CN108174358A - Flight trunking communication method, device and system - Google Patents
Flight trunking communication method, device and system Download PDFInfo
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- CN108174358A CN108174358A CN201711342129.0A CN201711342129A CN108174358A CN 108174358 A CN108174358 A CN 108174358A CN 201711342129 A CN201711342129 A CN 201711342129A CN 108174358 A CN108174358 A CN 108174358A
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- unmanned plane
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
- H04W4/10—Push-to-Talk [PTT] or Push-On-Call services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
Abstract
The purpose of the disclosure is to provide a kind of flight trunking communication method, device and system, to solve the problems, such as that flight cluster flight control is not accurate enough in the relevant technologies.The method is applied to any unmanned plane in flight cluster, and each unmanned plane establishes multiple communication endpoints after initialization information is got, according to initialization information, and passes through participant's publishing side and broadcast multiple communication endpoints of the unmanned plane in flight cluster；After the communication endpoint for receiving the broadcast of other unmanned planes, the communication endpoint of unmanned plane communication endpoint corresponding with other unmanned planes is matched, establishes the mapping table of communication endpoint；When determining to receive the communication endpoint that other all unmanned planes are sent in flight cluster, unmanned plane communication link is established according to the communication endpoint mapping table.
Description
Technical field
This disclosure relates to communication technique field, and in particular, to a kind of flight trunking communication method, device and system.
Background technology
With the development of unmanned air vehicle technique, the demand that aerial mission is performed by flight cluster is also increasingly stronger.Flying
When row cluster performs aerial mission, the formation in addition to needing holding flight cluster, it is also necessary to ensure mutually will not between unmanned plane
It collides.
In the related art, the reception ground control system of each unmanned plane or the operational order of remote manipulator, and
Aerial mission is completed according to operational order.However, control unmanned plane by ground or remote manipulator, data transmission it is real-time
Property it is poor, it is difficult to ensure that each unmanned plane is unified in the time node for performing aerial mission, it is big to the control difficulty of flight cluster,
The flight safety of flight cluster is relatively low.
Invention content
The purpose of the disclosure is to provide a kind of flight trunking communication method, device and system, to solve to fly in the relevant technologies
The problem of flight control of row cluster is not accurate enough.
To achieve these goals, in a first aspect, the embodiment of the present disclosure provides a kind of flight cluster communication system, the system
System includes ground communications station and flight cluster；
The ground communications station includes ground digital transmission module, and each unmanned plane in the flight cluster includes unmanned plane number
Transmission module and wireless communication module；
The ground digital transmission module is used for, and aerial mission information is sent, and described in reception to the unmanned plane digital transmission module
The unmanned plane during flying status information that unmanned plane digital transmission module is sent；
The wireless communication module is used for, and establishes the radio communication chain circuit between unmanned plane.
Second aspect, the embodiment of the present disclosure provide a kind of flight trunking communication method, and the method is applied to flight cluster
In any unmanned plane, the method includes：
Obtain the initialization information for setting unmanned plane during flying parameter；
Multiple communication endpoints of the unmanned plane are created according to the initialization information, the multiple communication endpoint at least wraps
It includes participant and issues endpoint and participant's monitoring endpoint；
Endpoint is issued by the participant and broadcasts multiple communication endpoints of the unmanned plane establishment, and passes through the participation
Person monitors the communication endpoint created that endpoint receives any other unmanned planes broadcast in the flight cluster；
According to the communication endpoint created that other unmanned planes listened to are broadcasted, by each communication terminal of the unmanned plane
Point and the progress endpoint matching of the communication terminal points of other unmanned planes, and nobody is established in the flight cluster according to endpoint matching result
Communication endpoint mapping table between machine；
When determining to listen to the communication endpoint created of each other unmanned planes broadcast in the flight cluster, according to
The communication endpoint mapping table establishes the communication link of the unmanned plane and other unmanned planes.
Optionally, the multiple communication endpoint further includes：Publisher issues endpoint, publisher monitors endpoint, subscriber's hair
Cloth endpoint, subscriber monitor endpoint；
The communication endpoint mapping table established according to endpoint matching result in the flight cluster between unmanned plane, including
Following correspondence is established in the communication endpoint mapping table：
First between the participant's publication endpoint and participant's monitoring endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship；
Second between the participant's monitoring endpoint and participant's publication endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship；
The third that the publisher of the unmanned plane issues endpoint with the publisher of other unmanned planes is monitored between endpoint is corresponding
Relationship；
The 4th between the publisher's monitoring endpoint and publisher's publication endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship；
The 5th between the subscriber's publication endpoint and subscriber's monitoring endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship；
The 6th between the subscriber's monitoring endpoint and subscriber's publication endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship.
Optionally, the multiple communication endpoint further includes one or more flying quality publication endpoints and one or more
A flying quality subscribes to endpoint；
The flying quality publication endpoint is used to issue the flying quality of the unmanned plane；
The flying quality subscribes to the flying quality that endpoint is used to receive other unmanned planes；
The method further includes：
Endpoint is issued by the publisher, to the hair that the third correspondence is formed with publisher's publishing side point
Cloth person monitors endpoint and sends the flying quality publication endpoint；
Endpoint is monitored by the publisher, receives and forms the 4th correspondence with publisher monitoring endpoint
Publisher issues the flying quality publication endpoint that endpoint is sent；
The communication terminal point of each communication endpoint by the unmanned plane and other unmanned planes carries out endpoint matching, and root
The communication endpoint mapping table in the flight cluster between unmanned plane is established according to endpoint matching result, including：
The flying quality of the unmanned plane is subscribed to endpoint to match with the flying quality publishing side point received, and
The flying quality that the unmanned plane is established in the communication endpoint mapping table subscribes to the flying quality hair of endpoint and other unmanned planes
The 7th correspondence between cloth endpoint.
Optionally, the multiple communication endpoint further includes one or more flying quality publication endpoints and one or more
A flying quality subscribes to endpoint；
The flying quality publication endpoint is used to issue the flying quality of the unmanned plane；
The flying quality subscribes to the flying quality that endpoint is used to receive other unmanned planes；
The method further includes：
Endpoint is issued by the subscriber, ordering for the 5th correspondence is formed to subscriber's publishing side point
Reader monitors endpoint and sends the flying quality subscription endpoint；
Endpoint is monitored by the subscriber, receives and forms the 6th correspondence with subscriber monitoring endpoint
Subscriber issues the flying quality that endpoint is sent and subscribes to endpoint；
The communication terminal point of each communication endpoint by the unmanned plane and other unmanned planes carries out endpoint matching, and root
The communication endpoint mapping table in the flight cluster between unmanned plane is established according to endpoint matching result, including：
The flying quality publication endpoint of the unmanned plane is matched with the flying quality subscription end point received, and
The flying quality that flying quality the publication endpoint and other unmanned planes of the unmanned plane are established in the communication endpoint mapping table is ordered
Read the 8th correspondence between endpoint.
Optionally, in the communication link that the unmanned plane and other unmanned planes are established according to the communication endpoint mapping table
After road, the method further includes：
If monitoring, the communication endpoint does not receive the mesh to match with the communication endpoint in the first preset time period
The message that mark communication endpoint is sent then sends to ask the target to the UAV targets where the target communication endpoint
Unmanned plane returns to the instruction of message；
If not receiving the message that the UAV targets return in the second preset time period, operation of making a return voyage is performed.
The third aspect, the embodiment of the present disclosure provide a kind of flight cluster communication device, and described device is applied to flight cluster
In any unmanned plane, described device includes：
Acquisition module, for obtaining the initialization information for setting unmanned plane during flying parameter；
Endpoint creation module, it is described for creating multiple communication endpoints of the unmanned plane according to the initialization information
Multiple communication endpoints include at least participant and issue endpoint and participant's monitoring endpoint；
End point detection module, for passing through multiple communication terminals that the participant issues endpoint and broadcasts the unmanned plane and create
Point, and endpoint is monitored by the participant and receives the communication created that other any unmanned planes are broadcasted in the flight cluster
Endpoint；
Analysis module, for according to listen to other unmanned planes broadcast the communication endpoint created, by it is described nobody
Each communication endpoint of machine carries out endpoint matching with the communication terminal point of other unmanned planes, and according to being established endpoint matching result
Communication endpoint mapping table in flight cluster between unmanned plane；
Communication module, for determine to listen to having created for each other unmanned planes broadcast in the flight cluster logical
When interrogating endpoint, the communication link of the unmanned plane and other unmanned planes is established according to the communication endpoint mapping table.
Optionally, the multiple communication endpoint further includes：Publisher issues endpoint, publisher monitors endpoint, subscriber's hair
Cloth endpoint, subscriber monitor endpoint；
The analysis module, for establishing following correspondence in the communication endpoint mapping table：
First between the participant's publication endpoint and participant's monitoring endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship；
Second between the participant's monitoring endpoint and participant's publication endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship；
The third that the publisher of the unmanned plane issues endpoint with the publisher of other unmanned planes is monitored between endpoint is corresponding
Relationship；
The 4th between the publisher's monitoring endpoint and publisher's publication endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship；
The 5th between the subscriber's publication endpoint and subscriber's monitoring endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship；
The 6th between the subscriber's monitoring endpoint and subscriber's publication endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship.
Optionally, the multiple communication endpoint further includes one or more flying quality publication endpoints and one or more
A flying quality subscribes to endpoint；
The flying quality publication endpoint is used to issue the flying quality of the unmanned plane；
The flying quality subscribes to the flying quality that endpoint is used to receive other unmanned planes；
The end point detection module issues endpoint for passing through the publisher, to publisher's publishing side dot
Publisher into the third correspondence monitors the endpoint transmission flying quality publication endpoint；And pass through the publisher and supervise
Endpoint is listened, receives the flight for monitoring endpoint with the publisher and forming publisher's publication endpoint of the 4th correspondence and sending
Data publication endpoint；
The analysis module, for the flying quality of the unmanned plane to be subscribed to endpoint and the flying quality received publication
Endpoint is matched, and the flying quality subscription endpoint and other nothings of the unmanned plane are established in the communication endpoint mapping table
The 7th correspondence between man-machine flying quality publication endpoint.
Optionally, the multiple communication endpoint further includes one or more flying quality publication endpoints and one or more
A flying quality subscribes to endpoint；
The flying quality publication endpoint is used to issue the flying quality of the unmanned plane；
The flying quality subscribes to the flying quality that endpoint is used to receive other unmanned planes；
The end point detection module issues endpoint for passing through the subscriber, to subscriber's publishing side dot
Subscriber into the 5th correspondence monitors the endpoint transmission flying quality subscription endpoint；And pass through the subscriber and supervise
Endpoint is listened, receives the flight for monitoring endpoint with the subscriber and forming subscriber's publication endpoint of the 6th correspondence and sending
Data subscription endpoint；
The communication terminal point of each communication endpoint by the unmanned plane and other unmanned planes carries out endpoint matching, and root
The communication endpoint mapping table in the flight cluster between unmanned plane is established according to endpoint matching result, including：
The analysis module, for the flying quality of unmanned plane publication endpoint and the flying quality received to be subscribed to
Endpoint is matched, and the flying quality publication endpoint and other nothings of the unmanned plane are established in the communication endpoint mapping table
Man-machine flying quality subscribes to the 8th correspondence between endpoint.
Optionally, described device further includes：
Search module, for establishing the unmanned plane and other unmanned planes according to the communication endpoint mapping table described
After communication link, match monitoring that the communication endpoint does not receive in the first preset time period with the communication endpoint
Target communication endpoint send message when, sent to the UAV targets where the target communication endpoint described for asking
UAV targets return to the instruction of message；
Flight module during for not receiving message that the UAV targets return in the second preset time period, performs
It makes a return voyage operation.
Above-mentioned technical proposal can at least reach following technique effect：
Each unmanned plane establishes multiple communication endpoints, and pass through after initialization information is got, according to initialization information
Participant's publishing side broadcasts multiple communication endpoints of the unmanned plane in flight cluster；Receiving the broadcast of other unmanned planes
After communicating endpoint, the communication endpoint of unmanned plane communication endpoint corresponding with other unmanned planes is matched, establishes communication endpoint
Mapping table；When determining to receive the communication endpoint that other all unmanned planes are sent in flight cluster, according to the communication endpoint
Mapping table establishes unmanned plane communication link.In this way, each unmanned plane can pass through different communication endpoints and other unmanned planes
It is communicated, so as to obtain the state of flight of other unmanned planes, the flight control for making flight cluster is more accurate.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is for providing further understanding of the disclosure, and a part for constitution instruction, with following tool
Body embodiment is used to explain the disclosure, but do not form the limitation to the disclosure together.In the accompanying drawings：
Fig. 1 is a kind of flight cluster communication system schematic diagram shown in one exemplary embodiment of the disclosure.
Fig. 2 is a kind of communications protocol encapsulation schematic diagram shown in one exemplary embodiment of the disclosure.
Fig. 3 is a kind of flight trunking communication method flow diagram shown in one exemplary embodiment of the disclosure.
Fig. 4 is another flight trunking communication method flow diagram shown in one exemplary embodiment of the disclosure.
Fig. 5 is a kind of flight cluster communication device block diagram shown in one exemplary embodiment of the disclosure.
Specific embodiment
The specific embodiment of the disclosure is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
Fig. 1 is a kind of flight cluster communication system schematic diagram shown in one exemplary embodiment of the disclosure.As shown in Figure 1,
The system comprises ground communications stations 100 and flight cluster 200；
Ground digital transmission module 101 is wrapped at the ground communications station 100, and each unmanned plane in the flight cluster 200 is (as schemed
The first unmanned plane 210, the second unmanned plane 220, third unmanned plane 230 shown in 1) it is (as shown in Figure 1 including unmanned plane digital transmission module
The first unmanned plane digital transmission module 211, the second unmanned plane digital transmission module 221, third unmanned plane digital transmission module 231) and channel radio
Interrogating module, (the first wireless communication module 212 as shown in Figure 1, the second wireless communication module 222, third are without wireless communication module
232)；
The ground digital transmission module 101 is used for, and aerial mission information is sent, and receive institute to the unmanned plane digital transmission module
State the unmanned plane during flying status information of unmanned plane digital transmission module transmission；
The wireless communication module is used for, and establishes the radio communication chain circuit between unmanned plane (as shown in Fig. 1 dot-dashed lines).
Wherein, by the radio communication chain circuit, state of flight information can be transmitted between unmanned plane.If a certain unmanned plane quilt
A machine is appointed as, aerial mission information can also be issued by other unmanned planes of the chain road direction.If for example, the second unmanned plane 220
A machine is designated as, then can send aerial mission information to the first unmanned plane 210 and third unmanned plane 230.
In addition, each unmanned plane can establish the communication link with ground communications station 100 by unmanned plane digital transmission module
(double-head arrow is shown in solid in such as Fig. 1).Flying for each unmanned plane transmission can be received by the communication link ground communications station 100
Row status information.
Optionally, in ground communications website 100 equipped with ground station software, software operation portion is used for the head to flight cluster
Machine issues aerial mission, obtains every aircraft state in flight cluster and captures and control the aircraft for being detached from cluster.It is each nobody
It may include protocol service part and Communication Control service part equipped with flying-controlled box, the flying-controlled box on machine.Wherein, communication control
Service part processed for earthward communication website send the current state of flight of the unmanned plane, be additionally operable to and into flight cluster its
His unmanned plane broadcast transmission state of flight and aerial mission, communications protocol service part are used to carry out RTPS to the data that need to be transmitted
Whether protocol encapsulation, detection data communication break down, and the error-correction operation of complete paired data in case of a failure.
Optionally, each unmanned plane further includes information acquisition module, for acquiring the state of flight information of unmanned plane and determining
Position information.
Specifically, information acquisition module can acquire information by various kinds of sensors, for example, by GPS, magnetic compass adds
Speedometer etc. in real time believe by the state of flights such as position, speed, acceleration, three axis angular rates, three shaft angle acceleration of acquisition unmanned plane
Breath.
Illustratively, the wireless communication module of each unmanned plane can have the function of Wi-Fi.Wireless communication module can pass through
Ad-hoc patterns or promiscuous mode establish network, message are sent in the form of broadcast, in this way, it is winged to know each unmanned plane
The all information that other aircrafts are issued in row cluster.
What deserves to be explained is said program can realize that each communication endpoint knows the every other unmanned plane of flight cluster
Information.In other implement scenes, each unmanned plane may not necessarily obtain the information of other any unmanned planes, only need to obtain
The information of the unmanned plane adjacent with the unmanned plane, for example, in simple line style formation flight cluster, each unmanned plane need to only obtain
Take the information of unmanned plane before and after forming into columns.For such application scenarios, the networking model between Wi-Fi module can be changed
For ad-hoc patterns, and in the communication protocol module of flying-controlled box plus udp/ip layers of encapsulation.
After establishing communication link, communications protocol may be used, the data that need to be transmitted are handled.Specifically, it may be used
RTPS+802.11 agreements to realize configuration data service quality, increase and remove communication endpoint, and optimize Internet resources.
It is needed as shown in Fig. 2, an initial data will be transmitted between a group of planes by 4 layers of encapsulation, when it is implemented, can fly
Add udp/ip layers of encapsulation in control software communication protocol module.RTPS layers encapsulation be in order to ensure the RTPS of data semanteme because
RTPS agreements provide flexible and efficient expansible protocol conventions for Data distributing.The encapsulation of Fec coding layers is that enhancing is passed
So as to reduce the use to net network, the chacha20-poly1305 layers of safety that can ensure data are prevented for the error correction of transmission of data
Only malicious network attacks.Last ieee802.11 layers meet wireless network data transformat requirement.
Fig. 3 is a kind of flight trunking communication method flow chart shown in one exemplary embodiment of the disclosure, and the method should
For any unmanned plane in flight cluster, the method includes：
S31 obtains the initialization information for setting unmanned plane during flying parameter.
Wherein, the unmanned plane during flying set parameter is needed to include：Flight cluster unmanned plane quantity, specifies head machine, and safety is close
Key, flight pattern, lost contact time threshold and search time threshold value etc..After the completion of initialization inside the unmanned plane, that is, enter such as
The step of lower establishment communication link.
When it is implemented, the initialization information can be manually entered unmanned plane by user, can also be sent out by ground communications station
It send to unmanned plane.
S32 creates multiple communication endpoints of the unmanned plane according to the initialization information, and the multiple communication endpoint is extremely
Include participant less and issue endpoint and participant's monitoring endpoint.
What deserves to be explained is when creating communication endpoint, each unmanned plane creates overall identification using security key, so that
The subsequent communication transfer of unmanned plane is effectively encrypted and is decrypted, so as to ensure the safety of unmanned inter-machine communication.
S33 issues endpoint by the participant and broadcasts multiple communication endpoints of the unmanned plane establishment, and pass through described
Participant monitors the communication endpoint created that endpoint monitors any other unmanned planes broadcast in the flight cluster.
S34, according to the communication endpoint created that other unmanned planes listened to are broadcasted, by each logical of the unmanned plane
The communication terminal point for interrogating endpoint and other unmanned planes carries out endpoint matching, and establish in the flight cluster according to endpoint matching result
Communication endpoint mapping table between unmanned plane.
S35, when determining to listen to the communication endpoint created of each other unmanned planes broadcast in the flight cluster,
The communication link of the unmanned plane and other unmanned planes is established according to the communication endpoint mapping table.
Wherein " participant " represents a unmanned plane in flight cluster, if the communication endpoint mapping in a unmanned plane
Table is consistent with the initialization information being configured during parameter initialization, illustrates that this unmanned plane leads to other unmanned planes in flight cluster
It is unimpeded to interrogate link, sends to represent unmanned plane " in place " message into " waiting in place " state and period.If one
Unmanned plane has been in position, and receives " in place " message of other all unmanned planes flight cluster Nei.Just
Into " waiting for task " state, the aerial mission that it will receive other unmanned planes or the publication of ground communications station at this time.
In a kind of optional embodiment, the multiple communication endpoint further includes：Publisher issues endpoint PP, publisher
Monitor endpoint PL, subscriber issues endpoint SP, subscriber monitors endpoint SL.
The communication endpoint mapping table established according to endpoint matching result in the flight cluster between unmanned plane, including
Following correspondence is established in the communication endpoint mapping table：
First between the participant's publication endpoint and participant's monitoring endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship；
Second between the participant's monitoring endpoint and participant's publication endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship；
The third that the publisher of the unmanned plane issues endpoint with the publisher of other unmanned planes is monitored between endpoint is corresponding
Relationship；
The 4th between the publisher's monitoring endpoint and publisher's publication endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship；
The 5th between the subscriber's publication endpoint and subscriber's monitoring endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship；
The 6th between the subscriber's monitoring endpoint and subscriber's publication endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship.
For the understanding above-mentioned technical proposal for being more clear those skilled in the art, now to include unmanned plane A, unmanned plane B
With the flight cluster explanation of unmanned plane C.
According to step S32, it is as shown in table 1 that each unmanned plane creates multiple communication endpoints, specifically, step S32 can be by
Endpoint creation module on unmanned plane performs.
Table 1
By taking unmanned plane B as an example, unmanned plane B issues endpoint PCP, participant's publishing side of broadcast unmanned plane B by participant
Point PCP, participant monitor endpoint PCL, publisher issues endpoint PP, publisher monitors endpoint PL, subscriber issues endpoint SP, order
Reader monitors endpoint SL.
In addition, unmanned plane B monitors endpoint PCL by participant, the broadcast that unmanned plane A participant issues endpoint PCP is received
Unmanned plane A participant issue endpoint PCP, participant monitors endpoint PCL, publisher issues endpoint PP, publisher monitors end
Point PL, subscriber issue endpoint SP, subscriber monitors endpoint SL.
Unmanned plane B monitors endpoint PCL by participant, receives the broadcast of unmanned plane C participant publication endpoint PCP nobody
The participant of machine C issues endpoint PCP, participant monitors endpoint PCL, publisher issues endpoint PP, publisher monitors endpoint PL, orders
Reader issues endpoint SP, subscriber monitors endpoint SL.
It can be as shown in table 2 according to the step S34 communication endpoint mapping tables established：
Table 2
That is, the participant of unmanned plane B issues endpoint PCP monitors endpoint PCL with the participant of unmanned plane A respectively,
And the participant of unmanned plane C monitors endpoint PCL and matches；The participant of unmanned plane B monitor endpoint PCL respectively with unmanned plane A
Participant issue endpoint PCP and unmanned plane C participant issue endpoint PCP match；And so on.
In addition, in addition to multiple communication endpoints that table 1 creates, the unmanned plane can also be established more according to itself task attribute
A communication endpoint related with flying quality, as shown in table 3：
Table 3
Optionally, the multiple communication endpoint further includes one or more flying quality publication endpoints and one or more
A flying quality subscribes to endpoint；
The flying quality publication endpoint is used to issue the flying quality of the unmanned plane；
The flying quality subscribes to the flying quality that endpoint is used to receive other unmanned planes；
The method further includes：
Endpoint is issued by the publisher, to the hair that the third correspondence is formed with publisher's publishing side point
Cloth person monitors endpoint and sends the flying quality publication endpoint；
Endpoint is monitored by the publisher, receives and forms the 4th correspondence with publisher monitoring endpoint
Publisher issues the flying quality publication endpoint that endpoint is sent；
The communication terminal point of each communication endpoint by the unmanned plane and other unmanned planes carries out endpoint matching, and root
The communication endpoint mapping table in the flight cluster between unmanned plane is established according to endpoint matching result, including：
The flying quality of the unmanned plane is subscribed to endpoint to match with the flying quality publishing side point received, and
The flying quality that the unmanned plane is established in the communication endpoint mapping table subscribes to the flying quality hair of endpoint and other unmanned planes
The 7th correspondence between cloth endpoint.
By taking multiple communication endpoints that table 3 is established as an example, unmanned plane B's issues endpoint PP by publisher, to the nothing of pairing
The publisher of man-machine A monitors endpoint PL and the publisher of the unmanned plane C of pairing monitors endpoint PL, sends the flight of unmanned plane B
State issues endpoint STP and aerial mission publication endpoint TP.
In addition, unmanned plane B also monitors endpoint PL by publisher, the publisher for receiving the unmanned plane A of pairing issues endpoint
The state of flight publication endpoint STP of the unmanned plane A of PP publications and aerial mission publication endpoint TP, receives the unmanned plane C's of pairing
Publisher issues the state of flight publication endpoint STP of the unmanned plane C of endpoint PP publications and aerial mission publication endpoint TP.
Optionally, the multiple communication endpoint further includes one or more flying quality publication endpoints and one or more
A flying quality subscribes to endpoint；
The flying quality publication endpoint is used to issue the flying quality of the unmanned plane；
The flying quality subscribes to the flying quality that endpoint is used to receive other unmanned planes；
The method further includes：
Endpoint is issued by the subscriber, ordering for the 5th correspondence is formed to subscriber's publishing side point
Reader monitors endpoint and sends the flying quality subscription endpoint；
Endpoint is monitored by the subscriber, receives and forms the 6th correspondence with subscriber monitoring endpoint
Subscriber issues the flying quality that endpoint is sent and subscribes to endpoint；
The communication terminal point of each communication endpoint by the unmanned plane and other unmanned planes carries out endpoint matching, and root
The communication endpoint mapping table in the flight cluster between unmanned plane is established according to endpoint matching result, including：
The flying quality publication endpoint of the unmanned plane is matched with the flying quality subscription end point received, and
The flying quality that flying quality the publication endpoint and other unmanned planes of the unmanned plane are established in the communication endpoint mapping table is ordered
Read the 8th correspondence between endpoint.
By taking multiple communication endpoints that table 3 is established as an example, unmanned plane B's issues endpoint SP by subscriber, to the nothing of pairing
The subscriber of man-machine A monitors endpoint SL and the subscriber of the unmanned plane C of pairing monitors endpoint SL, sends the flight of unmanned plane B
State subscription endpoint STS and aerial mission subscribe to endpoint TS.
In addition, unmanned plane B also monitors endpoint SL by subscriber, the subscriber for receiving the unmanned plane A of pairing issues endpoint
The state of flight hair of the unmanned plane A of SP publications subscribes to endpoint STS and aerial mission subscribes to endpoint TS；Receive the unmanned plane C of pairing
Subscriber's state of flight hair of unmanned plane C for issuing endpoint SP publication subscribe to endpoint STS and aerial mission subscribes to endpoint TS.
In this way, content as shown in table 4 is further included according to the step S34 communication endpoint mapping tables established：
Table 4
| The communication endpoint of unmanned plane B | The communication endpoint of other unmanned planes |
| B：STS | A：STP；C：STP |
| B：TS | A：TP；C：TP |
| B：STP | A：STS；C：STS |
| B：TP | A：TS；C：TS |
In the specific implementation, the state of flight publication endpoint STP of unmanned plane B can be to the flight shape of the unmanned plane A of pairing
State subscribes to endpoint STS and the state of flight of the unmanned plane C of pairing subscribes to endpoint STS, sends the state of flight letter of unmanned plane B
Breath.
In addition, the state of flight of unmanned plane B subscribes to endpoint STS, the state of flight publication endpoint of unmanned plane A can be received
The state of flight information for the unmanned plane A that STP is sent can also receive the nothing that the state of flight publication endpoint STP of unmanned plane C is sent
The state of flight information of man-machine C.
With state of flight information to send and receive logic similar, aerial mission information can also be sent between unmanned plane.
What deserves to be explained is above-mentioned aerial mission publication endpoint, aerial mission subscribe to endpoint, state of flight publication endpoint,
State of flight subscribes to endpoint by way of example only, and the disclosure does not limit herein.In addition, for there is the unmanned plane of load task
Cluster, for example the unmanned plane cluster sprayed insecticide is performed, relevant dose state publication endpoint and dose state can also be created
Subscribe to endpoint.For another example, such as unmanned plane during flying cluster is when carrying out light show, need to only increase about the logical of " light source state "
Interrogate node.
In addition, for ensure communication quality, it is certain communication endpoints after information is sent, confirmation message is needed to transmit
To the communication endpoint to match with the communication endpoint；And whether the information that matched communication endpoint receives has real-time.
Here, the data transmission of each communication endpoint can be classified.
For example, with the relevant communication endpoint of aerial mission, reliable endpoint can be divided into.That is, it needs to fly
The relevant information of task can accurately be sent to corresponding unmanned plane, and receive the unmanned plane, to ensure that aerial mission is issued
Reliability.For another example, with the relevant endpoint of state of flight, efficient endpoint can be divided into.That is, need ensure with
The relevant information of state of flight has real-time.
In the specific implementation, by RTPS agreements the data of transmission can be packaged for realizing with the field of grading function.
The possible pairing " reliable publisher -- reliable subscriber " of three groups of RTPS agreements permission, " reliable publisher -- efficient subscriber ",
" efficient subscriber -- efficient publisher ".This three assemble to corresponding communication quality be respectively it is reliable, efficiently, efficiently,
Specific correspondence can be with reference table 5.
Table 5
Fig. 4 is another flight trunking communication method flow chart shown in one exemplary embodiment of the disclosure, the method
Applied to any unmanned plane in flight cluster, the method includes：
S41 obtains the initialization information for setting unmanned plane during flying parameter.
S42 creates multiple communication endpoints of the unmanned plane according to the initialization information, and the multiple communication endpoint is extremely
Include participant less and issue endpoint and participant's monitoring endpoint.
S43 issues endpoint by the participant and broadcasts multiple communication endpoints of the unmanned plane establishment, and pass through described
Participant monitors the communication endpoint created that endpoint monitors any other unmanned planes broadcast in the flight cluster.
S44, according to the communication endpoint created that other unmanned planes listened to are broadcasted, by each logical of the unmanned plane
The communication terminal point for interrogating endpoint and other unmanned planes carries out endpoint matching, and establish in the flight cluster according to endpoint matching result
Communication endpoint mapping table between unmanned plane.
S45, when determining to listen to the communication endpoint created of each other unmanned planes broadcast in the flight cluster,
The communication link of the unmanned plane and other unmanned planes is established according to the communication endpoint mapping table.
Wherein " participant " represents a unmanned plane in flight cluster, if the communication endpoint mapping in a unmanned plane
Table is consistent with the initialization information being configured during parameter initialization, illustrates that this unmanned plane leads to other unmanned planes in flight cluster
It is unimpeded to interrogate link, sends to represent unmanned plane " in place " message into " waiting in place " state and period.If one
Unmanned plane has been in position, and receives " in place " message of other all unmanned planes flight cluster Nei.Just
Into " waiting for task " state, the aerial mission that it will receive other unmanned planes or the publication of ground communications station at this time.
S46, the aerial mission type received by communication link detection.
If receiving normal aerial mission, step S47 is performed；If receiving task of making a return voyage, step S48 execution is returned
Boat operation.
S47 performs aerial mission.
During aerial mission is performed, the communication state of each communication endpoint on unmanned plane is detected in real time, is occurred in communication
During preset failure event, step S47 is performed.Can be specifically to detect whether to receive in the first preset time period to lead to described
The message that the target communication endpoint that matches of news endpoint is sent, a certain communication endpoint do not received in the first preset time period with
The message that the target communication endpoint that the communication endpoint matches is sent, then perform step S47.
S48 sends that the UAV targets is asked to return to message to the UAV targets where target communication endpoint
Instruction.
The message that the UAV targets return is not received in the second preset time period after sending described instruction, then really
Fixed UAV targets' lost contact, performs step S48.And it is not received in the second preset time period after sending described instruction described
The message that UAV targets return, that is, judge the non-lost contact of the UAV targets, then continue to execute aerial mission.
S49 performs operation of making a return voyage.
That is, after the unmanned plane in cluster determines UAV targets' lost contact, can actively be sent out to the UAV targets
Request message is sent, actively searches the UAV targets of lost contact.If not finding the unmanned plane, operation of making a return voyage is performed.Because nothing
Man-machine transmission message is there may be time interval, therefore when above-mentioned first preset time period and the second preset time period should be greater than this
Between be spaced, to ensure that above-mentioned decision logic is effective.
Operation of making a return voyage can be performed when it is implemented, if unmanned plane completes aerial mission again.Alternatively, control is hovered over, etc.
Treat next aerial mission.
Fig. 5 is a kind of flight cluster communication device shown in one exemplary embodiment of the disclosure, and described device is applied to fly
Any unmanned plane in row cluster, described device include：
Acquisition module 510, for obtaining the initialization information for setting unmanned plane during flying parameter；
Endpoint creation module 520, for creating multiple communication endpoints of the unmanned plane, institute according to the initialization information
It states multiple communication endpoints and includes at least participant's publication endpoint and participant's monitoring endpoint；
End point detection module 530 issues the multiple logical of the endpoint broadcast unmanned plane establishment for passing through the participant
It interrogates endpoint, and passes through the participant having created of monitoring that endpoint receives that other any unmanned planes in the flight cluster broadcast
Communicate endpoint；
Analysis module 540, for the communication endpoint created broadcasted according to other unmanned planes listened to, by the nothing
The communication terminal point of man-machine each communication endpoint and other unmanned planes carries out endpoint matching, and establish institute according to endpoint matching result
State the communication endpoint mapping table between unmanned plane in flight cluster；
Communication module 550, in the establishment for determining to listen to each other unmanned planes broadcast in the flight cluster
Communication endpoint when, the communication link of the unmanned plane and other unmanned planes is established according to the communication endpoint mapping table.
Optionally, the multiple communication endpoint further includes：Publisher issues endpoint, publisher monitors endpoint, subscriber's hair
Cloth endpoint, subscriber monitor endpoint；
The analysis module 540, for establishing following correspondence in the communication endpoint mapping table：
First between the participant's publication endpoint and participant's monitoring endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship；
Second between the participant's monitoring endpoint and participant's publication endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship；
The third that the publisher of the unmanned plane issues endpoint with the publisher of other unmanned planes is monitored between endpoint is corresponding
Relationship；
The 4th between the publisher's monitoring endpoint and publisher's publication endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship；
The 5th between the subscriber's publication endpoint and subscriber's monitoring endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship；
The 6th between the subscriber's monitoring endpoint and subscriber's publication endpoint of other unmanned planes of the unmanned plane is corresponding
Relationship.
Optionally, the multiple communication endpoint further includes one or more flying quality publication endpoints and one or more
A flying quality subscribes to endpoint；
The flying quality publication endpoint is used to issue the flying quality of the unmanned plane；
The flying quality subscribes to the flying quality that endpoint is used to receive other unmanned planes；
The end point detection module 530, endpoint is issued for passing through the publisher, and endpoint is issued to the publisher
The publisher for forming the third correspondence monitors the endpoint transmission flying quality publication endpoint；And pass through the publisher
Monitoring endpoint, the publisher that reception forms the 4th correspondence with publisher monitoring endpoint issue the winged of endpoint transmission
Row data issue endpoint；
The analysis module 540, for the flying quality of the unmanned plane to be subscribed to endpoint and the flying quality received
Publishing side point is matched, and it is described communication endpoint mapping table in establish the unmanned plane flying quality subscribe to endpoint and its
The 7th correspondence between the flying quality publication endpoint of his unmanned plane.
Optionally, the multiple communication endpoint further includes one or more flying quality publication endpoints and one or more
A flying quality subscribes to endpoint；
The flying quality publication endpoint is used to issue the flying quality of the unmanned plane；
The flying quality subscribes to the flying quality that endpoint is used to receive other unmanned planes；
The end point detection module 530, endpoint is issued for passing through the subscriber, and endpoint is issued to the subscriber
The subscriber for forming the 5th correspondence monitors the endpoint transmission flying quality subscription endpoint；And pass through the subscriber
Monitoring endpoint, the subscriber that reception forms the 6th correspondence with subscriber monitoring endpoint issue the winged of endpoint transmission
Row data subscribe to endpoint；
The analysis module 540, for the flying quality of the unmanned plane to be issued endpoint and the flying quality received
Subscription end point is matched, and it is described communication endpoint mapping table in establish the unmanned plane flying quality publication endpoint and its
The flying quality of his unmanned plane subscribes to the 8th correspondence between endpoint.
Optionally, described device further includes：
Search module, for establishing the unmanned plane and other unmanned planes according to the communication endpoint mapping table described
After communication link, match monitoring that the communication endpoint does not receive in the first preset time period with the communication endpoint
Target communication endpoint send message when, sent to the UAV targets where the target communication endpoint described for asking
UAV targets return to the instruction of message；
Flight module during for not receiving message that the UAV targets return in the second preset time period, performs
It makes a return voyage operation.
About the device in above-described embodiment, wherein modules perform the concrete mode of operation in related this method
Embodiment in be described in detail, explanation will be not set forth in detail herein.
The embodiment of the present disclosure also provides a kind of unmanned plane, which includes the flight cluster communication device.
The preferred embodiment of the disclosure is described in detail above in association with attached drawing, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the disclosure to it is various can
The combination of energy no longer separately illustrates.
In addition, arbitrary combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought should equally be considered as disclosure disclosure of that.
Claims (11)
1. a kind of flight cluster communication system, which is characterized in that the system comprises ground communications stations and flight cluster；
The ground communications station includes ground digital transmission module, and each unmanned plane in the flight cluster includes unmanned plane number and passes mould
Block and wireless communication module；
The ground digital transmission module is used for, to the unmanned plane digital transmission module send aerial mission information, and receive it is described nobody
The unmanned plane during flying status information that machine digital transmission module is sent；
The wireless communication module is used for, and establishes the radio communication chain circuit between unmanned plane.
2. a kind of flight trunking communication method, which is characterized in that the method is applied to any unmanned plane in flight cluster, institute
The method of stating includes：
Obtain the initialization information for setting unmanned plane during flying parameter；
Multiple communication endpoints of the unmanned plane are created according to the initialization information, the multiple communication endpoint includes at least ginseng
Endpoint is issued with person and participant monitors endpoint；
Endpoint is issued by the participant and broadcasts multiple communication endpoints of the unmanned plane establishment, and passes through the participant and supervises
Endpoint is listened to receive the communication endpoint created of any other unmanned planes broadcast in the flight cluster；
According to the communication endpoint created that other unmanned planes for listening to are broadcasted, by each communication endpoint of the unmanned plane with
The communication terminal points of other unmanned planes carries out endpoint matching, and according to endpoint matching result establish in the flight cluster unmanned plane it
Between communication endpoint mapping table；
When determining to listen to the communication endpoint created of each other unmanned planes broadcast in the flight cluster, according to described
Communication endpoint mapping table establishes the communication link of the unmanned plane and other unmanned planes.
3. according to the method described in claim 2, it is characterized in that, the multiple communication endpoint further includes：Publisher's publishing side
Point, publisher monitor endpoint, subscriber issues endpoint, subscriber monitors endpoint；
The communication endpoint mapping table established according to endpoint matching result in the flight cluster between unmanned plane, is included in institute
It states in communication endpoint mapping table and establishes following correspondence：
The participant of the unmanned plane issues the first correspondence between endpoint and participant's monitoring endpoint of other unmanned planes；
The participant of the unmanned plane monitors the second correspondence between endpoint and participant's publication endpoint of other unmanned planes；
The publisher of the unmanned plane issues the third correspondence between endpoint and publisher's monitoring endpoint of other unmanned planes；
The publisher of the unmanned plane monitors the 4th correspondence between endpoint and publisher's publication endpoint of other unmanned planes；
The subscriber of the unmanned plane issues the 5th correspondence between endpoint and subscriber's monitoring endpoint of other unmanned planes；
The subscriber of the unmanned plane monitors the 6th correspondence between endpoint and subscriber's publication endpoint of other unmanned planes.
4. according to the method described in claim 3, it is characterized in that, the multiple communication endpoint further includes one or more flights
Data publication endpoint and one or more flying qualities subscribe to endpoint；
The flying quality publication endpoint is used to issue the flying quality of the unmanned plane；
The flying quality subscribes to the flying quality that endpoint is used to receive other unmanned planes；
The method further includes：
Endpoint is issued by the publisher, to the publisher that the third correspondence is formed with publisher's publishing side point
It monitors endpoint and sends the flying quality publication endpoint；
Endpoint is monitored by the publisher, receives the publication monitored endpoint with the publisher and form the 4th correspondence
Person issues the flying quality publication endpoint that endpoint is sent；
The communication terminal point of each communication endpoint by the unmanned plane and other unmanned planes carries out endpoint matching, and according to end
Point matching result establishes the communication endpoint mapping table in the flight cluster between unmanned plane, including：
The flying quality of the unmanned plane is subscribed to endpoint to match, and described with the flying quality publishing side point received
The flying quality that the unmanned plane is established in communication endpoint mapping table subscribes to the flying quality publishing side of endpoint and other unmanned planes
The 7th correspondence between point.
5. according to the method described in claim 3, it is characterized in that, the multiple communication endpoint further includes one or more flights
Data publication endpoint and one or more flying qualities subscribe to endpoint；
The flying quality publication endpoint is used to issue the flying quality of the unmanned plane；
The flying quality subscribes to the flying quality that endpoint is used to receive other unmanned planes；
The method further includes：
Endpoint is issued by the subscriber, to the subscriber that the 5th correspondence is formed with subscriber's publishing side point
It monitors endpoint and sends the flying quality subscription endpoint；
Endpoint is monitored by the subscriber, receives the subscription monitored endpoint with the subscriber and form the 6th correspondence
Person issues the flying quality that endpoint is sent and subscribes to endpoint；
The communication terminal point of each communication endpoint by the unmanned plane and other unmanned planes carries out endpoint matching, and according to end
Point matching result establishes the communication endpoint mapping table in the flight cluster between unmanned plane, including：
The flying quality publication endpoint of the unmanned plane is matched, and with the flying quality subscription end point received described
The flying quality subscription end of the flying quality publication endpoint and other unmanned planes of the unmanned plane is established in communication endpoint mapping table
The 8th correspondence between point.
6. according to claim 2-5 any one of them methods, which is characterized in that described according to the communication endpoint mapping table
It establishes the unmanned plane and after the communication link of other unmanned planes, the method further includes：
If monitoring, the communication endpoint does not receive the target to match with the communication endpoint in the first preset time period and leads to
Interrogate endpoint send message, then to where the target communication endpoint UAV targets send for ask the target nobody
Machine returns to the instruction of message；
If not receiving the message that the UAV targets return in the second preset time period, operation of making a return voyage is performed.
7. a kind of flight cluster communication device, which is characterized in that described device is applied to any unmanned plane in flight cluster, institute
Device is stated to include：
Acquisition module, for obtaining the initialization information for setting unmanned plane during flying parameter；
Endpoint creation module, it is the multiple for creating multiple communication endpoints of the unmanned plane according to the initialization information
It communicates endpoint and includes at least participant's publication endpoint and participant's monitoring endpoint；
End point detection module, for issuing multiple communication endpoints of the endpoint broadcast unmanned plane establishment by the participant,
And endpoint is monitored by the participant and receives the communication terminal created that other any unmanned planes are broadcasted in the flight cluster
Point；
Analysis module, for the communication endpoint created broadcasted according to other unmanned planes listened to, by the unmanned plane
The communication terminal point of each communication endpoint and other unmanned planes carries out endpoint matching, and establish the flight according to endpoint matching result
Communication endpoint mapping table in cluster between unmanned plane；
Communication module, in the communication terminal created for determining to listen to each other unmanned planes broadcast in the flight cluster
During point, the communication link of the unmanned plane and other unmanned planes is established according to the communication endpoint mapping table.
8. device according to claim 7, which is characterized in that the multiple communication endpoint further includes：Publisher's publishing side
Point, publisher monitor endpoint, subscriber issues endpoint, subscriber monitors endpoint；
The analysis module, for establishing following correspondence in the communication endpoint mapping table：
The participant of the unmanned plane issues the first correspondence between endpoint and participant's monitoring endpoint of other unmanned planes；
The participant of the unmanned plane monitors the second correspondence between endpoint and participant's publication endpoint of other unmanned planes；
The publisher of the unmanned plane issues the third correspondence between endpoint and publisher's monitoring endpoint of other unmanned planes；
The publisher of the unmanned plane monitors the 4th correspondence between endpoint and publisher's publication endpoint of other unmanned planes；
The subscriber of the unmanned plane issues the 5th correspondence between endpoint and subscriber's monitoring endpoint of other unmanned planes；
The subscriber of the unmanned plane monitors the 6th correspondence between endpoint and subscriber's publication endpoint of other unmanned planes.
9. device according to claim 8, which is characterized in that the multiple communication endpoint further includes one or more flights
Data publication endpoint and one or more flying qualities subscribe to endpoint；
The flying quality publication endpoint is used to issue the flying quality of the unmanned plane；
The flying quality subscribes to the flying quality that endpoint is used to receive other unmanned planes；
The end point detection module, endpoint is issued for passing through the publisher, and institute is formed to publisher's publishing side point
The publisher for stating third correspondence monitors the endpoint transmission flying quality publication endpoint；And pass through the publisher and monitor end
Point receives the flying quality for monitoring endpoint with the publisher and forming publisher's publication endpoint of the 4th correspondence and sending
Issue endpoint；
The analysis module, for the flying quality of the unmanned plane to be subscribed to endpoint and the flying quality received publication endpoint
It is matched, and the flying quality subscription endpoint and other unmanned planes of the unmanned plane is established in the communication endpoint mapping table
Flying quality publication endpoint between the 7th correspondence.
10. device according to claim 8, which is characterized in that the multiple communication endpoint further includes one or more fly
Row data issue endpoint and one or more flying qualities subscribe to endpoint；
The flying quality publication endpoint is used to issue the flying quality of the unmanned plane；
The flying quality subscribes to the flying quality that endpoint is used to receive other unmanned planes；
The end point detection module, endpoint is issued for passing through the subscriber, and institute is formed to subscriber's publishing side point
The subscriber for stating the 5th correspondence monitors the endpoint transmission flying quality subscription endpoint；And pass through the subscriber and monitor end
Point receives the flying quality for monitoring endpoint with the subscriber and forming subscriber's publication endpoint of the 6th correspondence and sending
Subscribe to endpoint；
The analysis module, for the flying quality of unmanned plane publication endpoint and the flying quality received to be subscribed to endpoint
It is matched, and the flying quality publication endpoint and other unmanned planes of the unmanned plane is established in the communication endpoint mapping table
Flying quality subscribe to endpoint between the 8th correspondence.
11. according to claim 7-10 any one of them devices, which is characterized in that described device further includes：
Search module, in the communication that the unmanned plane and other unmanned planes are established according to the communication endpoint mapping table
After link, monitoring that the communication endpoint do not receive and the mesh that matches of communication endpoint in the first preset time period
During the message that mark communication endpoint is sent, send to ask the target to the UAV targets where the target communication endpoint
Unmanned plane returns to the instruction of message；
Flight module, during for not receiving message that the UAV targets return in the second preset time period, execution is maked a return voyage
Operation.
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