection failure.
Further, in embodiments of the present invention, before by switching confirmation instruction transmission to unmanned vehicle, control end also to will detect whether to close the real-time retransmission function of image, if need to close image real-time retransmission function, then notice unmanned vehicle cuts out the real-time retransmission function of image, so can reduce network bandwidth pressure, make unmanned vehicle and the communication controlled between end more reliable and stable, it is ensured that unmanned vehicle handling.
Further, in embodiments of the present invention, after control end switches to purpose network from current network, namely from after 2.4GHz communication network switches to mobile communications network, controlling end and real-time is detected whether that receive unmanned vehicle switches to the network switching request of 2.4GHz communication network from mobile communications network.
If receive the network switching request switching to 2.4GHz communication network from mobile communications network, then whether detection control signal loses, if control signal is lost, then generate information, this information is used for pointing out network connection failure, if control signal is not lost, then generates switching and confirms instruction, and switching is confirmed that instruction sends to unmanned vehicle, so that unmanned vehicle switches to 2.4GHz communication network from mobile communications network.
After by switching confirmation instruction transmission to unmanned vehicle, controlling end will switch to current network from purpose network, namely switch to 2.4GHz communication network from mobile communications network.
In the process of switching, control end also that whether detection switching is successful, if handover success, then use 2.4GHz communication network and unmanned vehicle to communicate; If handoff failure, then generating information, this information is used for pointing out network connection failure.
Embodiment two provides the communication control method of a kind of unmanned vehicle; control end in the method and can generate switching confirmation instruction based on the network switching request of unmanned vehicle; and confirm that instruction indicates unmanned vehicle to carry out network switching according to switching; and self also will switch to map network; this ensure that unmanned vehicle with control communicate between end appearance exception or unstable time; by timely handover network; and also control unmanned vehicle and carry out network switching, this ensure that the control stability of unmanned vehicle and reliability.
Embodiment three:
The communication control method of a kind of unmanned vehicle in the corresponding embodiment of the present invention one, the embodiment of the present invention additionally provides the device of a kind of unmanned vehicle Control on Communication, the structural representation of the communication control unit being illustrated in figure 5 in the embodiment of the present invention a kind of unmanned vehicle, this device includes:
Detection module 501, for detecting whether network parameter corresponding to current network meets pre-conditioned;
Generation module 502, for when described network parameter meets pre-conditioned, generating first network handover request;
Sending module 503, for sending described first network handover request to controlling end;
Network handover module 504, controls, for detecting whether to receive in preset time period, the switching confirmation instruction that end returns, if so, then confirms instruction according to described switching, switch to described purpose network from current network.
Further, in embodiments of the present invention, described device also includes:
2.4GHz communication module, for carrying out code, the point-to-point communication set up and control between end with control end;
Mobile communication base band and radio frequency processing module, for control terminal authenticate, network attachment, set up mobile communication route.
Further, in embodiments of the present invention, described detection module 501, specifically for comparing the signal intensity in described network parameter and signalc threshold; If described signal intensity is less than described signalc threshold, then described network parameter meets fore condition; If described signal intensity is more than described signalc threshold, then whether detect the bit error rate in described network parameter more than wrong code distortion; If the described bit error rate is more than described wrong code distortion, then described network parameter meets pre-conditioned; If the described bit error rate is less than described wrong code distortion, then described network parameter is unsatisfactory for pre-conditioned.
Further, in embodiments of the present invention, network handover module 504, specifically for opening timer, and detect whether in the preset time period that timer sets, receive the switching confirmation instruction that described control end group returns in described network switching request; If so, then confirm instruction according to described switching, switch to described purpose network from described current network; If it is not, be then directly switch into the described purpose network of limit priority.
Further, in embodiments of the present invention, according to described switching, network handover module 504, specifically for confirming that instruction carries out network switching; Detect whether successfully to switch to described purpose network from described current network; If success switches to described purpose network from described current network, then keep the network service between described control end; Described purpose network is switched to from described current network if unsuccessful. Then generate output and characterize the information of network connection failure.
Further, in embodiments of the present invention, described detection module 501, is additionally operable to the real-time signal intensity detecting described current network and whether the bit error rate is recovered;
Described generation module 502, if being additionally operable to signal intensity and the bit error rate recovery of described current network, then generates the second network switching request;
Described sending module 503, is additionally operable to send to described control end described second network switching request;
Described network handover module 504, if being additionally operable to receive the switching that described control end returns generates based on described second network switching request when confirming instruction, then switches back into described current network from described purpose network.
Embodiment four:
The communication control method of a kind of unmanned vehicle in the corresponding embodiment of the present invention one, the embodiment of the present invention additionally provides the device of a kind of unmanned vehicle Control on Communication, the structural representation of the communication control unit being illustrated in figure 6 in the embodiment of the present invention a kind of unmanned vehicle, this device includes:
Detection module 601, for detecting whether receive network switching request;
Processing module 602, for when network switching request being detected, then whether detection control signal loses; If detecting, control signal is not lost, then send switching to unmanned vehicle and confirm instruction, and wherein, described switching confirms that instruction indicates the purpose network switched to;
Network handover module 603, for switching to described purpose network, to keep the communication with described unmanned vehicle by current network.
Further, in embodiments of the present invention, described detection module 601, it is additionally operable to detect whether to close the real-time retransmission function of image;
Described processing module 602, is additionally operable to when the real-time retransmission function of closedown being detected, then the control instruction closing image passback sent to unmanned vehicle, and sends described control instruction to described unmanned vehicle.
Further, in embodiments of the present invention, described network handover module 603, it is additionally operable to detect whether successfully to switch to described purpose network from described current network; If so, then by described purpose network and described unmanned vehicle communication; If it is not, then generate information, described information is used for pointing out network connection failure.
Although having been described for the preferred embodiment of the application, but one of ordinary skilled in the art is once know basic creative concept, then these embodiments can be made other change and amendment. So, claims are intended to be construed to include preferred embodiment and fall into all changes and the amendment of the application scope.
Obviously, the application can be carried out various change and modification without deviating from spirit and scope by those skilled in the art. So, if these amendments of the application and modification belong within the scope of the application claim and equivalent technologies thereof, then the application is also intended to comprise these change and modification.
Claims (10)
1. the communication control method of a unmanned vehicle, it is characterised in that described method includes:
Whether the network parameter detecting current network corresponding meets pre-conditioned;
When described network parameter meets pre-conditioned, generate first network handover request;
Described first network handover request is sent to controlling end;
Detect whether to receive in preset time period and control the switching confirmation instruction that end returns;
If so, then confirm instruction according to described switching, switch to described purpose network from current network.
2. the method for claim 1, it is characterised in that detection network parameter corresponding to current network whether meet pre-conditioned before, described method also includes:
Carry out code, the point-to-point communication set up and control between end with controlling end;
Start mobile communication module, to control terminal authenticate, network attachment, set up mobile communication route.
3. the method for claim 1, it is characterised in that whether the network parameter detecting current network corresponding meets pre-conditioned, including:
Signal intensity in described network parameter and signalc threshold are compared;
If described signal intensity is less than described signalc threshold, then described network parameter meets fore condition;
If described signal intensity is more than described signalc threshold, then whether detect the bit error rate in described network parameter more than wrong code distortion;
If the described bit error rate is more than described wrong code distortion, then described network parameter meets pre-conditioned;
If the described bit error rate is less than described wrong code distortion, then described network parameter is unsatisfactory for pre-conditioned.
4. the method for claim 1, it is characterised in that when receiving described control end group in the switching confirmation instruction that described network switching request returns, confirm instruction according to described switching, switch to described purpose network from current network, including:
Open timer, and detect whether in the preset time period that timer sets, receive the switching confirmation instruction that described control end group returns in described network switching request;
If so, then confirm instruction according to described switching, switch to described purpose network from described current network;
If it is not, be then directly switch into the described purpose network of limit priority.
5. the method for claim 1, it is characterised in that confirm instruction according to described switching, switch to described purpose network from current network, including:
Output information, wherein, described information is used for pointing out user that communication network is switched over;
Detect whether that there is the switching based on described information manipulates instruction;
If there is described switching manipulation instruction, then switch to described purpose network from described current network.
6. the method for claim 1, it is characterised in that described according to described switching confirm instruction, switch to described purpose network from current network, including:
Confirm that instruction carries out network switching according to described switching;
Detect whether successfully to switch to described purpose network from described current network;
If success switches to described purpose network from described current network, then keep the network service between described control end;
Described purpose network is switched to from described current network if unsuccessful. Then generate output and characterize the information of network connection failure.
7. the method for claim 1, it is characterised in that confirming instruction according to described switching, after current network switches to described purpose network, described method also includes:
Whether the real-time signal intensity detecting described current network and the bit error rate are recovered;
If the signal intensity of described current network and the bit error rate are recovered, then generate the second network switching request, and described second network switching request is sent to described control end;
If the switching based on described second network switching request generation receiving the return of described control end confirms instruction, then switch back into described current network from described purpose network.
8. the communication control unit of a unmanned vehicle, it is characterised in that including:
Detection module, for detecting whether network parameter corresponding to current network meets pre-conditioned;
Generation module, for when described network parameter meets pre-conditioned, generating first network handover request;
Sending module, for sending described first network handover request to controlling end;
Network handover module, controls, for detecting whether to receive in preset time period, the switching confirmation instruction that end returns, if so, then confirms instruction according to described switching, switch to described purpose network from current network.
9. device as claimed in claim 8, it is characterised in that described detection module, specifically for comparing the signal intensity in described network parameter and signalc threshold; If described signal intensity is less than described signalc threshold, then described network parameter meets pre-conditioned; If described signal intensity is more than described signalc threshold, then whether detect the bit error rate in described network parameter more than wrong code distortion; If the described bit error rate is more than described wrong code distortion, then described network parameter meets pre-conditioned; If the described bit error rate is less than described wrong code distortion, then described network parameter is unsatisfactory for pre-conditioned.
10. device as claimed in claim 8, it is characterised in that described network handover module, specifically for detecting whether to receive the switching confirmation instruction that described control end group returns in described network switching request in the preset time period that timer sets; If so, then confirm instruction according to described switching, switch to described purpose network from described current network; If it is not, be then directly switch into the described purpose network of limit priority.
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