CN108183780B - Redundancy unmanned aerial vehicle data transmission system and transmission method - Google Patents
Redundancy unmanned aerial vehicle data transmission system and transmission method Download PDFInfo
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- CN108183780B CN108183780B CN201711464178.1A CN201711464178A CN108183780B CN 108183780 B CN108183780 B CN 108183780B CN 201711464178 A CN201711464178 A CN 201711464178A CN 108183780 B CN108183780 B CN 108183780B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/22—Arrangements for detecting or preventing errors in the information received using redundant apparatus to increase reliability
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
- G08C19/30—Electric signal transmission systems in which transmission is by selection of one or more conductors or channels from a plurality of conductors or channels
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
Abstract
The invention provides a data transmission system and a data transmission method for a redundancy unmanned aerial vehicle, wherein an airborne data redundancy fusion computer acquires flight telemetering data and video image data in real time; selecting data according to a link data selection mechanism and packaging; and transmitting the data to a ground data redundancy fusion computer through a corresponding data link channel; the ground data redundancy fusion computer receives data packets from each data link channel in real time, acquires the data type to which the data content belongs through the data type identification bit, verifies the data correctness through the check bit, and discards the data of the same data type arriving at other subsequent data link channels according to the data sequence identification bit. The invention selectively selects the transmission data content corresponding to different data link characteristics through a link data selection mechanism, improves the stability and reliability of data transmission under the condition of meeting the requirement of the data transmission content to the maximum extent, and improves the breadth and speed of information transmission.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a data transmission technology of a redundancy unmanned aerial vehicle.
Background
An Unmanned Aerial Vehicle (UAV) is an Unmanned Aerial Vehicle operated by a radio remote control device and a self-contained program control device. With the rapid development of the unmanned aerial vehicle technology, the unmanned aerial vehicle has been widely applied to civil industries such as city management, agriculture, geology, meteorology, electric power, emergency and disaster relief, video shooting and the like.
Existing unmanned aerial vehicle data transmission systems typically utilize radio waves for uplink and downlink channel transmission of data. The ground equipment packs the flight task control command into an instruction form and sends the instruction form to the unmanned aerial vehicle through a radio wave uplink channel. And the airborne flight control computer of the unmanned aerial vehicle decodes the instruction to obtain signals such as a switch or a continuous instruction. These signals are sent to the action controller to control the flight state of the unmanned aerial vehicle. On an unmanned aerial vehicle, airborne acquisition equipment acquires airborne sensor data and transmits the data to an airborne flight control computer; the airborne flight control computer calculates by using data acquired by the airborne sensor, obtains control data according to the calculation result, and the action controller controls the flight of the unmanned aerial vehicle by using the control data. Meanwhile, the flight control computer transmits the acquired radio wave downlink channels such as airborne sensor data, control data and the like to ground equipment for displaying and reading state parameters and reconnaissance information data of the airplane.
For some applications requiring video shooting, the unmanned aerial vehicle also needs to shoot video images through airborne video acquisition equipment, and because the video images are not easy to be processed digitally, the frequency of radio waves is about 10 KHz-30,000,000 KHz or the electromagnetic waves with the wavelength of 30,000 m-10 μm, and the coverage range is narrow, the prior art is only suitable for being applied in certain fields with low requirements on real-time performance and reliability.
Disclosure of Invention
The invention aims to provide a data transmission system and a data transmission method of a redundancy unmanned aerial vehicle, aiming at the existing problems, the data transmission system and the data transmission method of the redundancy unmanned aerial vehicle can adopt different transmission channels aiming at different data, have small time delay and low packet loss rate and good transmission effect, and can effectively solve the problems in the background technology.
The purpose of the invention is realized by the following technical scheme:
the invention aims to provide a data transmission system of a redundancy unmanned aerial vehicle, which comprises:
the system comprises an unmanned aerial vehicle ground control station, a ground data redundancy fusion computer, an airborne data redundancy fusion computer, a flight control computer and airborne image acquisition equipment;
be provided with control chip in the machine carries data redundancy integration computer, digital data interface and video data interface are connected to this control chip's one end to link to each other with flight control computer and machine carries image acquisition equipment respectively based on this digital data interface and video data interface, a plurality of communication ports that are used for transmitting data are connected to this control chip's the other end, include but not limited to: the system comprises a 4G communication port, a Beidou satellite communication interface, a microwave radio station narrow-band communication interface, a microwave radio station broadband communication interface and a GPRS network communication interface; the communication ports for transmitting data are respectively connected with corresponding data link channels;
the ground data redundancy fusion computer is internally provided with a control chip, one end of the control chip is connected with a digital data interface and a video data interface, and is connected with the ground control station of the unmanned aerial vehicle based on the digital data interface and the video data interface; the other end of the control chip is connected with a plurality of communication ports for transmitting data, including but not limited to: the communication system comprises a 4G communication port, a Beidou satellite communication interface, a microwave radio station narrow-band communication interface, a microwave radio station broadband communication interface and a GPRS network communication interface, wherein the communication ports for transmitting data are respectively connected with corresponding data link channels;
and each data link channel is loaded with corresponding data selected by the airborne data redundancy fusion computer or the ground data redundancy fusion computer according to a link data selection mechanism.
More preferably, the control chip of the onboard data redundancy fusion computer comprises:
the link data selection module and the encapsulation analysis module;
the link data selection module selects corresponding data for each link channel according to the following link data selection mechanism:
the 4G communication link path selects all flight telemetering data and video image data for transmission;
the satellite communication link path selects and transmits data such as the position, the attitude and the like of the unmanned aerial vehicle which are relatively critical in the flight telemetering data;
the microwave radio station narrow-band data path selects all flight remote measurement data for transmission, and captures video screenshot data according to time intervals for transmission after a problem occurs in a 4G communication link path, a microwave radio station broadband data path and a GPRS communication data path;
the microwave radio station broadband data path selects all flight telemetering data and video image data for transmission;
the GPRS communication data path selects all flight telemetering data for transmission; after the 4G communication link channel, the microwave radio station narrow-band data channel and the microwave radio station broadband data channel have problems, the airborne data redundancy fuses video screenshot data captured by the computer according to time intervals, and then the video screenshot data is transmitted;
the encapsulation analysis module encapsulates and analyzes a data packet, wherein the data packet at least comprises the following information: data sequence identification bit, source address, destination address, data type identification bit, data content and check bit.
More preferably, the control chip of the ground data redundancy fusion computer comprises:
the link data selection module and the encapsulation analysis module;
the link data selection module selects corresponding data for each link channel according to the following link data selection mechanism:
the 4G communication link path selects all flight telemetering data and video image data to carry out air-ground transmission;
the satellite communication link path selects and transmits data such as the position, the attitude and the like of the unmanned aerial vehicle which are relatively critical in the flight telemetering data;
the microwave radio station narrow-band data path selects all flight remote measurement data for transmission, and captures video screenshot data according to time intervals for transmission after a problem occurs in a 4G communication link path, a microwave radio station broadband data path and a GPRS communication data path;
the microwave radio station broadband data path selects all flight telemetering data and video image data for transmission;
the GPRS communication data path selects all flight telemetering data for transmission; after the 4G communication link channel, the microwave radio station narrow-band data channel and the microwave radio station broadband data channel have problems, the airborne data redundancy fuses video screenshot data captured by the computer according to time intervals, and then the video screenshot data is transmitted;
the encapsulation analysis module encapsulates and analyzes a data packet, wherein the data packet at least comprises the following information: data sequence identification bit, source address, destination address, data type identification bit, data content and check bit.
The invention also provides a data transmission method of the redundancy unmanned aerial vehicle, which comprises the following steps:
step S101, acquiring flight telemetering data transmitted by a flight control computer and video image data acquired by the airborne image acquisition equipment in real time by an airborne data redundancy fusion computer;
step S102, the airborne data redundancy fusion computer selects corresponding data for each link channel according to a link data selection mechanism and performs data encapsulation according to a set communication protocol;
the link data selection mechanism is as follows:
the 4G communication link path selects all flight telemetering data and video image data for transmission;
the satellite communication link path selects and transmits data such as the position, the attitude and the like of the unmanned aerial vehicle which are relatively critical in the flight telemetering data;
the microwave radio station narrow-band data path selects all flight remote measurement data for transmission, and captures video screenshot data according to time intervals for transmission after a problem occurs in a 4G communication link path, a microwave radio station broadband data path and a GPRS communication data path;
the microwave radio station broadband data path selects all flight telemetering data and video image data for transmission;
the GPRS communication data path selects all flight telemetering data for transmission; after the 4G communication link channel, the microwave radio station narrow-band data channel and the microwave radio station broadband data channel have problems, the airborne data redundancy fuses video screenshot data captured by the computer according to time intervals, and then the video screenshot data is transmitted;
the data packet after the encapsulation at least comprises the following information: data sequence identification bit, source address, destination address, data type identification bit, data content and check bit;
step S103, transmitting the encapsulated data packet to a ground data redundancy fusion computer according to a corresponding data link channel;
step S104, the ground data redundancy fusion computer receives data packets from each data link channel in real time, analyzes the data packets according to protocol regulations, acquires the data type to which the data content belongs through the data type identification bit, verifies the data correctness through the check bit, and directly discards the data of the same data type arriving at other subsequent data link channels according to the data sequence identification bit;
and step S105, the ground data redundancy fusion computer transmits the data which are verified to be correct to the ground control station of the unmanned aerial vehicle.
More preferably, the data transmission method of the redundant unmanned aerial vehicle further includes:
step S201, a ground data redundancy fusion computer acquires flight remote control data of an unmanned aerial vehicle ground control station in real time;
step S202, the ground data redundancy fusion computer selects corresponding data for each link channel according to a link data selection mechanism, and performs data encapsulation according to a set communication protocol;
the link data selection mechanism is as follows:
the 4G communication link path selects all flight telemetering data for transmission;
the satellite communication link path selects and transmits the position and attitude data of the unmanned aerial vehicle which are relatively key in the flight telemetering data;
a microwave radio station narrow-band data path selects all flight telemetering data for transmission;
the GPRS communication data path selects all flight telemetering data for transmission;
the data packet after the encapsulation at least comprises the following information: data sequence identification bit, source address, destination address, data type identification bit, data content and check bit;
step S203, transmitting the encapsulated data packet to an airborne data redundancy fusion computer according to a corresponding data link channel;
step S204, the airborne data redundancy fusion computer receives data packets from each data link channel in real time, analyzes the data packets according to protocol regulations, acquires the data type to which the data content belongs through the data type identification bit, verifies the data correctness through the check bit, and directly discards the data of the same data type arriving at other subsequent data link channels according to the data sequence identification bit;
and step S205, the airborne data redundancy fusion computer transmits the data which is verified to be correct to the flight control computer.
Compared with the prior art, the technical scheme of the invention has the following technical effects:
the invention selects necessary transmission data content corresponding to different data link characteristics according to the link selection mechanism, greatly improves the stability and reliability of data transmission under the condition of meeting the requirement of the data transmission content to the maximum extent, and improves the breadth and speed of information transmission.
Drawings
FIG. 1 is a schematic structural view of the present invention;
in the drawings:
the system comprises an unmanned aerial vehicle ground control station 10, a ground data redundancy fusion computer 20, an airborne data redundancy fusion computer 30, a flight control computer 40 and an airborne image acquisition device 50.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present application, the present invention will be further described in detail below with reference to the accompanying drawings.
The terms of orientation such as up, down, left, right, front, and rear in the present specification are established based on the positional relationship shown in the drawings. The corresponding positional relationship may also vary depending on the drawings, and therefore, should not be construed as limiting the scope of protection.
In the present invention, the terms "mounting," "connecting," "fixing," and the like are to be understood in a broad sense, and may be, for example, a fixed connection, a detachable connection, an integrated connection, a mechanical connection, an electrical connection, an intercommunication, a direct connection, an indirect connection through an intermediate medium, a communication inside two components, or an interaction relationship between two components. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The invention considers that the following communication technologies have respective characteristics and advantages:
the 4G, fourth generation mobile phone mobile communication standard 4G technology, including TDLTE and FDD-LTE two systems, integrates 3G and WLAN, and can quickly transmit data, high quality, audio, video, image, etc.; 4G can be downloaded at a speed of more than 100Mbps, is 25 times faster than the current household broadband ADSL (4 Mbps), and can meet the requirements of almost all users on wireless services; in addition, 4G can be deployed in places where DSL and cable modems do not cover and then extended to the entire region, with 4G having incomparable advantages.
The microwave radio station is based on a digital radio station with the frequency of 300MHz-300GHz, the transmission wavelength of the microwave radio station is between 1 millimeter and 1 meter, and the microwave radio station is a general name of a decimetric wave radio station, a centimeter wave radio station, a millimeter wave radio station and a submillimeter wave radio station. The frequency of a microwave station is higher than that of a general radio station, and is also generally called an "ultra high frequency station". Microwave stations are based on bandwidth scenarios, which can be divided into microwave stations (broadband) and microwave stations (narrowband).
Compared with a microwave radio station (narrow band), the GPRS has long transmission distance and can cover data in a larger range.
The Beidou satellite communication technology based on the global satellite navigation positioning system is a technology for providing high-precision, high-reliability positioning, time service and short message communication service for a large number of users all day around in the global range, is high in transmission speed and wide in coverage range, and can achieve instant and rapid communication.
The invention integrates the advantages of the communication technologies, designs a data transmission system and a transmission method of a redundancy unmanned aerial vehicle, and the transmission system and the transmission method use an airborne data redundancy fusion computer added on the unmanned aerial vehicle, a ground data redundancy fusion computer added on ground equipment, and a communication protocol for data packet encapsulation and identification to ensure that the airborne data redundancy fusion computer and the ground data redundancy fusion computer commonly follow each other and identify data transmitted through each communication link, thereby exerting the advantages of each communication link.
The first embodiment is as follows:
an embodiment of the present invention provides a data transmission system for a redundancy unmanned aerial vehicle, which has a specific structure shown in fig. 1 and includes:
the system comprises an unmanned aerial vehicle ground control station 10, a ground data redundancy fusion computer 20, an airborne data redundancy fusion computer 30, a flight control computer 40 and an airborne image acquisition device 50.
The flight control computer 40 performs flight control according to the data of the airborne sensor and the like, and acquires and obtains flight control data; the flight maneuver data is provided to the action controller for controlling the operation of the drone and the associated flight telemetry data is transmitted to the onboard data redundancy fusion computer 30.
The onboard image capture device 50 is configured to capture video image data in real time and transmit the video image data to the onboard data redundancy fusion computer 30 in real time.
The onboard data redundancy fusion computer 30 is provided with a control chip (such as an ARM chip). One end of the control chip is connected to a digital data interface and a video data interface, and is connected to the flight control computer 40 and the airborne image acquisition device 50 based on the digital data interface and the video data interface, and the other end of the control chip is connected to a plurality of communication ports for transmitting data, including but not limited to: the communication interface for transmitting data is respectively connected with corresponding data links.
The control chip is provided with: the link data selection module and the encapsulation analysis module;
the link data selection module is internally provided with a link data selection mechanism corresponding to the data link, when the onboard data redundancy fusion computer 30 receives flight telemetry data transmitted by the flight control computer 40 and video image data transmitted by the onboard image acquisition equipment 50, the flight telemetry data and the video image data to be transmitted are analyzed by the encapsulation analysis module, the link data selection module selects data to be transmitted according to the preset link data selection mechanism, encapsulates the data into a data packet, and selects a corresponding communication link for transmission.
The encapsulated data packet at least comprises the following information:
data sequence identification bit, source address, destination address, data type identification bit, data content and check bit.
The preset link selection mechanism is as follows:
1. the 4G communication link selects all flight telemetry data and video image data for air-ground transmission.
According to the characteristics of the 4G communication link, the 4G communication link selects all flight telemetry data and video image data to carry out air-ground transmission, and the 4G communication link is transmitted through the public internet or the private internet, so that long-distance transmission can be realized.
2. And the satellite communication link path selects and transmits the data such as the position, the attitude and the like of the unmanned aerial vehicle which are relatively critical in the flight telemetering data.
Due to the reasons of the bandwidth, the use cost and the like of the Beidou satellite, the Beidou satellite communication link generally only exists as an emergency link, and when the air-ground communication is interrupted for a relatively long time due to some reasons, the airborne data redundancy fusion computer 30 of the unmanned aerial vehicle actively initiates air-ground data transmission; or ground control personnel can actively request the data of the airborne terminal of the flying vehicle and send the control data of the unmanned vehicle to the airborne terminal at any time when necessary. According to the characteristics of the Beidou satellite communication link, the satellite communication link channel selects and transmits data such as the position and the attitude of the unmanned aerial vehicle which are relatively critical in the flight telemetering data.
3. The microwave radio station (narrowband) data path selects all flight telemetry data for transmission, and after other links capable of transmitting image data have problems, the airborne data redundancy fusion computer 30 can capture video screenshot data according to time intervals and then download the video screenshot data to the ground through the path.
According to the characteristics of a microwave radio station (narrow-band) data link, the microwave radio station (narrow-band) data path selects all flight telemetry data for transmission, and after other links capable of transmitting image data have problems, the airborne data redundancy fusion computer 30 can capture video screenshot data according to time intervals and then download the video screenshot data to the ground through the path. Although the microwave radio station (narrow band) data path can not transmit real-time images, the ground can also be ensured to acquire aerial image acquisition data within a certain time range.
4. According to the characteristics of a microwave radio station (broadband) data link, the microwave radio station (broadband) data path selects all flight telemetry data and video image data to carry out air-ground transmission.
5. The GPRS communication data path and the microwave radio station (narrow band) data path select all flight remote measurement data for transmission; and after other links capable of transmitting image data have problems, the airborne data redundancy fuses video screenshot data captured by the computer according to time intervals, and then the video screenshot data is downloaded to the ground through the GPRS communication data channel.
According to the characteristics of the GPRS communication data link, the GPRS communication data link selects all flight telemetering data for transmission as the microwave radio station (narrow band) data link, and after other links capable of transmitting image data have problems, the airborne data redundancy fusion computer can capture video screenshot data according to time intervals and then download the video screenshot data to the ground through the GPRS communication data link. Although the transmission of real-time images can not be realized through a GPRS communication data channel, the ground can be ensured to obtain aerial image acquisition data within a certain time range. The transmission of the GPRS is based on public internet or private internet transmission, so that a relatively large range can be covered in transmission distance, but the delay of the GPRS communication data path is large. It can be said that the GPRS communication data path and the microwave station (narrowband) data path are complementary functions to each other.
Similarly, the ground data redundancy fusion computer 20 is provided with a control chip (such as an ARM chip). One end of the control chip is connected with a digital data interface and a video data interface and is connected with the unmanned aerial vehicle ground control station 10 based on the digital data interface and the video data interface; the other end of the control chip is connected with a 4G communication port, a Beidou satellite communication interface, a microwave radio station (narrow band) communication interface, a microwave radio station (wide band) communication interface and a GPRS network communication interface, and is respectively connected with corresponding data links.
The control chip of the ground data redundancy fusion computer 20 is provided with a link data selection module and an encapsulation analysis module. The ground data redundancy fusion computer 20 receives data packets from each data link in real time through the data link, the encapsulation analysis module analyzes the data packets according to protocol regulations, knows which data type the data content belongs to through the data type identification bit, verifies that the data is correct through the check bit, and directly discards the data of the same data type which is reached by other subsequent channels according to the data sequence identification bit.
The ground data redundancy fusion computer 20 repackages the data corresponding to the data type identifier into a data packet, where the data packet at least includes the following information:
source address, destination address, data type, data content, and check bits.
The ground data redundancy fusion computer 20 transmits the encapsulated data packet to the ground control station 10 of the unmanned aerial vehicle. After receiving the data packet transmitted by the ground data redundancy fusion computer 20, the ground control station 10 of the unmanned aerial vehicle obtains the flight condition information of the unmanned aerial vehicle.
For flight remote measuring instructions and the like sent by the unmanned aerial vehicle ground control station 10, the flight remote measuring instructions and the like are also transmitted to the ground data redundancy fusion computer 20; after the ground data redundancy fusion computer 20 analyzes and identifies the data, the ground data redundancy fusion computer 20 selects data to be transmitted according to the same link data selection mechanism except for a microwave radio station (broadband), encapsulates the data into a data packet, and then selects a corresponding communication link to transmit the data. The data packet at least comprises the following information:
data sequence identification bit, source address, destination address, data type identification bit, data content and check bit.
The onboard data redundancy fusion computer 30 on the unmanned aerial vehicle receives the arrived data packets in real time, analyzes and verifies the data to be correct, and directly discards the subsequent data packets arriving from other paths according to the sequence identification bits. The data that is verified to be correct is then transmitted to flight control computer 40.
Example two:
the second embodiment of the invention provides a transmission method based on the redundancy unmanned aerial vehicle data transmission system, which comprises the following steps:
step S101, acquiring flight telemetering data transmitted by a flight control computer 40 and video image data acquired by the airborne image acquisition equipment 50 in real time by an airborne data redundancy fusion computer 30;
step S102, the airborne data redundancy fusion computer 30 selects corresponding data for each link channel according to a link data selection mechanism, and performs data encapsulation according to a set communication protocol;
the link data selection mechanism is as follows:
the 4G communication link path selects all flight telemetering data and video image data to carry out air-ground transmission;
the satellite communication link path selects and transmits data such as the position, the attitude and the like of the unmanned aerial vehicle which are relatively critical in the flight telemetering data;
the microwave radio station narrow-band data path selects all flight remote measurement data for transmission, and captures video screenshot data according to time intervals for transmission after a problem occurs in a 4G communication link path, a microwave radio station broadband data path and a GPRS communication data path;
the microwave radio station broadband data path selects all flight telemetering data and video image data to carry out air-ground transmission;
the GPRS communication data path selects all flight telemetering data for transmission; after the 4G communication link channel, the microwave radio station narrow-band data channel and the microwave radio station broadband data channel have problems, the airborne data redundancy fuses video screenshot data captured by the computer according to time intervals, and then the video screenshot data is transmitted;
the data packet after the encapsulation at least comprises the following information: data sequence identification bit, source address, destination address, data type identification bit, data content and check bit;
step S103, transmitting the encapsulated data packet to the ground data redundancy fusion computer 20 according to the corresponding data link channel;
step S104, the ground data redundancy fusion computer 20 receives data packets from each data link channel in real time, analyzes the data packets according to protocol regulations, acquires which data type the data content belongs to through the data type identification bit, verifies the data correctness through the check bit, and directly discards the data of the same data type arriving from other subsequent data link channels according to the data sequence identification bit;
and step S105, the ground data redundancy fusion computer 20 transmits the data which are verified to be correct to the ground control station 10 of the unmanned aerial vehicle.
The data transmission method for the redundancy unmanned aerial vehicle also provides an execution flow of a process of uploading data such as remote control instructions of the ground control station 10 of the unmanned aerial vehicle, and the method comprises the following steps:
step S201, the ground data redundancy fusion computer 20 acquires flight remote control data of the unmanned aerial vehicle ground control station 10 in real time;
step S202, the ground data redundancy fusion computer 20 selects corresponding data for each link channel according to a link data selection mechanism, and performs data encapsulation according to a set communication protocol;
the link data selection mechanism is as follows:
the 4G communication link path selects all flight telemetering data for transmission;
the satellite communication link path selects and transmits the position and attitude data of the unmanned aerial vehicle which are relatively key in the flight telemetering data;
a microwave radio station narrow-band data path selects all flight telemetering data for transmission;
the GPRS communication data path selects all flight telemetering data for transmission;
the data packet after the encapsulation at least comprises the following information: data sequence identification bit, source address, destination address, data type identification bit, data content and check bit;
step S203, transmitting the encapsulated data packet to the airborne data redundancy fusion computer 30 according to the corresponding data link channel;
step S204, the airborne data redundancy fusion computer 30 receives data packets from each data link channel in real time, analyzes the data packets according to protocol regulations, acquires which data type the data content belongs to through the data type identification bit, verifies the data correctness through the check bit, and directly discards the data of the same data type arriving from other subsequent data link channels according to the data sequence identification bit;
in step S205, the onboard data redundancy fusion computer 30 transmits the data verified to be correct to the flight control computer 40.
The flight control computer 40 then performs calculations based on the received data and generates control data, which the action controller uses to control the flight of the drone.
According to the technical scheme, the invention can select different data corresponding to different data links for packaging transmission according to the link selection mechanism, so that the reliability of data transmission is greatly improved, and the breadth and speed of information transmission are improved.
According to the invention, the key short message data is transmitted through the Beidou satellite communication link, so that the reliability of data transmission is improved, and emergency communication can be realized.
Because the data is transmitted based on the 4G network protocol, the transmission distance is long, and the network coverage range is wide, when all flight telemetering data and video image data are transmitted through the 4G communication link, the data can still be reliably transmitted after the air-ground transmission distance is increased. Meanwhile, two kinds of data are transmitted through a 4G communication link and a microwave radio station (broadband) downlink, the data delay is small, the packet loss rate is low, and the timeliness and the reliability of the data can be greatly improved.
Because the transmission distance and the coverage range of the GPRS are larger than those of a microwave radio station (narrow band), flight telemetering data and video screenshot data captured according to time intervals are transmitted through two links of the GPRS and the microwave radio station (narrow band), so that the transmission distance is lengthened, and the data reliability is improved.
Although the present invention has been described in terms of the preferred embodiment, it is not intended that the invention be limited to the embodiment. Any equivalent changes or modifications made without departing from the spirit and scope of the present invention also belong to the protection scope of the present invention. The scope of the invention should therefore be determined with reference to the appended claims.
Claims (3)
1. The utility model provides a redundancy unmanned aerial vehicle data transmission system, its characterized in that, redundancy unmanned aerial vehicle data transmission system include:
the system comprises an unmanned aerial vehicle ground control station (10), a ground data redundancy fusion computer (20), an airborne data redundancy fusion computer (30), a flight control computer (40) and airborne image acquisition equipment (50);
be provided with control chip in the machine carries data redundancy and fuses computer (30), digital data interface and video data interface are connected to this control chip's one end to link to each other with flight control computer (40) and machine carries image acquisition equipment (50) respectively based on this digital data interface and video data interface, and a plurality of communication ports that are used for transmitting data are connected to this control chip's the other end, include: the system comprises a 4G communication port, a Beidou satellite communication interface, a microwave radio station narrow-band communication interface, a microwave radio station broadband communication interface and a GPRS network communication interface; the communication ports for transmitting data are respectively connected with corresponding data link channels;
the ground data redundancy fusion computer (20) is internally provided with a control chip, one end of the control chip is connected with a digital data interface and a video data interface, and is connected with the unmanned aerial vehicle ground control station (10) based on the digital data interface and the video data interface; the other end of the control chip is connected with a plurality of communication ports for transmitting data, and the control chip comprises: the communication system comprises a 4G communication port, a Beidou satellite communication interface, a microwave radio station narrow-band communication interface, a microwave radio station broadband communication interface and a GPRS network communication interface, wherein the communication ports for transmitting data are respectively connected with corresponding data link channels;
each data link channel is loaded with corresponding data selected by the airborne data redundancy fusion computer (30) or the ground data redundancy fusion computer (20) according to a link data selection mechanism;
the control chip of the airborne data redundancy fusion computer (30) comprises: the link data selection module and the encapsulation analysis module; the link data selection module selects corresponding data for each link channel according to the following link data selection mechanism:
the 4G communication link path selects all flight telemetering data and video image data for transmission;
the satellite communication link path selects and transmits the position and attitude data of the unmanned aerial vehicle which are relatively key in the flight telemetering data;
the microwave radio station narrow-band data path selects all flight remote measurement data for transmission, and captures video screenshot data according to time intervals for transmission after a problem occurs in a 4G communication link path, a microwave radio station broadband data path and a GPRS communication data path;
the microwave radio station broadband data path selects all flight telemetering data and video image data for transmission;
the GPRS communication data path selects all flight telemetering data for transmission; after the 4G communication link channel, the microwave radio station narrow-band data channel and the microwave radio station broadband data channel have problems, the airborne data redundancy fuses video screenshot data captured by the computer according to time intervals, and then the video screenshot data is transmitted;
the ground data redundancy fusion computer (20) receives data packets from each data link channel in real time and analyzes the data packets according to protocol specification, wherein the data packets at least comprise the following information: data sequence identification bit, source address, destination address, data type identification bit, data content and check bit; acquiring the data type to which the data content belongs through the data type identification bit, verifying the data to be correct through the check bit, and directly discarding the data of the same data type which arrives at other subsequent data link channels according to the data sequence identification bit;
the control chip of the ground data redundancy fusion computer (20) comprises: the link data selection module and the encapsulation analysis module; the link data selection module selects corresponding data for each link channel according to the following link data selection mechanism:
the 4G communication link path selects all flight telemetering data and video image data to carry out air-ground transmission;
the satellite communication link path selects and transmits the position and attitude data of the unmanned aerial vehicle which are relatively key in the flight telemetering data;
the microwave radio station narrow-band data path selects all flight remote measurement data for transmission, and captures video screenshot data according to time intervals for transmission after a problem occurs in a 4G communication link path, a microwave radio station broadband data path and a GPRS communication data path;
the microwave radio station broadband data path selects all flight telemetering data and video image data for transmission;
the GPRS communication data path selects all flight telemetering data for transmission; after the 4G communication link channel, the microwave radio station narrow-band data channel and the microwave radio station broadband data channel have problems, the airborne data redundancy fuses video screenshot data captured by the computer according to time intervals, and then the video screenshot data is transmitted;
the airborne data redundancy fusion computer (30) receives data packets from each data link channel in real time and analyzes the data packets according to protocol specification, wherein the data packets at least comprise the following information: data sequence identification bit, source address, destination address, data type identification bit, data content and check bit; and acquiring the data type to which the data content belongs through the data type identification bit, verifying the data to be correct through the check bit, and directly discarding the data of the same data type, which arrives at other subsequent data link channels, according to the data sequence identification bit.
2. A data transmission method of a redundant unmanned aerial vehicle using the data transmission system of the redundant unmanned aerial vehicle of claim 1, wherein the data transmission method of the redundant unmanned aerial vehicle comprises:
step S101, acquiring flight telemetering data transmitted by a flight control computer (40) and video image data acquired by the airborne image acquisition equipment (50) in real time by an airborne data redundancy fusion computer (30);
step S102, the airborne data redundancy fusion computer (30) selects corresponding data for each link channel according to a link data selection mechanism, and performs data encapsulation according to a set communication protocol;
the link data selection mechanism is as follows:
the 4G communication link path selects all flight telemetering data and video image data for transmission;
the satellite communication link path selects and transmits the position and attitude data of the unmanned aerial vehicle which are relatively key in the flight telemetering data;
the microwave radio station narrow-band data path selects all flight remote measurement data for transmission, and captures video screenshot data according to time intervals for transmission after a problem occurs in a 4G communication link path, a microwave radio station broadband data path and a GPRS communication data path;
the microwave radio station broadband data path selects all flight telemetering data and video image data for transmission;
the GPRS communication data path selects all flight telemetering data for transmission; after the 4G communication link channel, the microwave radio station narrow-band data channel and the microwave radio station broadband data channel have problems, the airborne data redundancy fuses video screenshot data captured by the computer according to time intervals, and then the video screenshot data is transmitted;
the data packet after the encapsulation at least comprises the following information: data sequence identification bit, source address, destination address, data type identification bit, data content and check bit;
step S103, transmitting the encapsulated data packet to a ground data redundancy fusion computer (20) according to a corresponding data link channel;
step S104, the ground data redundancy fusion computer (20) receives data packets from each data link channel in real time, analyzes the data packets according to protocol regulations, acquires the data type to which the data content belongs through the data type identification bit, verifies the data correctness through the check bit, and directly discards the data of the same data type arriving at other subsequent data link channels according to the data sequence identification bit;
and S105, transmitting the data which are verified to be correct to the ground data redundancy fusion computer (20) to the ground control station (10) of the unmanned aerial vehicle.
3. The method of claim 2, wherein the method further comprises:
step S201, the ground data redundancy fusion computer (20) acquires flight remote control data of the unmanned aerial vehicle ground control station (10) in real time;
step S202, the ground data redundancy fusion computer (20) selects corresponding data for each link channel according to a link data selection mechanism, and performs data encapsulation according to a set communication protocol;
the link data selection mechanism is as follows:
the 4G communication link path selects all flight telemetering data for transmission;
the satellite communication link path selects and transmits the position and attitude data of the unmanned aerial vehicle which are relatively key in the flight telemetering data;
a microwave radio station narrow-band data path selects all flight telemetering data for transmission;
the GPRS communication data path selects all flight telemetering data for transmission;
the data packet after the encapsulation at least comprises the following information: data sequence identification bit, source address, destination address, data type identification bit, data content and check bit;
step S203, transmitting the encapsulated data packet to an airborne data redundancy fusion computer (30) according to a corresponding data link channel;
step S204, the airborne data redundancy fusion computer (30) receives data packets from each data link channel in real time, analyzes the data packets according to protocol regulations, acquires the data type to which the data content belongs through the data type identification bit, verifies the data correctness through the check bit, and directly discards the data of the same data type arriving at other subsequent data link channels according to the data sequence identification bit;
and step S205, the onboard data redundancy fusion computer (30) transmits the data which are verified to be correct to the flight control computer (40).
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| CN109460402B (en) * | 2018-12-18 | 2021-07-09 | 北京理工大学 | Telemetering data fusion system based on GPS (Global positioning System) space-time information |
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| CN110365397A (en) * | 2019-06-24 | 2019-10-22 | 天津天航智远科技有限公司 | The TT&C system of load-carrying dirigible |
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