CN107172191A - Multi-rotor unmanned aerial vehicle remote monitoring method based on multi-priority services - Google Patents
Multi-rotor unmanned aerial vehicle remote monitoring method based on multi-priority services Download PDFInfo
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- CN107172191A CN107172191A CN201710453428.5A CN201710453428A CN107172191A CN 107172191 A CN107172191 A CN 107172191A CN 201710453428 A CN201710453428 A CN 201710453428A CN 107172191 A CN107172191 A CN 107172191A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Abstract
The present invention proposes a kind of multi-rotor unmanned aerial vehicle remote monitoring method based on multi-priority services, the problem of solving data transfer real-time and validity in long-range monitoring, improves monitoring center to being monitored the accuracy that field scene is remotely monitored.Realize that step is：Monitoring center sends the priority of data request signal and requesting data information type to multi-rotor unmanned aerial vehicle according to monitored field scene；Multi-rotor unmanned aerial vehicle collection is monitored the related data information at scene；Airborne WiFi communication module obtains and adds data frame of the multiclass with priority to corresponding AC queues；Airborne WiFi communication module sends one or more data frames with priority to terminal WiFi communication module；The data message in data frame of the multiclass with priority that terminal WiFi communication module is received is extracted and stored and send to terminal data processing module；User Interface reads and shows corresponding data information.The present invention is applied to all kinds of long-range monitoring application scenarios.
Description
Technical field
The invention belongs to unmanned plane Remote Monitoring Technology field, it is related to a kind of multi-rotor unmanned aerial vehicle remote monitoring method, has
Body is related to a kind of multi-rotor unmanned aerial vehicle remote monitoring method based on multi-priority services, remote available for all kinds of multi-rotor unmanned aerial vehicles
Journey monitors application scenarios.
Background technology
Unmanned plane industry development was swift and violent in recent years, and progressively developed to efficient, multifunction direction.Unmanned plane extensively should
For taking photo by plane, electric inspection process, environmental monitoring, forest fire protection, the field such as military surveillance.Unmanned plane is divided into fixed-wing unmanned plane and many
Two kinds of types of rotor wing unmanned aerial vehicle.Wherein the landing of fixed-wing unmanned plane needs private track and can not stopped in the air again, and many rotors
Unmanned plane has that small volume, good concealment, maneuverability are strong, simple in construction, cost is low and can almost be taken off in any place
Feature, makes it be widely used in the multiple fields such as military, civilian and scientific research.Remotely supervised using multi-rotor unmanned aerial vehicle
Survey, the live load of personnel, the probability that reduction personnel cause danger can be mitigated significantly.
From the point of view of current disclosed data, the existing technology monitoring means and object of association area are single, due to many
Rotor wing unmanned aerial vehicle does not service multi-class data data separation to the deficiency of data processing, causes the data message that importance is higher
Remote monitoring terminal can not be timely and effectively sent to, causes not high monitoring real-time, information loss or image fault.Example
Such as, Authorization Notice No. is CN103823449B, entitled " Centralized Monitoring subsystem and prison for unmanned plane polling transmission line
The Chinese patent of prosecutor method ", discloses a kind of monitoring method for unmanned plane polling transmission line, to unmanned plane patrol task
Carry out planning and synchronous, the mobile substation to unmanned plane inspection and unmanned plane during flying platform carries out real-time remote monitoring, to inspection
Data carry out defect diagonsis, statistics, analysis and shown, describe the real-time status scene and electric power environmental of current unmanned plane inspection,
Personnel, equipment and the inspection circuit being related to unmanned plane patrol task are planned and managed, and the result of inspection is carried out
Centralized management and defect diagonsis.But this method is disadvantageous in that unmanned plane that the multi-class data information not to collection specifies excellent
First level, causes the higher data of importance to be timely and effectively sent to remote monitoring terminal, causes monitoring center accurate
Really monitoring is monitored field scene.
The content of the invention
It is an object of the invention to overcome above prior art deposit defect, it is proposed that it is a kind of based on multi-priority services
Multi-rotor unmanned aerial vehicle remote monitoring method, can be completed to position, distance, figure based on multi-rotor unmanned aerial vehicle remote supervision system
Picture, temperature, flame or monitoring harmful gases, and display above- mentioned information or the intelligent alarm in real time on remote monitoring terminal, are solved
In long-range monitoring the problem of the real-time and validity of data transfer, improve monitoring center and monitored field scene is remotely monitored
Accuracy.
The present invention technical thought be：Monitoring center sends data according to monitored field scene to multi-rotor unmanned aerial vehicle
The priority of request signal and requesting data information type；Data acquisition device is mounted in multi-rotor unmanned aerial vehicle, and collection is corresponding
Data message；On-board data processing module is identified and assigned priority to data message；Pass through airborne WiFi communication mould
Block and terminal WiFi module are transmitted to remote monitoring terminal；Remote monitoring terminal carries out data processing, and passes through user mutual circle
Face shows the information needed for user, and implementing step is：
(1) monitoring center sends data request signal and number of request according to monitored field scene to multi-rotor unmanned aerial vehicle
According to the priority of information type；
(2) multi-rotor unmanned aerial vehicle collection is monitored the related data information at scene：Multi-rotor unmanned aerial vehicle is according to request of data
Signal, using global positioning system GPS receiver, ultrasonic distance measuring module, camera, temperature sensor, flame sensor or
Harmful gas sensor, collection be monitored scene positional information, range information, image information, temperature information, burning things which may cause a fire disaster information or
Harmful gas concentration information；
(3) airborne WiFi communication module obtains the data frame that multiclass carries priority：
(3a) on-board data processing module adds identifier α before each related data information at scene is monitored, and obtains
To monitored live marking data information, wherein, α is the integer more than or equal to 0, and a α value only corresponds to a kind of data letter
Breath；
(3b) on-board data processing module according to the priority of requesting data information type, be it is each according to number of request it is believed that
The priority in type setting IEEE802.11 protocol media access control MAC headers is ceased, multiclass priority MAC header is obtained；
The priority MAC header of respective type is added to by (3c) on-board data processing module according to marking data information type
Before marking data information, the data frame that multiclass carries priority is obtained；
Order of (3d) the on-board data processing module according to priority from high to low, multiclass is carried the data frame of priority
It is sent in sequence to airborne WiFi communication module；
(4) data frame of the multiclass with priority is added to corresponding access class AC queues by airborne WiFi communication module
In；
(5) airborne WiFi communication module sends one or more data with priority to terminal WiFi communication module
Frame：Each access class AC queue accesses EDCA parameters by default enhancing distributed channel, competes send opportunity TXOP, machine
Carry WiFi communication module and will obtain the data that one or more of send opportunity TXOP access class AC queues carry priority
Frame, sends to the terminal WiFi communication module of remote monitoring terminal；
(6) the terminal data processing module of remote monitoring terminal is extracted and stores and send the reception of terminal WiFi communication module
The data message of data frame of the multiclass arrived with priority：
(6a) terminal WiFi communication module removes the priority MAC header in data frame of the multiclass with priority, obtains many
Class marking data information is simultaneously sent to terminal data processing module；
(6b) terminal data processing module splits multiclass marking data information, obtains each identifier α and corresponding number
It is believed that breath；
(6c) terminal data processing module handles corresponding data message, obtains multiclass and wait to show according to each identifier α
Show data message；
(6d) terminal data processing module stores multiclass data to be displayed information, and multiclass data to be displayed information is sent
To the relevant position of User Interface；
(7) User Interface reads and shows multiclass data to be displayed information.
The present invention compared with prior art, has the following advantages that：
1st, the present invention carries out priority division to a variety of data messages that multi-rotor unmanned aerial vehicle is gathered, so as to different numbers
It is believed that breath Differentiated Services so that the higher data of importance can timely and effectively be sent to remote monitoring terminal, solve long-range
In monitoring the problem of the real-time and validity of data transfer, monitoring center is improved to being monitored the standard that field scene is remotely monitored
True property.
2nd, the present invention is for monitored field scene, and monitoring center sends data request signal to multi-rotor unmanned aerial vehicle and please
Seek the priority of data message type so that multi-rotor unmanned aerial vehicle can only gather the related data information at the scene of being monitored, and keep away
Exempt from unnecessary data acquisition, reduce the workload of data processing.Suitable for all kinds of multi-rotor unmanned aerial vehicles, remotely monitoring should
Use scene.
Brief description of the drawings
The structural representation for the monitoring system that Fig. 1 is applicable for the present invention；
Fig. 2 is implementation process figure of the invention.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the present invention is described in further detail：
Reference picture 1, the structural representation of the applicable monitoring system of the present invention, including four rotor wing unmanned aerial vehicles and remote monitoring are whole
End.
Four rotor wing unmanned aerial vehicles include data acquisition device, on-board data processing module and airborne WiFi communication module.Data
Harvester is used for the related data information for gathering the scene of being monitored；On-board data processing module is used to obtain with priority
Data frame simultaneously sends it to airborne WiFi communication module；Airborne WiFi communication module is used to send the data with priority
Frame.Data acquisition module includes global positioning system GPS receiver, ultrasonic distance measuring module, camera, temperature sensor, fire
Flame sensor or harmful gas sensor；Global positioning system GPS receiver is used for the positional information for obtaining the scene of being monitored；It is super
Sound ranging module is used for the range information for obtaining the scene of being monitored；Camera is used for the image information for obtaining the scene of being monitored；
Temperature sensor is used for the temperature for obtaining the scene of being monitored；Flame sensor is used for the burning things which may cause a fire disaster information for obtaining the scene of being monitored；Have
Evil gas sensor is used for the harmful gas concentration information for obtaining the scene of being monitored.
Remote monitoring terminal includes terminal WiFi communication module, terminal data processing module and User Interface；Terminal
WiFi communication module is used to receive data frame of the multiclass with priority that airborne WiFi communication module is sent；Terminal data processing
Module is used to extracting, storing the data message that end WiFi communication module of concurrently making arrangements for his funeral is received；User Interface includes longitude and latitude
Degrees of data area, the Orientation on map information area, ultrasonic range measurement area, apart from alarm, harmful gas concentration area, image capture area, temperature
Spend monitoring section and burning things which may cause a fire disaster alarm.Longitude and latitude data field is used to show the positional information that global positioning system GPS receiver is obtained；Ground
Figure location information area is used to show real-time map data；Ultrasonic range measurement area be used to showing ultrasonic distance measuring module obtains away from
From information；It is used for the intelligent alarm of distance apart from alarm；Harmful gas concentration area is used to show what harmful gas sensor was obtained
Harmful gas concentration information；Image capture area is used to show the image information that camera is obtained；Image capture area is taken the photograph for display
The image information obtained as head；Temperature monitoring area is used for the image information that displays temperature sensor is obtained；Burning things which may cause a fire disaster alarm is used for fire
The intelligent alarm in source.
Reference picture 2, implementation process figure of the invention, comprises the following steps：
Step 1) monitoring center is according to monitored field scene, to four rotor wing unmanned aerial vehicles transmission data request signal and request
The priority of data message type；Surveillance center according to want obtain data importance and IEEE802.11d in 8 kinds it is excellent
The data of desired acquisition are set to integer between 0~7 according to the priority of requesting data information type, obtained by the definition of first level
To the priority of requesting data information type.
Step 2) the monitored live related data information of four rotor wing unmanned aerial vehicles collection：Four rotor wing unmanned aerial vehicles please according to data
Signal is sought, global positioning system GPS receiver, ultrasonic distance measuring module, camera, temperature sensor, flame sensor is utilized
Or harmful gas sensor, positional information, range information, image information, temperature information, the burning things which may cause a fire disaster information at the monitored scene of collection
Or harmful gas concentration information；
Step 3) airborne data frame of the WiFi communication module acquisition multiclass with priority：
Step 3a) on-board data processing module addition identifier α before each related data information at scene is monitored,
Obtain being monitored the marking data information at scene, wherein, α is the integer more than or equal to 0, and a α value only corresponds to a kind of data
Information；
Step 3b) on-board data processing module according to the priority of requesting data information type, be each according to number of request
The priority in IEEE802.11 protocol media access control MAC headers is set according to information type, multiclass priority MAC header is obtained；
Step 3c) on-board data processing module adds the priority MAC header of respective type according to marking data information type
It is added to before marking data information, obtains the data frame that multiclass carries priority；
Step 3d) order of the on-board data processing module according to priority from high to low, multiclass is carried to the number of priority
Airborne WiFi communication module is sent in sequence to according to frame；
Step 4) data frame of the multiclass with priority be added to corresponding access class AC teams by airborne WiFi communication module
In row；
Airborne WiFi communication module is returned the data frame with priority using enhancing distributed channel access EDCA mechanism
Enter in corresponding AC.Each AC has the priority data queue of oneself.Enhanced distributed coordination accesses EDCA mechanism
Distributed coordination function DCF extension in former 802.11 standards, the mode for being also based on competition carrys out access channel.It defines four
Plant the access type (AccessCategory, AC) based on IEEE802.1D, including AC_VO, AC_VI, AC_BE, AC_BK.Make
Wireless medium is accessed with 8 kinds of User Priorities (Priority), the different grades of service are provided for different types of service.It is many
Same data priority can be corresponded to by planting data message；One AC queue can correspond to a variety of data messages.
Data priority divides as shown in table 1 in the present embodiment：
The present embodiment data priority of table 1 is divided
Step 5) airborne WiFi communication module sends one or more numbers with priority to terminal WiFi communication module
According to frame：Each AC queue accesses EDCA parameters by default enhancing distributed channel, competition send opportunity TXOP, airborne
WiFi communication module will obtain the data frame that one or more of send opportunity TXOP AC queues carry priority, send extremely
The terminal WiFi communication module of remote monitoring terminal；
Add a kind of frame period in IEEE802.11e standards, i.e., Arbitration Inter Frame Space (ArbitrationIFS,
AIFS).When the airborne WiFi communication module that AIFS is operate on EDCA patterns will obtain transmission opportunity, it is necessary to which the channel of wait is empty
Between idle.The AIFS values of low priority traffice are greater than the AIFS values of high-priority service, i.e., they wait channel idle when
Between to grow, delay access channel.The Arbitration Inter Frame Space AIFS differed to different AC queue definitions values, i.e., to different priorities
Data differentiated stand-by period is provided to realize that message distinguishes the possibility of forwarding；The AIFS values of low priority traffice are big
In the AIFS values of high-priority service, i.e., they wait the time of channel idle to grow, delay access channel.AIFS [AC] meter
Calculate：
AIFS [AC]=SIFS+AIFSN [AC] * SlotTime
Wherein, SIFS is short interFrameGap, and SlotTime is the duration of a time slot, and unit is μ s, AIFSN [AC]
It is an integer value related to priority, using default value：
AIFSN [AC_VO]=2, AIFSN [AC_VI]=2, AIFSN [AC_BK]=3.
In addition to Arbitration Inter Frame Space AIFS, also following important parameter：
CWmin：Minimum competition window, smaller its priority of CWmin is higher；
CWmax：Maximum contention window, smaller its priority of CWmax is higher；
TXOPLimit：TXOP maximum duration value.It is that AC queues have the right to send frame interaction sequence over a wireless medium
The slot time of row.Airborne WiFi communication module is it is ensured that its TXOP is without departing from the specified TXOP maximum duration.
Access type AC in each airborne WiFi communication module is all based on the competition of four kinds of parameter independence above, obtains
The chance of access channel.Once some AC detects the free time state that wireless medium is in an a length of AIFS, it is just opened
Dynamic to keep out of the way code, only back off time is kept to 0 that AC queue and just had the right transmission data frame；If moving back for multiple AC queues
The time of keeping away reduces to 0, then will obtain send opportunity TXOP from high priority AC queues, and start to send corresponding frame, without sending
Frame from lower priority AC queues.For high-priority data set AIFS values be added with CWmax values and should be more than
For lower-priority data set AIFS values be added with CWmin values and, so, the type of service of low priority would not be complete
It is blocked and loses the chance for sending data.
Step 6) the terminal data processing module of remote monitoring terminal extracts and stores and send terminal WiFi communication module
The data message of data frame of the multiclass received with priority：
Step 6a) terminal WiFi communication module remove multiclass with priority data frame in priority MAC header, obtain
Multiclass marking data information is simultaneously sent to terminal data processing module；
Step 6b) terminal data processing module fractionation multiclass marking data information, obtain each identifier α and corresponding
Data message；
Step 6c) terminal data processing module is according to each identifier α, and the corresponding data message of processing obtains multiclass
Data to be displayed information；
If α=0, terminal data processing module reads data, obtains positional information, and construct unification using positional information
The address is simultaneously output to map application DLL API by resource localizer URL addresses, receives what is returned from api interface
Real-time map data；
If data message type is positional information, terminal data processing module obtains positional information to be shown, and utilizes
Obtained positional information constructs uniform resource locator URL addresses and the address is output into map application DLL
API, receives the real-time map data returned from api interface；
If data message type is range information, terminal data processing module obtains range information to be shown, and compares
This distance information value and multi-rotor unmanned aerial vehicle run the size of safe distance, if double be less than safe distance, obtain away from
From warning message；
If data message type is image information, terminal data processing module obtains image to be displayed information；
If data message type is temperature information, terminal data processing module obtains temperature information to be shown；
If data message type is burning things which may cause a fire disaster information, terminal data processing module obtains burning things which may cause a fire disaster information to be shown, and judges
With the presence or absence of burning things which may cause a fire disaster, if double detect the presence of burning things which may cause a fire disaster, burning things which may cause a fire disaster warning message is obtained；
If data message type is harmful gas concentration information, terminal data processing module obtains pernicious gas to be shown
Concentration information.
Step 6d) terminal data processing module storage multiclass data to be displayed information, and by multiclass data to be displayed information
It is sent to the relevant position of User Interface；
Step 7) User Interface reads and shows multiclass data to be displayed information.
Claims (3)
1. a kind of multi-rotor unmanned aerial vehicle remote monitoring method based on multi-priority services, it is characterised in that comprise the following steps：
(1) monitoring center is according to monitored field scene, send data request signal and number of request to multi-rotor unmanned aerial vehicle it is believed that
Cease the priority of type；
(2) multi-rotor unmanned aerial vehicle collection is monitored the related data information at scene：Multi-rotor unmanned aerial vehicle according to data request signal,
Utilize global positioning system GPS receiver, ultrasonic distance measuring module, camera, temperature sensor, flame sensor or harmful gas
Body sensor, collection is monitored positional information, range information, image information, temperature information, burning things which may cause a fire disaster information or harmful gas at scene
Bulk concentration information；
(3) airborne WiFi communication module obtains the data frame that multiclass carries priority：
(3a) on-board data processing module be monitored scene each related data information before add identifier α, obtain by
The marking data information of monitoring field, wherein, α is the integer more than or equal to 0, and a α value only corresponds to a kind of data message；
(3b) on-board data processing module, according to the priority of requesting data information type, is each according to requesting data information class
Type sets the priority in IEEE802.11 protocol media access control MAC headers, obtains multiclass priority MAC header；
The priority MAC header of respective type is added to mark by (3c) on-board data processing module according to marking data information type
Before data message, the data frame that multiclass carries priority is obtained；
Order of (3d) the on-board data processing module according to priority from high to low, by data frame of the multiclass with priority successively
It is sent to airborne WiFi communication module；
(4) data frame of the multiclass with priority is added in corresponding access class AC queues by airborne WiFi communication module；
(5) airborne WiFi communication module sends one or more data frames with priority to terminal WiFi communication module：Often
One access class AC queue accesses EDCA parameters by default enhancing distributed channel, competition send opportunity TXOP, airborne
WiFi communication module will obtain the data frame that one or more of send opportunity TXOP access class AC queues carry priority,
Send to the terminal WiFi communication module of remote monitoring terminal；
(6) the terminal data processing module of remote monitoring terminal is extracted, storage concurrently makes arrangements for his funeral what end WiFi communication module was received
Data message in data frame of the multiclass with priority：
(6a) terminal WiFi communication module removes the priority MAC header in data frame of the multiclass with priority, obtains many categories
Know data message and be sent to terminal data processing module；
(6b) terminal data processing module splits multiclass marking data information, obtains a variety of identifier α and its corresponding data letter
Breath；
(6c) terminal data processing module handles corresponding data message, obtains multiclass number to be shown according to each identifier α
It is believed that breath；
(6d) terminal data processing module stores multiclass data to be displayed information, and multiclass data to be displayed information is sent into use
The relevant position of family interactive interface；
(7) User Interface reads and shows multiclass data to be displayed information.
2. the multi-rotor unmanned aerial vehicle remote monitoring method according to claim 1 based on multi-priority services, its feature exists
In the priority of the requesting data information type described in step (1) is specially：Surveillance center is according to the data for wanting to obtain
Importance and IEEE802.11d in 8 kinds of priority definition, by the data of desired acquisition according to requesting data information type
Priority is set to the integer between 0~7, obtains the priority of requesting data information type.
3. the multi-rotor unmanned aerial vehicle remote monitoring method according to claim 1 based on multi-priority services, its feature exists
In the terminal data processing module described in step (6c) handles corresponding data message, obtained according to each identifier α
Multiclass data to be displayed information, be specially：
If data message is positional information, terminal data processing module obtains positional information to be shown, and utilizes obtained position
Put information structuring uniform resource locator URL addresses and the address be output to map application DLL API, receive from
The real-time map data that api interface is returned；
If data message is range information, terminal data processing module obtains range information to be shown, and compares this distance letter
Breath value runs the size of safe distance with multi-rotor unmanned aerial vehicle, if double be less than safe distance, obtains distance alarm letter
Breath；
If data message is image information, terminal data processing module obtains image to be displayed information；
If data message is temperature information, terminal data processing module obtains temperature information to be shown；
If data message is burning things which may cause a fire disaster information, terminal data processing module obtains burning things which may cause a fire disaster information to be shown, and judges whether
Burning things which may cause a fire disaster, if double detect the presence of burning things which may cause a fire disaster, obtains burning things which may cause a fire disaster warning message；
If data message is harmful gas concentration information, terminal data processing module obtains harmful gas concentration letter to be shown
Breath.
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| CN108282483A (en) * | 2018-03-21 | 2018-07-13 | 中国人民解放军陆军工程大学 | Unmanned plane self-organizing network adaptive MAC protocol frame and data transmission method |
| CN110935126A (en) * | 2017-10-13 | 2020-03-31 | 南京涵曦月自动化科技有限公司 | Spraying control method of unmanned aerial vehicle |
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| CN114363561A (en) * | 2021-12-03 | 2022-04-15 | 中国科学院西北生态环境资源研究院 | Detection system for degradation degree of alpine mountain grassland based on remote sensing |
| CN114448574A (en) * | 2022-03-03 | 2022-05-06 | 湖南军安信达科技有限公司 | MAC frame data transmission processing equipment and data transmission processing method thereof |
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