CN105825716A - Satellite-communication-based control method and apparatus of unmanned aerial vehicle - Google Patents
Satellite-communication-based control method and apparatus of unmanned aerial vehicle Download PDFInfo
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- CN105825716A CN105825716A CN201610140065.5A CN201610140065A CN105825716A CN 105825716 A CN105825716 A CN 105825716A CN 201610140065 A CN201610140065 A CN 201610140065A CN 105825716 A CN105825716 A CN 105825716A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0004—Transmission of traffic-related information to or from an aircraft
- G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
Abstract
The invention provides a satellite-communication-based control method and apparatus of an unmanned aerial vehicle. The method comprises: a control center receives a takeoff request message sent by an unmanned aerial vehicle by a satellite communication link, wherein the takeoff request message includes an identity label and takeoff position information of the unmanned aerial vehicle; the control center determines whether the unmanned aerial vehicle meets a takeoff condition based on the identity label and the takeoff position information; if so, the control center sends a takeoff instruction to the unmanned aerial vehicle by the satellite communication link, wherein the takeoff instruction is used for indicating the unmanned aerial vehicle and a remote controller to establish communication connection and enabling the unmanned aerial vehicle to accept control from the remote controller. Therefore, the lift-off operation of the illegal unmanned aerial vehicle can be avoided; an illegal flight phenomenon can be eliminated; and healthy, rapid and orderedly development of the unmanned aerial vehicle industry can be guaranteed.
Description
Technical field
The present embodiments relate to unmanned air vehicle technique, particularly relate to management-control method and the device of a kind of unmanned plane based on satellite communication.
Background technology
Along with the development of wireless remote control technology, unmanned plane is used widely in emergency management and rescue, environment measuring, power-line patrolling, multiple fields such as mapping, agricultural plant protection of taking photo by plane.
At present, along with the fast development of unmanned air vehicle technique, the security management and control problem of unmanned plane becomes focus.On the one hand, the domestic event once occurring the flight in violation of rules and regulations of several unmanned planes that airline carriers of passengers produces impact, even threat ground staff's security of the lives and property, and, the most once there is the event that unmanned plane and airline carriers of passengers bump against narrowly in the U.S..On the other hand, part unmanned plane manufacturer does not consider the requirement of seaworthiness flight in the design process, and this also makes unmanned plane product there is certain potential safety hazard.
Therefore, running in terms of management and control at unmanned plane, prior art lacks effective management and control technology and management and control means, it is impossible to is prevented effectively from unmanned plane against regulation and takes off the potential safety hazard that lift-off causes.
Summary of the invention
The embodiment of the present invention provides management-control method and the device of a kind of unmanned plane based on satellite communication, it is to avoid some illegal unmanned planes rise dry running, stops Flying in violation of rules and regulations, favourable guarantee unmanned plane industry health quickly and orderly development.
Embodiment of the present invention first aspect provides the management-control method of a kind of unmanned plane based on satellite communication, including:
Management and control receives, centrally through satellite communication link, request of the taking off message that unmanned plane sends；Described request message of taking off includes identity and the takeoff setting information of described unmanned plane；
According to described identity and described takeoff setting information, described management and control center judges whether described unmanned plane meets takeoff condition；
If described unmanned plane meets takeoff condition, the most described management and control sends, to described unmanned plane, instruction of taking off centrally through described satellite communication link；Described instruction of taking off is for indicating described unmanned plane and remote controller to set up communication connection, and makes described unmanned plane accept the management and control of described remote controller.
Further, according to described identity and described takeoff setting information, described management and control center judges whether described unmanned plane meets takeoff condition, including:
According to described identity, described management and control center judges that the identity of described unmanned plane is the most legal；
If the identity of described unmanned plane is legal, then judge whether described unmanned plane meets takeoff condition according to described takeoff setting information, if outside determining that described unmanned plane is positioned at default prohibited flight area according to described takeoff setting information, the most described unmanned plane meets takeoff condition.
Further, according to described identity, described management and control center judges that the identity of described unmanned plane is the most legal, including:
Described management and control center inquiry local data base, if there is the user profile corresponding with described identity in described local data base, the identity of the most described unmanned plane is legal.
Further, described after instruction is taken off in the transmission of described unmanned plane, described method also includes:
Described management and control receives, centrally through described satellite communication link, the flying quality that described unmanned plane sends；Described flying quality includes described unmanned plane location information in flight course；
When according to described flying quality, described management and control center determines that described unmanned plane enters prohibited flight area, send the first adapter instruction by described satellite communication link to described unmanned plane；Described first adapter instruction is used for indicating described unmanned plane and described remote controller to disconnect communication connection, and makes described unmanned plane accept the management and control at described management and control center.
Further, if described unmanned plane does not meets takeoff condition, the most described management and control sends the second adapter instruction centrally through described satellite communication link to described unmanned plane；The management and control that described second adapter instruction accepts described management and control center for indicating described unmanned plane.
Embodiment of the present invention second aspect provides the management-control method of a kind of unmanned plane based on satellite communication, including:
Described unmanned plane passes through satellite communication link and sends request message of taking off to management and control center；Described request message of taking off includes identity and the takeoff setting information of described unmanned plane；
If described unmanned plane receives, by described satellite communication link, the instruction of taking off that described management and control center sends according to described identity and described takeoff setting information, the most described unmanned plane according to described in instruction of taking off set up communication connection with described remote controller, and accept the management and control of described remote controller.
Further, described unmanned plane according to described in instruction of taking off set up communication connection with described remote controller, and after accepting the management and control of described remote controller, described method also includes:
Described unmanned plane by described satellite communication link to described management and control center send flying quality；Described flying quality includes described unmanned plane location information in flight course.
Further, described unmanned plane is by described satellite communication link after described management and control center sends flying quality, and described method also includes:
Described unmanned plane receives, by described satellite communication link, the first adapter instruction that described management and control center sends；Described first adapter instruction is used for indicating described unmanned plane and described remote controller to disconnect communication connection, and makes described unmanned plane accept the management and control at described management and control center；
Described unmanned plane disconnects communication connection according to described first adapter instruction with described remote controller, and accepts the management and control at described management and control center.
Further, if described unmanned plane receives, by described satellite communication link, the second adapter instruction that described management and control center sends according to described identity and described takeoff setting information, the most described unmanned plane accepts the management and control at described management and control center according to described second adapter instruction.
The embodiment of the present invention third aspect provides the control device of a kind of unmanned plane based on satellite communication, including:
Receiver module, for receiving, by satellite communication link, request of the taking off message that unmanned plane sends；Described request message of taking off includes identity and the takeoff setting information of described unmanned plane；
According to described identity and described takeoff setting information, processing module, for judging whether described unmanned plane meets takeoff condition；
Sending module, if meeting takeoff condition for described unmanned plane, then sends, to described unmanned plane, instruction of taking off by described satellite communication link；Described instruction of taking off is for indicating described unmanned plane and remote controller to set up communication connection, and makes described unmanned plane accept the management and control of described remote controller.
Further, described processing module includes:
First judges submodule, for judging that the identity of described unmanned plane is the most legal according to described identity；
Second judges submodule, if the identity for described unmanned plane is legal, then judge whether described unmanned plane meets takeoff condition according to described takeoff setting information, if outside determining that described unmanned plane is positioned at default prohibited flight area according to described takeoff setting information, the most described unmanned plane meets takeoff condition.
Further, described first judge submodule specifically for inquiry local data base, if there is the user profile corresponding with described identity in described local data base, the identity of the most described unmanned plane is legal.
Further, described receiver module is additionally operable to receive the flying quality that described unmanned plane sends；Described flying quality includes described unmanned plane location information in flight course；
When according to described flying quality, described processing module determines that described unmanned plane enters prohibited flight area, described sending module is additionally operable to send the first adapter instruction by described satellite communication link to described unmanned plane；Described first adapter instruction is used for indicating described unmanned plane and described remote controller to disconnect communication connection, and makes described unmanned plane accept the management and control at described management and control center.
Further, if described unmanned plane does not meets takeoff condition, the most described sending module is additionally operable to send the second adapter instruction by described satellite communication link to described unmanned plane；The management and control that described second adapter instruction accepts described management and control center for indicating described unmanned plane.
Embodiment of the present invention fourth aspect provides the control device of a kind of unmanned plane based on satellite communication, including:
Sending module, is taken off request message for being sent to management and control center by satellite communication link；Described request message of taking off includes identity and the takeoff setting information of described unmanned plane；
Receiver module, for receiving, by described satellite communication link, the instruction of taking off that described management and control center sends according to described identity and described takeoff setting information；
Set up communication module, set up communication connection for instruction of taking off described in basis with described remote controller, and accept the management and control of described remote controller.
Further, described sending module is additionally operable to by described satellite communication link to described management and control center transmission flying quality；Described flying quality includes described unmanned plane location information in flight course.
Further, described receiver module is additionally operable to receive, by described satellite communication link, the first adapter instruction that described management and control center sends；Described first adapter instruction is used for indicating described unmanned plane and described remote controller to disconnect communication connection, and makes described unmanned plane accept the management and control at described management and control center；
Described communication module of setting up is additionally operable to disconnect communication connection according to described first adapter instruction with described remote controller, and accepts the management and control at described management and control center.
Further, described receiver module is additionally operable to receive, by described satellite communication link, the second adapter instruction that described management and control center sends according to described identity and described takeoff setting information；
Described communication module of setting up is additionally operable to accept the management and control at described management and control center according to described second adapter instruction.
The management-control method of the unmanned plane based on satellite communication that the present embodiment provides and device, identity and takeoff setting information are carried by satellite communication link and are sent to management and control center in request message of taking off by unmanned plane, according to identity and takeoff setting information, management and control center judges whether unmanned plane meets takeoff condition, if unmanned plane meets takeoff condition, then management and control sends, to unmanned plane, instruction of taking off centrally through satellite communication link, so that unmanned plane sets up communication connection according to instruction of taking off with remote controller, and accept the management and control of remote controller.Before take off, unmanned plane carries out identification before taking off, the information of unmanned plane is identified processing by management and control center, just allow it to take off under the commander of remote controller when unmanned plane meets takeoff condition, some illegal unmanned planes are avoided to rise dry running, stop Flying in violation of rules and regulations, favourable guarantee unmanned plane industry health quickly and orderly development.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in describing below is some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
The application scenarios schematic diagram of the management-control method of the unmanned plane based on satellite communication that Fig. 1 provides for the embodiment of the present invention；
The management-control method flow chart of the unmanned plane based on satellite communication that Fig. 2 provides for the embodiment of the present invention one；
The management-control method flow chart of the unmanned plane based on satellite communication that Fig. 3 provides for the embodiment of the present invention two；
The management-control method flow chart of the unmanned plane based on satellite communication that Fig. 4 provides for the embodiment of the present invention three；
The structural representation of the control device of the unmanned plane based on satellite communication that Fig. 5 provides for the embodiment of the present invention four；
The structural representation of the control device of the unmanned plane based on satellite communication that Fig. 6 provides for the embodiment of the present invention five；
The structural representation of the control device of the unmanned plane based on satellite communication that Fig. 7 provides for the embodiment of the present invention six.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of protection of the invention.
The application scenarios schematic diagram of the management-control method of the unmanned plane based on satellite communication that Fig. 1 provides for the embodiment of the present invention.nullAs shown in Figure 1，This scene includes unmanned plane 1、Management and control center 2、Remote controller 3 and telecommunication satellite 4，Take off to unmanned plane 1 in management and control center 2、Navigation route、The state of flights such as landing are monitored and manage，Remote controller 3 is specifically as follows operator's remote controller，Unmanned plane can be remotely controlled by user by remote controller 3，Unmanned plane can be communicated with management and control center 2 by telecommunication satellite 4，Concrete，According to the various functions of unmanned plane, the internal structure of unmanned plane can also be divided into telecommunication satellite navigation elements 11、Airborne processing and control element (PCE) 12、Airborne communication unit 13、Airborne communication unit 14，Wherein，Telecommunication satellite navigation elements 11 is for obtaining the positional information of unmanned plane 1，Be equivalent to global positioning system (GlobalPositioningSystem，It is called for short GPS)，Airborne processing and control element (PCE) 12 processes for the instruction sending management and control center 2 and remote controller 3，To control the state of flight of unmanned plane 1，Airborne communication unit 13 is communicated with management and control center 2 by telecommunication satellite 4，Airborne communication unit 14 receives the control instruction that remote controller 3 sends.Wherein, unmanned plane 1 can realize the two-way exchange of data, instruction with management and control center 2 by the satellite data links that China Mobile's satellite provides, and possesses dual-mode.Satellite navigation unit 11, airborne processing and control element (PCE) 12, airborne communication unit 13 and airborne communication unit 14 can be integrated on one piece of airborne chip.Satellite navigation unit 11 can realize self poisoning, navigation feature by built-in Big Dipper chip.It should be noted that, unmanned plane can also pass through G mobile communication (the3rdGenerationmobilecommunicationtechnology, be called for short 3G), forth generation mobile communication technology (the4thGenerationmobilecommunicationtechnology, be called for short 4G) etc. other modes communicate with management and control center, the internal structure of unmanned plane can also be divided into the module of other forms, the present invention is not limited thereto.
The management-control method flow chart of the unmanned plane based on satellite communication that Fig. 2 provides for the embodiment of the present invention one.As in figure 2 it is shown, the method comprises the following steps:
Step 101, unmanned plane pass through satellite communication link and send request message of taking off to management and control center.
Wherein, request message of taking off includes identity and the takeoff setting information of unmanned plane.
In the present embodiment, during unmanned plane power-up initializing, the takeoff setting information of self can be obtained by alignment system, and be sent to management and control center by satellite communication link after takeoff setting information and the identity of self (Identification is called for short ID) encryption.Such as, as shown in Figure 1, telecommunication satellite navigation elements 1 obtains the takeoff setting information of unmanned plane and sends to airborne processing and control element (PCE) 12, and airborne processing and control element (PCE) 12 is sent to the management and control center 2 on ground through airborne communication unit 13 by the satellite link of telecommunication satellite 4 after takeoff setting information and ID being encrypted.
According to identity and takeoff setting information, step 102, management and control center judge whether unmanned plane meets takeoff condition.
In the present embodiment, management and control center receives request of the taking off message that unmanned plane sends, judge whether this unmanned plane meets flying condition according to identity and takeoff setting information, such as, if the identity of this unmanned plane is legal and takeoff setting is positioned at some navigable area, it is determined that this unmanned plane meets flying condition；Or, if the identity of this unmanned plane is illegal, or takeoff setting is positioned at prohibited flight area, then this unmanned plane does not meets takeoff condition.
Step 103 is if it is determined that unmanned plane meets takeoff condition, then management and control sends, to unmanned plane, instruction of taking off centrally through satellite communication link.
Wherein, instruction of taking off is for indicating unmanned plane to set up communication connection with remote controller, and makes unmanned plane accept the management and control of remote controller.
In the present embodiment, if this unmanned plane meets takeoff condition, management and control sends, to unmanned plane, instruction of taking off centrally through satellite communication link, it is allowed to this unmanned plane accepts the management and control of remote controller, and takes off in this place.
Step 104, unmanned plane set up communication connection according to instruction of taking off with remote controller, and accept the management and control of remote controller.
In the present embodiment, if unmanned plane receives, by satellite communication link, the instruction of taking off that management and control center sends according to identity and takeoff setting information, then unmanned plane sets up communication connection according to instruction of taking off with remote controller, and accept the management and control of remote controller, such as, as shown in Figure 1, unmanned aerial vehicle onboard processing and control element (PCE) 12 is after airborne communication unit 13 receives the instruction of taking off at management and control center 2 by the satellite link of telecommunication satellite 4, activate airborne communication unit 14, prepare to receive the instruction of the remote controller 3 of operator, be in and be remotely controlled by an operator device adapter state.
The management-control method of the unmanned plane based on satellite communication that the present embodiment provides, identity and takeoff setting information are carried and are sent to management and control center by satellite communication link in request message of taking off by unmanned plane, according to identity and takeoff setting information, management and control center judges whether unmanned plane meets takeoff condition, if unmanned plane meets takeoff condition, then management and control sends, to unmanned plane, instruction of taking off centrally through satellite communication link, so that unmanned plane sets up communication connection according to instruction of taking off with remote controller, and accept the management and control of remote controller.Before take off, unmanned plane carries out identification before taking off, the information of unmanned plane is identified processing by management and control center, just allow it to take off under the commander of remote controller when unmanned plane meets takeoff condition, some illegal unmanned planes are avoided to rise dry running, stop Flying in violation of rules and regulations, favourable guarantee unmanned plane industry health quickly and orderly development.
The management-control method flow chart of the unmanned plane based on satellite communication that Fig. 3 provides for the embodiment of the present invention two.As it is shown on figure 3, the method comprises the following steps:
Step 201, management and control receive, centrally through satellite communication link, request of the taking off message that unmanned plane sends.
Wherein, request message of taking off includes identity and the takeoff setting information of unmanned plane.
In the present embodiment, owing to telecommunication satellite is full-time employment in 24 hours, and the coverage of satellite communication is wide, and unmanned plane uses satellite communication link to communicate with management and control center, it is ensured that communication quality and reliability.
According to identity, step 202, management and control center judge that the identity of unmanned plane is the most legal, if the identity of unmanned plane is legal, then perform step 203；If the identity of unmanned plane is illegal, then perform step 207.
Alternatively, according to identity, management and control center judges that the identity of unmanned plane is the most legal, including: management and control center inquiry local data base, if local data base exists the user profile corresponding with identity, it is determined that the identity of unmanned plane is legal.
In the present embodiment, generally, user is required for after buying unmanned plane registering to relevant departments, the identity of registration unmanned plane, user profile etc., and by the identity of unmanned plane, mapping relations between user profile store in data base, management and control center is after receiving request of the taking off message of unmanned transmission, message of taking off this request is decrypted acquisition identity, the ID of unmanned plane is compared with the data in data base, so that the identity of unmanned plane is verified, if local data base exists the user profile corresponding with this identity, then illustrate that the identity of this unmanned plane is legal, if local data base does not exist the user profile corresponding with this identity, then illustrate that the identity of this unmanned plane is illegal, can not take off operation.
Alternatively, according to identity, management and control center judges that the identity of unmanned plane is the most legal, including: management and control is inquired about local data base, if local data base exists this identity, it is determined that the identity of unmanned plane is legal.In the present embodiment, only store the identity of this unmanned plane when unmanned plane is registered by user, when inquiring the identity that there is this unmanned plane in local data base, i.e. can confirm that this unmanned plane identity is legal.
Step 203, judge whether unmanned plane meets takeoff condition according to takeoff setting information, if outside determining that unmanned plane is positioned at default prohibited flight area according to takeoff setting information, then perform step 204, if determining that unmanned plane is positioned at default prohibited flight area according to takeoff setting information, then perform step 207.
In the present embodiment, can by airport, urban centre etc., some areas being not suitable for unmanned plane during flying be set to prohibited flight area in advance, such as, in certain limit around airport, it is set to prohibited flight area, the region within the ring of Beijing six is set to prohibited flight area etc..If the takeoff setting of this unmanned plane is positioned at prohibited flight area, then this unmanned plane does not meets takeoff condition；If the takeoff setting of this unmanned plane is positioned at outside prohibited flight area, then this unmanned plane meets takeoff condition.
Alternatively, in the present embodiment, outside first can also first judging whether unmanned plane is positioned at default prohibited flight area according to takeoff setting information, if this unmanned plane is positioned at outside default region of forbidding taking off, then continue to judge that the identity of this unmanned plane is the most legal according to identity, if the identity of this unmanned plane is legal, it is determined that unmanned plane meets takeoff condition；If this unmanned plane is positioned at and default forbids region of taking off, then the most legal without judging the identity of unmanned plane, directly determine that this unmanned plane does not meets takeoff condition.Or, according to takeoff setting information, management and control center can judge whether unmanned plane is positioned at default prohibited flight area outside, judge that the identity of this unmanned plane is the most legal according to identity simultaneously, if this is positioned at without other outside default prohibited flight area, and identity is legal, this this unmanned plane meets takeoff condition, and other condition all thinks that this unmanned plane does not meets takeoff condition.
Step 204, unmanned plane meet takeoff condition, then management and control sends, to unmanned plane, instruction of taking off centrally through satellite communication link.
In the present embodiment, if unmanned plane meets takeoff condition, then management and control center sends, to unmanned plane, instruction of taking off, so that unmanned plane sets up communication connection according to instruction of taking off with remote controller, accepts the management and control of remote controller.
Alternatively, when unmanned plane meets takeoff condition, after operation of taking off under the control of remote controller, it is also possible to include step 205 and 206:
Step 205, management and control receive, centrally through satellite communication link, the flying quality that unmanned plane sends.
Wherein, flying quality includes unmanned plane location information in flight course.
In the present embodiment, location information can include the latitude and longitude information of self and the elevation information that unmanned plane obtains during flying over, and flying quality can also include the velocity information etc. of unmanned plane.
Step 206, when management and control center according to flying quality determine unmanned plane enter prohibited flight area time, by satellite communication link to unmanned plane send first adapter instruction.
Wherein, the first adapter instruction is used for indicating unmanned plane to disconnect communication connection with remote controller, and makes unmanned plane accept the management and control at management and control center.
In the present embodiment, when management and control Spot detection to unmanned plane enters prohibited flight area, the first adapter instruction is sent to unmanned plane, so that unmanned plane disconnects communication connection with remote controller, and make unmanned plane accept the management and control at management and control center, management and control center can accurately obtain the data such as the latitude and longitude information during unmanned plane during flying, elevation information, velocity information, realize the most precisely monitoring, its state of flight is controlled at management and control center after unmanned plane takes off, in emergency circumstances can realize fast remote adapter, reach the purpose of effective management and control.
Step 207, unmanned plane do not meet takeoff condition, then management and control sends the second adapter instruction centrally through satellite communication link to unmanned plane.
Wherein, the second adapter instruction is for indicating unmanned plane to accept the management and control at management and control center.
In the present embodiment, if unmanned plane does not meets takeoff condition, then management and control center sends the second adapter instruction to unmanned plane, so that unmanned plane accepts the management and control at management and control center.
Alternatively, in the present embodiment, the instruction at management and control center possesses limit priority, and unmanned plane preferentially performs the instruction at management and control center.Such as, when management and control center and remote controller send control instruction to unmanned plane simultaneously, unmanned plane preferentially performs the control instruction at management and control center.
The management-control method of the unmanned plane that the present embodiment provides, management and control receives, centrally through satellite communication link, request of the taking off message that unmanned plane sends, identity according to taking off in request message judges that the identity of unmanned plane is the most legal, if the identity of unmanned plane is legal, then determine whether unmanned plane meets takeoff condition according to takeoff setting information, if unmanned plane is positioned at prohibited flight area, then do not meet takeoff condition, management and control sends the second adapter instruction centrally through satellite communication link to unmanned plane, so that unmanned plane accepts the management and control at management and control center；If unmanned plane is positioned at outside default prohibited flight area, then meet takeoff condition, management and control sends, to unmanned plane, instruction of taking off centrally through satellite communication link, so that unmanned plane connects remote controlled management and control and carries out a liter dry running, in flight course, management and control center receives, also by satellite communication link, the flying quality that unmanned plane sends, when according to flying quality, management and control center determines that unmanned plane enters prohibited flight area, the first adapter instruction is sent to unmanned plane by satellite communication link, so that unmanned plane disconnects with remote controller, accept the management and control at management and control center.Unmanned plane carries out identification before taking off, avoid the liter dry running of illegal unmanned plane, management and control center can accurately obtain the data such as the latitude and longitude information during unmanned plane during flying, elevation information, velocity information, realize the most precisely monitoring, its state of flight is controlled at management and control center after unmanned plane takes off, in emergency circumstances can realize fast remote adapter, reach the purpose of effective management and control, ensure that unmanned plane safety in use, running, stop Flying in violation of rules and regulations, favourable guarantee unmanned plane industry health quickly and orderly development.
The management-control method flow chart of the unmanned plane based on satellite communication that Fig. 4 provides for the embodiment of the present invention three.As shown in Figure 4, the method comprises the following steps:
Step 301, unmanned plane pass through satellite communication link and send request message of taking off to management and control center, if unmanned plane receives, by satellite communication link, the instruction of taking off that management and control center sends according to identity and takeoff setting information, then perform step 302, if unmanned plane receives, by satellite communication link, the second adapter instruction that management and control center sends according to identity and takeoff setting information, then perform step 306.
Wherein, request message of taking off includes identity and the takeoff setting information of unmanned plane.
In the present embodiment, when according to identity, management and control center verifies that the identity of this unmanned plane is legal, and takeoff setting is when being positioned at outside default prohibited area, determine that this unmanned plane meets takeoff condition, then management and control sends, to unmanned plane, instruction of taking off centrally through satellite communication link, it is allowed to unmanned plane flies according to the instruction of remote controller.When according to identity, management and control center verifies that the identity of this unmanned plane is illegal, and/or, when takeoff setting is positioned at default prohibited area, determine that this unmanned plane does not meets takeoff condition, the second adapter instruction is sent to this unmanned plane, so that unmanned plane accepts the management and control at management and control center by satellite communication link.
Step 302, unmanned plane set up communication connection according to instruction of taking off with remote controller, and accept the management and control of remote controller.
The most individual, when unmanned plane receive management and control center send take off instruction time, with remote controller set up communication connection, and receive remote controller send control instruction, according to this control instruction carry out lift-off flight.
Step 303, unmanned plane pass through satellite communication link and send flying quality to management and control center.
Wherein, flying quality includes unmanned plane location information in flight course.
In the present embodiment, location information can include the latitude and longitude information of self and the elevation information that unmanned plane obtains during flying over, and flying quality can also include the velocity information etc. of unmanned plane.Unmanned plane can send flying quality with each Preset Time to management and control center, so that management and control center can carry out the most precisely monitoring to the state of flight of unmanned plane.
Step 304, unmanned plane receive management and control center by satellite communication link and send the first adapter instruction.
Wherein, the first adapter instruction is used for indicating unmanned plane to disconnect communication connection with remote controller, and makes unmanned plane accept the management and control at management and control center.
Step 305, unmanned plane disconnect communication connection according to the first adapter instruction with remote controller, and accept the management and control at management and control center.
In the present embodiment, when according to flying quality, management and control center detects that unmanned plane enters prohibited flight area, the first adapter instruction is sent to unmanned plane, so that unmanned plane disconnects communication connection with remote controller, and make unmanned plane accept the management and control at management and control center, management and control center can accurately obtain the data such as the latitude and longitude information during unmanned plane during flying, elevation information, velocity information, realize the most precisely monitoring, its state of flight is controlled at management and control center after unmanned plane takes off, in emergency circumstances can realize fast remote adapter, reach the purpose of effective management and control.
Step 306, unmanned plane accept the management and control at management and control center according to the second adapter instruction.
In the present embodiment, before unmanned plane takes off, if management and control center according to unmanned plane send take off request message in identity and takeoff setting information judge that this unmanned plane does not meets takeoff condition time, management and control center alignment unmanned plane sends the second adapter instruction, and unmanned plane then accepts the management and control at management and control center.
The management-control method of the unmanned plane that the present embodiment provides, unmanned plane passes through satellite communication link and sends request message of taking off to management and control center, if unmanned plane receives, by satellite communication link, the second adapter instruction that management and control center sends according to identity and takeoff setting information, then accept the management and control at management and control center according to the second adapter instruction；If unmanned plane receives, by satellite communication link, the instruction of taking off that management and control center sends according to identity and takeoff setting information, then set up communication connection according to instruction of taking off with remote controller, and accept the management and control of remote controller, in flight course, unmanned plane passes through satellite communication link and sends flying quality to management and control center, so that management and control center monitors the state of flight of unmanned plane accurately, when unmanned plane enters prohibited flight area, unmanned plane can receive management and control center by satellite communication link and send the first adapter instruction, communication connection is disconnected with remote controller, and accept the management and control at management and control center.Unmanned plane carries out identification before taking off, avoid the liter dry running of illegal unmanned plane, management and control center can accurately obtain the data such as the latitude and longitude information during unmanned plane during flying, elevation information, velocity information, realize the most precisely monitoring, its state of flight is controlled at management and control center after unmanned plane takes off, in emergency circumstances can realize fast remote adapter, reach the purpose of effective management and control, ensure that unmanned plane safety in use, running, stop Flying in violation of rules and regulations, favourable guarantee unmanned plane industry health quickly and orderly development.
The structural representation of the control device of the unmanned plane based on satellite communication that Fig. 5 provides for the embodiment of the present invention four.As it is shown in figure 5, this device includes receiver module 21, processing module 22 and sending module 23.Receiver module 21 is for receiving, by satellite communication link, request of the taking off message that unmanned plane sends；Request message of taking off includes identity and the takeoff setting information of unmanned plane；According to identity and takeoff setting information, processing module 22 is for judging whether unmanned plane meets takeoff condition；If sending module 23 meets takeoff condition for unmanned plane, then send, to unmanned plane, instruction of taking off by satellite communication link；Instruction of taking off communicates to connect for indicating unmanned plane to set up with remote controller, and makes unmanned plane accept the management and control of remote controller.
The device of the present embodiment, may be used for performing the technical scheme of embodiment of the method shown in Fig. 2, and it is similar with technique effect that it realizes principle, and here is omitted.
The structural representation of the control device of the unmanned plane based on satellite communication that Fig. 6 provides for the embodiment of the present invention five.As shown in Figure 6, processing module 22 includes that the first judgement submodule 221 and second judges submodule 222.First judges according to identity, submodule 221 is for judging that the identity of unmanned plane is the most legal；If second judges that submodule 222 is legal for the identity of unmanned plane, then judge whether unmanned plane meets takeoff condition according to takeoff setting information, if outside determining that unmanned plane is positioned at default prohibited flight area according to takeoff setting information, then unmanned plane meets takeoff condition.
Alternatively, first judge submodule 221 specifically for inquiry local data base, if there is the user profile corresponding with identity in local data base, then the identity of unmanned plane is legal.
Alternatively, receiver module 21 is additionally operable to receive, by satellite communication link, the flying quality that unmanned plane sends；Flying quality includes unmanned plane location information in flight course；When according to flying quality, processing module 22 determines that unmanned plane enters prohibited flight area, sending module 23 is additionally operable to send the first adapter instruction by satellite communication link to unmanned plane；First adapter instruction is used for indicating unmanned plane to disconnect communication connection with remote controller, and makes unmanned plane accept the management and control at management and control center.
Alternatively, if unmanned plane does not meets takeoff condition, then sending module 23 is additionally operable to send the second adapter instruction by satellite communication link to unmanned plane；Second adapter instruction is for indicating unmanned plane to accept the management and control at management and control center.
The device of the present embodiment, may be used for performing the technical scheme of embodiment of the method shown in Fig. 3, and it is similar with technique effect that it realizes principle, and here is omitted.
The structural representation of the control device of the unmanned plane based on satellite communication that Fig. 7 provides for the embodiment of the present invention six.As it is shown in fig. 7, this device includes sending module 31, receiver module 32 and sets up communication module 33.Sending module 31 for sending, by satellite communication link, request message of taking off to management and control center；Request message of taking off includes identity and the takeoff setting information of unmanned plane；Receiver module 32 is for receiving, by satellite communication link, the instruction of taking off that management and control center sends according to identity and takeoff setting information；Set up communication module 33 and set up communication connection for instructing according to taking off with remote controller, and accept the management and control of remote controller.
The device of the present embodiment, may be used for performing the technical scheme of embodiment of the method shown in Fig. 2, and it is similar with technique effect that it realizes principle, and here is omitted.
Alternatively, sending module 31 is additionally operable to by satellite communication link to management and control center transmission flying quality；Flying quality includes unmanned plane location information in flight course.
Alternatively, receiver module 32 is additionally operable to receive, by satellite communication link, the first adapter instruction that management and control center sends；First adapter instruction is used for indicating unmanned plane to disconnect communication connection with remote controller, and makes unmanned plane accept the management and control at management and control center；Set up communication module 33 to be additionally operable to disconnect communication connection according to the first adapter instruction with remote controller, and accept the management and control at management and control center.
Alternatively, receiver module 32 is additionally operable to receive, by satellite communication link, the second adapter instruction that management and control center sends according to identity and takeoff setting information；Set up communication module 33 and be additionally operable to accept according to the second adapter instruction the management and control at management and control center.
The device of the present embodiment, may be used for performing the technical scheme of embodiment of the method shown in Fig. 4, and it is similar with technique effect that it realizes principle, and here is omitted.
One of ordinary skill in the art will appreciate that: all or part of step realizing above-mentioned each method embodiment can be completed by the hardware that programmed instruction is relevant.Aforesaid program can be stored in a computer read/write memory medium.This program upon execution, performs to include the step of above-mentioned each method embodiment；And aforesaid storage medium includes: read only memory (Read-OnlyMemory, be called for short ROM), random access memory (randomaccessmemory, be called for short RAM), the various media that can store program code such as magnetic disc or CD.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；Although the present invention being described in detail with reference to foregoing embodiments, it will be understood by those within the art that: the technical scheme described in foregoing embodiments still can be modified by it, or the most some or all of technical characteristic is carried out equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (18)
1. the management-control method of a unmanned plane based on satellite communication, it is characterised in that including:
Management and control receives, centrally through satellite communication link, request of the taking off message that unmanned plane sends；Described request message of taking off includes identity and the takeoff setting information of described unmanned plane；
According to described identity and described takeoff setting information, described management and control center judges whether described unmanned plane meets takeoff condition；
If described unmanned plane meets takeoff condition, the most described management and control sends, to described unmanned plane, instruction of taking off centrally through described satellite communication link；Described instruction of taking off is for indicating described unmanned plane and remote controller to set up communication connection, and makes described unmanned plane accept the management and control of described remote controller.
Method the most according to claim 1, it is characterised in that according to described identity and described takeoff setting information, described management and control center judges whether described unmanned plane meets takeoff condition, including:
According to described identity, described management and control center judges that the identity of described unmanned plane is the most legal；
If the identity of described unmanned plane is legal, then judge whether described unmanned plane meets takeoff condition according to described takeoff setting information, if outside determining that described unmanned plane is positioned at default prohibited flight area according to described takeoff setting information, the most described unmanned plane meets takeoff condition.
Method the most according to claim 2, it is characterised in that according to described identity, described management and control center judges that the identity of described unmanned plane is the most legal, including:
Described management and control center inquiry local data base, if there is the user profile corresponding with described identity in described local data base, the identity of the most described unmanned plane is legal.
4. according to the method described in any one of claim 1-3, it is characterised in that after described management and control sends, to described unmanned plane, instruction of taking off centrally through described satellite communication link, described method also includes:
Described management and control receives, centrally through described satellite communication link, the flying quality that described unmanned plane sends；Described flying quality includes described unmanned plane location information in flight course；
When according to described flying quality, described management and control center determines that described unmanned plane enters prohibited flight area, send the first adapter instruction by described satellite communication link to described unmanned plane；Described first adapter instruction is used for indicating described unmanned plane and described remote controller to disconnect communication connection, and makes described unmanned plane accept the management and control at described management and control center.
Method the most according to claim 1, it is characterised in that if described unmanned plane does not meets takeoff condition, the most described management and control sends the second adapter instruction centrally through described satellite communication link to described unmanned plane；The management and control that described second adapter instruction accepts described management and control center for indicating described unmanned plane.
6. the management-control method of a unmanned plane based on satellite communication, it is characterised in that including:
Described unmanned plane passes through satellite communication link and sends request message of taking off to management and control center；Described request message of taking off includes identity and the takeoff setting information of described unmanned plane；
If described unmanned plane receives, by described satellite communication link, the instruction of taking off that described management and control center sends according to described identity and described takeoff setting information, the most described unmanned plane according to described in instruction of taking off set up communication connection with described remote controller, and accept the management and control of described remote controller.
Method the most according to claim 6, it is characterised in that described unmanned plane according to described in instruction of taking off set up communication connection with described remote controller, and after accepting the management and control of described remote controller, described method also includes:
Described unmanned plane by described satellite communication link to described management and control center send flying quality；Described flying quality includes described unmanned plane location information in flight course.
Method the most according to claim 7, it is characterised in that described unmanned plane is by described satellite communication link after described management and control center sends flying quality, and described method also includes:
Described unmanned plane receives, by described satellite communication link, the first adapter instruction that described management and control center sends；Described first adapter instruction is used for indicating described unmanned plane and described remote controller to disconnect communication connection, and makes described unmanned plane accept the management and control at described management and control center；
Described unmanned plane disconnects communication connection according to described first adapter instruction with described remote controller, and accepts the management and control at described management and control center.
Method the most according to claim 6, it is characterized in that, if described unmanned plane receives, by described satellite communication link, the second adapter instruction that described management and control center sends according to described identity and described takeoff setting information, the most described unmanned plane accepts the management and control at described management and control center according to described second adapter instruction.
10. the control device of a unmanned plane based on satellite communication, it is characterised in that including:
Receiver module, for receiving, by satellite communication link, request of the taking off message that unmanned plane sends；Described request message of taking off includes identity and the takeoff setting information of described unmanned plane；
According to described identity and described takeoff setting information, processing module, for judging whether described unmanned plane meets takeoff condition；
Sending module, if meeting takeoff condition for described unmanned plane, then sends, to described unmanned plane, instruction of taking off by described satellite communication link；Described instruction of taking off is for indicating described unmanned plane and remote controller to set up communication connection, and makes described unmanned plane accept the management and control of described remote controller.
11. devices according to claim 10, it is characterised in that described processing module includes:
First judges submodule, for judging that the identity of described unmanned plane is the most legal according to described identity；
Second judges submodule, if the identity for described unmanned plane is legal, then judge whether described unmanned plane meets takeoff condition according to described takeoff setting information, if outside determining that described unmanned plane is positioned at default prohibited flight area according to described takeoff setting information, the most described unmanned plane meets takeoff condition.
12. devices according to claim 11, it is characterised in that described first judge submodule specifically for inquiry local data base, if there is the user profile corresponding with described identity in described local data base, the identity of the most described unmanned plane is legal.
13. according to the device described in any one of claim 10-12, it is characterised in that described receiver module is additionally operable to receive, by described satellite communication link, the flying quality that described unmanned plane sends；Described flying quality includes described unmanned plane location information in flight course；
When according to described flying quality, described processing module determines that described unmanned plane enters prohibited flight area, described sending module is additionally operable to send the first adapter instruction by described satellite communication link to described unmanned plane；Described first adapter instruction is used for indicating described unmanned plane and described remote controller to disconnect communication connection, and makes described unmanned plane accept the management and control at described management and control center.
14. devices according to claim 10, it is characterised in that if described unmanned plane does not meets takeoff condition, the most described sending module is additionally operable to send the second adapter instruction by described satellite communication link to described unmanned plane；The management and control that described second adapter instruction accepts described management and control center for indicating described unmanned plane.
The control device of 15. 1 kinds of unmanned planes based on satellite communication, it is characterised in that including:
Sending module, is taken off request message for being sent to management and control center by satellite communication link；Described request message of taking off includes identity and the takeoff setting information of described unmanned plane；
Receiver module, for receiving, by described satellite communication link, the instruction of taking off that described management and control center sends according to described identity and described takeoff setting information；
Set up communication module, set up communication connection for instruction of taking off described in basis with described remote controller, and accept the management and control of described remote controller.
16. devices according to claim 15, it is characterised in that described sending module is additionally operable to by described satellite communication link to described management and control center transmission flying quality；Described flying quality includes described unmanned plane location information in flight course.
17. devices according to claim 16, it is characterised in that described receiver module is additionally operable to receive, by described satellite communication link, the first adapter instruction that described management and control center sends；Described first adapter instruction is used for indicating described unmanned plane and described remote controller to disconnect communication connection, and makes described unmanned plane accept the management and control at described management and control center；
Described communication module of setting up is additionally operable to disconnect communication connection according to described first adapter instruction with described remote controller, and accepts the management and control at described management and control center.
18. devices according to claim 15, it is characterised in that described receiver module is additionally operable to receive, by described satellite communication link, the second adapter instruction that described management and control center sends according to described identity and described takeoff setting information；
Described communication module of setting up is additionally operable to accept the management and control at described management and control center according to described second adapter instruction.
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Application publication date: 20160803 |