CN108513624A - Control terminal, the control method of unmanned plane, control terminal, unmanned plane and system - Google Patents
Control terminal, the control method of unmanned plane, control terminal, unmanned plane and system Download PDFInfo
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- CN108513624A CN108513624A CN201780005143.3A CN201780005143A CN108513624A CN 108513624 A CN108513624 A CN 108513624A CN 201780005143 A CN201780005143 A CN 201780005143A CN 108513624 A CN108513624 A CN 108513624A
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- 238000004891 communication Methods 0.000 claims description 56
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/428—Determining position using multipath or indirect path propagation signals in position determination
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/02—Terminal devices
- H04W88/04—Terminal devices adapted for relaying to or from another terminal or user
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
A kind of control terminal, the control method of unmanned plane, control terminal, unmanned plane and UAV system, RTK data are received using the control terminal within the scope of the signal radiation in radio station and wireless network base station, and by RTK data forwardings to unmanned plane, thus unmanned plane can determine location information using the RTK data received from control terminal, it can effectively overcome the problems, such as the RTK for wireless network base station not being received when unmanned plane is in high-altitude or radio station sends, optimize the transmission link of RTK data, unmanned plane, which can be effectively ensured, can get RTK data at high-altitude, improve the accuracy of unmanned plane high-altitude positioning.
Description
Technical field
The present invention relates to unmanned plane field more particularly to a kind of control terminal, the control method of unmanned plane, control terminal,
Unmanned plane and UAV system.
Background technology
Real-time dynamic carrier Differential positioning (Real-time kinematic, RTK) is a kind of Global Satellite Navigation System
(Global Navigation Satellite System, GNSS) high-precision location technique, positioning accuracy can reach li
Meter level.Two websites are needed in positioning operation scheme based on RTK：Base station and rover station, rover station are receiver user, can
To be mounted on different carriers, such as unmanned plane.Wherein, rover station needs to receive the data that base station is transmitted, and it is fixed could to complete RTK
Position, to get exact position.
Currently, there are two types of base station carries out data transmission：One is being transmitted by radio station, rover station passes through radio
The communication interface of platform receives the RTK data of radio station's transmission；Another kind is transmitted by network RTK, that is, passes through wireless network
(2G, 3G or 4G etc.) is transmitted, at this point, without setting up base station, it is only necessary to which rover station installing wireless network network data communication interface connects
Receive the network RTK data that wireless network base station is transmitted.However, the signal emitting plate of wireless base station be typically be horizontally mounted or
Horizontal certain angle downward is installed, and the signal direction of the launch of such signal emitting plate is then configured to horizontal direction or obliquely downward
To when the height of rover station is more than wireless network base station, rover station may not be led within the scope of the signal radiation of wireless base station
Cause rover station that cannot receive the RTK data of wireless network base station transmission, to cannot achieve precise positioning.
Invention content
An embodiment of the present invention provides a kind of control terminal, the control method of unmanned plane, control terminal, unmanned plane and nobody
Machine system, to optimize RTK data transmission links, so that unmanned plane can receive RTK data in the air in height.
The one side of the embodiment of the present invention is to provide a kind of control method of control terminal, including：
Receive RTK data；
The RTK data are sent to unmanned plane.
The other side of the embodiment of the present invention is to provide a kind of control method of unmanned plane, including：
Receive the RTK data that control terminal is sent；
The location information of unmanned plane is determined according to the RTK data.
The another aspect of the embodiment of the present invention is to provide a kind of control terminal, including：
Communication interface, for receiving RTK data；
One or more processors individually or synergistically work, for the RTK data to be sent to unmanned plane.
The another aspect of the embodiment of the present invention is to provide a kind of unmanned plane, including：
Communication interface, the RTK data for receiving control terminal transmission；
One or more processors work alone or synergistically, the position for determining unmanned plane according to the RTK data
Information.
The another aspect of the embodiment of the present invention is to provide a kind of UAV system, including：
Control terminal is sent to unmanned plane for receiving RTK data, and by the RTK data；
Unmanned plane, the RTK data sent for receiving the control terminal, and determine unmanned plane according to the RTK data
Location information.
A kind of control terminal provided in an embodiment of the present invention, the control method of unmanned plane, control terminal, unmanned plane and nobody
Machine system receives RTK data using the control terminal within the scope of the signal radiation in radio station and wireless network base station, and
By RTK data forwardings to unmanned plane, unmanned plane utilizes the RTK data received from control terminal to determine location information.In this way, can
Not receive asking for RTK data that wireless network base station or radio station send when unmanned plane effectively being overcome to be in high-altitude
Topic, optimizes the transmission link of RTK data, can effectively ensure that unmanned plane can get RTK data at high-altitude, improves
The accuracy of unmanned plane high-altitude positioning.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description be only the present invention some
Embodiment for those of ordinary skill in the art without creative efforts, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is a kind of flow chart of the control method of control terminal provided in an embodiment of the present invention；
Fig. 2 and Fig. 3 is respectively the application exemplary plot of the embodiment of the present invention；
Fig. 4 is a kind of another flow chart of the control method of control terminal provided in an embodiment of the present invention；
Fig. 5 is a kind of another flow chart of the control method of control terminal provided in an embodiment of the present invention；
Fig. 6 is the another application exemplary plot of the embodiment of the present invention；
Fig. 7 is a kind of another flow chart of the control method of control terminal provided in an embodiment of the present invention；
Fig. 8 is a kind of flow chart of the control method of unmanned plane provided in an embodiment of the present invention；
Fig. 9 is a kind of flow chart of the control method of unmanned plane provided in an embodiment of the present invention；
Figure 10 is a kind of flow chart of the control method of unmanned plane provided in an embodiment of the present invention；
Figure 11 is that the another of the embodiment of the present invention applies exemplary plot；
Figure 12 is a kind of flow chart of control method provided in an embodiment of the present invention；
Figure 13 is a kind of structural schematic diagram of control terminal provided in an embodiment of the present invention；
Figure 14 is a kind of structural schematic diagram of unmanned plane provided in an embodiment of the present invention；
Figure 15 is a kind of structural schematic diagram of UAV system provided in an embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is clearly retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or it may be simultaneously present component placed in the middle.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the Listed Items of pass.
Below in conjunction with the accompanying drawings, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
The embodiment of the present invention provides a kind of control method of control terminal, and Fig. 1 is a kind of control provided in an embodiment of the present invention
The implementation flow chart of the control method of terminal processed, as shown in Figure 1, this method may comprise steps of：
Step 101：Receive RTK data.
Specifically, RTK data are the Satellite Observations of base station acquisition, and wherein RTK data include at least carrier phase, puppet
Away from least one of information, coordinate information.Control terminal can receive RTK data by following several feasible modes：
A kind of feasible mode：The RTK data transmitted by RTK base stations are received by radio station's communication interface.Tool
Body, as shown in Figure 2, base station is connect with radio station, and base station station can be wide by radio station by the RTK data of acquisition
Broadcast is gone, and radio station's communication interface can be provided in control terminal, and control terminal can utilize the radio station to communicate
The RTK data of interface radio station broadcast.
Another feasible mode：The RTK numbers transmitted by wireless network base station are received by wireless network communication interface
According to.As shown in Figure 3, the RTK data of wireless network base station can be able to be 2G, 3G or 4G by network transmission, wireless network
The communication network of equal networks or other standards.Specifically, wireless network base station broadcasts RTK data, in control terminal
It can be provided with wireless network communication interface, thus control terminal can utilize the wireless network communication interface and wireless network base
Wireless network data connection is established between standing so that control terminal can be based on wireless network data connection and receive wireless network
The RTK data that base station is sent.
Control terminal in the present embodiment may include the dedicated remote control of unmanned plane, smart mobile phone, tablet computer, above-knee
It is one or more in type computer, ground control station, Wearable such as wrist-watch or bracelet.
It should be noted that in Fig. 2 and Fig. 3, understand for convenience, radio station's communication interface, wireless network communication connect
Mouth is separately drawn with control terminal, is intended merely to be schematically illustrated here.Wherein radio station's communication interface, wireless network
Interface is a function of control terminal, is not independent from each other.
Step 102：RTK data are sent to unmanned plane.
Specifically, in UAV system, control terminal is by up data link to unmanned plane transmission data.Control is eventually
RTK data can be sent to unmanned plane, so that unmanned plane can by end after receiving RTK data by up data link
To complete RTK positioning according to the RTK data received.Wherein, the up data link can be based on IEEE 802.11b marks
Accurate WLAN (Wireless Fidelity, WI-FI), radio (Software Defined Radio, SDR) or
Other custom protocols of person.
In general, in UAV system, the control terminal for controlling unmanned plane is usually located at ground, is in radio station
In the signal cover of wireless network base station, as a result, in the present embodiment can utilize control terminal receive radio station or
The RTK data that wireless network base station is transmitted.That is, being realized using control terminal as trunking in the present embodiment
The forwarding of RTK data, thus no matter whether unmanned plane is in the signal cover of radio station and wireless network base station, nothing
It is man-machine to receive RTK data from control terminal.
The control method of control terminal provided in an embodiment of the present invention, using in radio station and wireless network base station
Control terminal within the scope of signal radiation receives RTK data, and by RTK data forwardings to unmanned plane, and unmanned plane is utilized from control
The RTK data received in terminal determine location information.It is not received when in this way, unmanned plane can effectively be overcome to be in high-altitude wireless
The problem of RTK that network base station or radio station send, the transmission link of RTK data is optimized, can effectively ensure nothing
It is man-machine that RTK data can be got at high-altitude, improve the accuracy of unmanned plane high-altitude positioning.
The embodiment of the present invention provides the control method of another control terminal, and Fig. 4 is one kind provided in an embodiment of the present invention
The implementation flow chart of the control method of control terminal, as shown in figure 4, in Fig. 1 on the basis of embodiment, this method may include
Following steps：
Step 401：Receive RTK data.
Step 401 and the specific method of step 101 are consistent with principle, and details are not described herein again.
Step 402：RTK data are sent to unmanned plane.
Step 402 and the specific method of step 102 are consistent with principle, and details are not described herein again.
Step 403：According to RTK data, the location information of control terminal is determined.
Specifically, positioning device, such as GNSS receiver can be set in control terminal, that is to say, that relative to benchmark
For standing, control terminal can also be used as a rover station, can be with so that control terminal is after receiving RTK data
The data exported according to GNSS receiver are positioned with RTK data are received, to determine the location information of control terminal.
It should be noted that step 402 and step 403 can be executed successively, the sequence that priority executes can arbitrarily be set
It sets, in addition can also be performed simultaneously, do not do specific restriction herein.
The embodiment of the present invention provides the control method of another control terminal, and Fig. 5 is one kind provided in an embodiment of the present invention
The implementation flow chart of the control method of control terminal, as shown in figure 5, on the basis of previous embodiment, this method may include
Following steps：
Step 501：Receive RTK data.
Step 501 and the specific method of step 101 are consistent with principle, and details are not described herein again.
Step 502：RTK data are sent to unmanned plane.
Step 502 and the specific method of step 102 are consistent with principle, and details are not described herein again.
Step 503：RTK data are sent to other control terminals.
Specifically, other control terminals here can be different from the control terminal for receiving RTK data, in Fig. 6
It is shown, data connection can be established between control terminal, the control terminal A for receiving RTK data leads to the RTK data received
It crosses data connection and is sent to other control terminals B, later, these control terminals for receiving RTK data equally can be by RTK numbers
According to being sent to unmanned plane, determine the location information of oneself according to these RTK data or control RTK data forwardings to other
Terminal.
It should be noted that step 502 and step 503 can be executed successively, the sequence that priority executes can arbitrarily be set
It sets, in addition can also be performed simultaneously, do not do specific restriction herein.
The embodiment of the present invention provides the control method of another control terminal, and Fig. 7 is one kind provided in an embodiment of the present invention
The implementation flow chart of the control method of control terminal, as shown in fig. 7, on the basis of previous embodiment, this method may include
Following steps：
Step 701：Receive RTK data.
Step 701 and the specific method of step 101 are consistent with principle, and details are not described herein again.
Step 702：RTK data are encrypted.
Step 703：RTK data after encryption are sent to unmanned plane.
Specifically, in order to ensure RTK data transmission safety, control terminal before RTK data are sent to unmanned plane,
RTK data can be encrypted, wherein pre-set Encryption Algorithm pair may be used to RTK data in control terminal
RTK data are encrypted, and Encryption Algorithm here can be：Advanced Encryption Standard (Advanced Encryption
Standard, AES) algorithm or Message Digest Algorithm 5 (Message Digest Algorithm, MD5) algorithm etc.,
After encryption, encrypted RTK data are sent to unmanned plane by control terminal, and unmanned plane receives encrypted RTK data
Later, decipherment algorithm corresponding with Encryption Algorithm can be utilized to be decrypted, obtain RTK data.
The embodiment of the present invention provides the control method of another unmanned plane, and Fig. 8 is a kind of nothing provided in an embodiment of the present invention
The implementation flow chart of man-machine control method, the method is suitable as the unmanned plane of rover station, as shown in figure 8, this method
It may comprise steps of：
Step 801：Receive the RTK data that control terminal is sent.
Wherein, control terminal as previously described sends RTK data by up data link to unmanned plane, and unmanned plane can lead to
Cross up data link and receive the RTK data that control terminal is sent, and RTK data can be by control terminal from radio station or
The Satellite Observations that person's wireless network base station is obtained.
Step 802：The location information of unmanned plane is determined according to RTK data.
Specifically, in the present embodiment, unmanned plane can be used as rover station that positioning device, such as GNSS receiver can be arranged
Deng so that unmanned plane is after receiving RTK data, the data that can be exported according to GNSS receiver and receiving RTK
Data carry out difference resolving, to determine the location information of unmanned plane.
The embodiment of the present invention provides the control method of another unmanned plane, and Fig. 9 is a kind of control provided in an embodiment of the present invention
The implementation flow chart of the control method of terminal processed, as shown in figure 9, on the basis of previous embodiment, this method may include with
Lower step：
Step 901：Receive the RTK data that control terminal is sent.
Step 901 and the specific method of step 801 are consistent with principle, and details are not described herein again.
Step 902：The RTK data received are decrypted；
Step 903：The location information of unmanned plane is determined according to the RTK data after decryption.
Specifically, as previously mentioned, in order to ensure that RTK data are being sent to nothing by the transmission safety of RTK data, control terminal
Before man-machine, RTK data can be encrypted.Wherein, the algorithm of the encryption can be known to unmanned plane,
And unmanned plane can then solve RTK data according to the decipherment algorithm corresponding to Encryption Algorithm after receiving RTK data
Close processing, after decrypting RTK data, unmanned plane can carry out RTK positioning according to RTK data, obtain the accurate position of unmanned plane
It sets.
The control method of unmanned plane provided in an embodiment of the present invention utilizes the letter in radio station and wireless network base station
Control terminal in number radiation scope receives RTK data, and by RTK data forwardings to unmanned plane, and unmanned plane is utilized from control eventually
The RTK data received in end determine location information.Wireless network is not received when in this way, unmanned plane can effectively be overcome to be in high-altitude
The problem of RTK that network base station or radio station send, the transmission link of RTK data is optimized, can effectively ensure nobody
Machine can get RTK data at high-altitude, improve the accuracy of unmanned plane high-altitude positioning.
The embodiment of the present invention provides the control method of another unmanned plane, and Figure 10 is a kind of nothing provided in an embodiment of the present invention
The implementation flow chart of man-machine control method, as shown in Figure 10, on the basis of previous embodiment, this method may include following
Step：
Step 1001：Receive the RTK data that control terminal is sent；
Step 1001 and the specific method of step 801 are consistent with principle, and details are not described herein again.
Step 1002：The location information of unmanned plane is determined according to RTK data；
Step 1002 and the specific method of step 802 are consistent with principle, and details are not described herein again.
Step 1003：RTK data are sent to other unmanned planes.
Specifically, as shown in figure 11, it can establish data connection between unmanned plane, in the present embodiment, be firstly received RTK
The unmanned plane A of data will receive RTK data and be sent to other unmanned planes B and C by data connection, later, receive RTK numbers
According to unmanned plane B and C, RTK data can be equally sent to and other nobody or determine the position of oneself according to these RTK data
Confidence ceases.
The embodiment of the present invention provides a kind of control method of UAV system, and Figure 12 is one kind provided in an embodiment of the present invention
The implementation flow chart of control method, as shown in figure 12, this method may comprise steps of：
Step 1201：Control terminal receives RTK data, and RTK data are sent to unmanned plane.
Step 1202：Unmanned plane receives the RTK data that control terminal is sent, and the position of unmanned plane is determined according to RTK data
Confidence ceases.
That is, in the present embodiment using control terminal as trunking realize RTK data forwarding, thus no matter
Whether unmanned plane is in the signal cover of radio station and wireless network base station, and unmanned plane can pass through control terminal
RTK data are received, to which unmanned plane can realize positioning according to the data that RTK data and GNSS receiver export, are obtained
The location information of unmanned plane.
The control method of UAV system provided in an embodiment of the present invention, using in radio station and wireless network base station
Signal radiation within the scope of control terminal receive RTK data, and by RTK data forwardings to unmanned plane, unmanned plane is utilized from control
The RTK data received in terminal processed determine location information.Nothing is not received when in this way, unmanned plane can effectively be overcome to be in high-altitude
The problem of RTK that line network base station or radio station send, the transmission link of RTK data is optimized, can effectively be ensured
Unmanned plane can get RTK data at high-altitude, improve the accuracy of unmanned plane high-altitude positioning.
In certain embodiments, may include having wireless radio communication interface in control terminal, to which control terminal is connecing
When receiving RTK data, the RTK data of RTK base stations transmission can be specifically received using radio station's communication interface.
In certain embodiments, may include having wireless network communication interface in control terminal, to which control terminal is connecing
When receiving RTK data, the RTK data of wireless network base station transmission can be specifically received using wireless network communication interface.
In certain embodiments, the control terminal, specifically for before the RTK data are sent to unmanned plane,
The RTK data are encrypted, the RTK data after encryption are sent to unmanned plane；
The unmanned plane, specifically for receive control terminal transmission encryption RTK data after, to described
RTK data are decrypted, and the location information of unmanned plane is determined according to the RTK data after decryption.
In certain embodiments, control terminal is after receiving RTK data, in addition to can RTK data be sent to nothing
Except man-machine, RTK positioning can also be carried out according to RTK data to determine the location information of control terminal, alternatively, can also incite somebody to action
RTK data are sent to other control terminals, other control terminals by receiving RTK data are forwarded or carry out RTK and determine
Position obtains the location information of control terminal.
And unmanned plane obtains nobody after receiving RTK data in addition to that can carry out RTK positioning according to RTK data
Except the location information of machine, RTK data can also be sent to other unmanned planes, by other unmanned planes for receiving RTK data
RTK positioning is forwarded or carried out to obtain the location information of unmanned plane.
The embodiment of the present invention provides a kind of control terminal, which includes the dedicated remote control of unmanned plane, intelligent hand
It is one or more in machine, tablet computer, laptop computer, ground control station, Wearable (wrist-watch or bracelet).Figure 13 is
A kind of structural schematic diagram of control terminal provided in an embodiment of the present invention, as shown in figure 13, the control terminal：
Communication interface 1301, for receiving RTK data.
One or more processors 1302 individually or synergistically work, for RTK data to be sent to unmanned plane.
Wherein, the number of the processor 1302 in control terminal can be according to actual demand such as calculation amount or task amount etc.
Setting or installation, wherein the processor can be that single core processor may be multi-core processor.
It should be noted that communication interface 1301 can be radio station's communication interface, radio station's communication interface, specifically
The RTK data for receiving the transmission of RTK base stations.Control terminal is established and RTK benchmark by radio station's communication interface
Data connection between standing, radio station's communication interface can receive the RTK data of RTK base stations transmission.
Alternatively, communication interface 1301 can also be wireless network communication interface, wireless network communication interface, specifically for connecing
Receive the RTK data that wireless network base station is sent.Control terminal is established and wireless network base by wireless network communication interface
The RTK data stood as transmitted by the network base stations such as 2G, 3G or 4G.
The logical of upstream data is sent it should be noted that can be controlled by processor 1302 in control terminal to unmanned plane
Communication interface to send RTK data to unmanned plane.And the communication interface of the communication interface of the transmission upstream data and reception RTK data
1301 can be same interface, or distinct interface.
In the concrete realization, processor 1302, can also basis other than it can RTK data be sent to unmanned plane
RTK data determine the location information of control terminal, or RTK data are sent to other control terminals.
Wherein, processor 1302 is when determining the location information of control terminal according to RTK data, and processor 1302 can be by
The data exported according to the GNSS receiver being arranged in control terminal and the RTK data are configured to obtain control terminal
Location information.
And in order to ensure that the transmission safety of RTK data, processor 1302 can use preset encryption to RTK data first
Algorithm is encrypted, then encrypted RTK data are sent to unmanned plane.Here Encryption Algorithm can be set according to demand
It sets.
The embodiment of the present invention provides a kind of unmanned plane, which can be with rotor wing unmanned aerial vehicle or non-rotor wing unmanned aerial vehicle.Figure
14 be a kind of structural schematic diagram of unmanned plane provided in an embodiment of the present invention, as shown in figure 14, the unmanned plane：
Communication interface 1401, the RTK data for receiving control terminal transmission.
One or more processors 1402, work alone or synergistically, the position for determining unmanned plane according to RTK data
Information.
Wherein, the number of the processor 1402 in unmanned plane can be arranged or install according to actual demand, wherein the place
It can may be multi-core processor for single core processor to manage device.
The processor 1402, specifically for the RTK data received are decrypted, after decryption
RTK data determine the location information of unmanned plane.Specifically, in order to ensure that the transmission of RTK data is safe, unmanned plane is connect by communication
RTK data received by mouth 1401 may be to be encrypted by control terminal, and therefore, unmanned plane is passing through communication
Interface 1401 receives after encrypted RTK data, and processor 1402 can solve RTK data using decipherment algorithm
Close processing, and determine the location information of unmanned plane according to the RTK data after decryption.
In the concrete realization, processor 1402 according to RTK data other than it can determine the location information of unmanned plane, also
Can be used for RTK data being sent to other unmanned planes so that other unmanned planes RTK data can be also forwarded or
Person determines the location information of oneself according to RTK data.
The embodiment of the present invention provides a kind of UAV system, and Figure 15 is a kind of UAV system provided in an embodiment of the present invention
Structural schematic diagram, as shown in figure 15, which includes：
Control terminal 1501 is sent to unmanned plane 1502 for receiving RTK data, and by RTK data.
Unmanned plane 1502, the RTK data for receiving the transmission of control terminal 1501, and determine unmanned plane according to RTK data
1502 location information.
That is, the forwarding of RTK data is realized in UAV system using control terminal 1501 as trunking, by
This, no matter whether unmanned plane 1502 is in the signal cover of radio station and wireless network base station, and unmanned plane 1502 is all
RTK data can be received by control terminal 1501, to which unmanned plane 1502 can be defeated according to RTK data and GNSS receiver
The data gone out position to realize, obtain the location information of unmanned plane 1502.
In certain embodiments, radio station's communication interface can be set in control terminal 1501, to control terminal
1501 can receive the RTK data transmitted by RTK base stations using radio station's communication interface.
Alternatively, wireless network communication interface can be arranged in control terminal 1501, to which control terminal 1501 can utilize
RTK data transmitted by wireless network communication interface wireless network base station.
In addition, in this some embodiments, control terminal 1501 may be used also before RTK data are sent to unmanned plane 1502
RTK data to be encrypted using preset Encryption Algorithm, then the RTK data after encryption are sent to unmanned plane
1502, to ensure safety of the RTK data in transmission process.And unmanned plane 1502 is receiving the transmission of control terminal 1501
After the RTK data of encryption, can place be first decrypted to RTK data using decipherment algorithm corresponding with Encryption Algorithm
Reason, the location information of unmanned plane 1502 is determined further according to the RTK data after decryption.
In certain embodiments, control terminal 1501 is after receiving RTK data, in addition to can send RTK data
Except unmanned plane 1502, RTK positioning can also be carried out according to RTK data to determine the location information of control terminal 1501, or
RTK data can also be sent to other control terminals by person, control terminal 1501, by receiving other controls of RTK data eventually
It holds to carry out data forwarding or obtain the location information of control terminal into RTK positioning.
And unmanned plane 1502 obtains after receiving RTK data in addition to that can carry out RTK positioning according to RTK data
Except the location information of unmanned plane 1502, RTK data can also be sent to other unmanned planes, by receive RTK data its
His unmanned plane carries out data forwarding or carries out RTK positioning obtaining the location information of unmanned plane.
That is, control terminal 1501 is receiving wireless network base station or benchmark as the trunking of data forwarding
It stands after transmitted RTK data, RTK data is encrypted, and pass through the upstream data between trunking and unmanned plane
Link sends RTK data to unmanned plane, and unmanned plane is decrypted RTK data after receiving RTK data, and combines
The data that the GNSS receiver configured on unmanned plane is exported complete the vacancy RTK, obtain the location information of unmanned plane.
By taking control terminal 1501 is remote controler as an example, remote controler receives base station by the way that radio station's communication interface is arranged
The RTK data of transmission, and select that RTK data are encrypted, then sent by the Radio Link between remote controler and unmanned plane
RTK data are to unmanned plane；
Alternatively, remote controler is sent out by the way that wireless network communication interface is arranged to receive wireless network base station such as 4G network base stations
The RTK data sent, and RTK data are encrypted, then RTK data are sent to unmanned plane by Radio Link.
And unmanned plane can forward RTK data extremely after the RTK data for receiving remote controler transmission by Radio Link
Other unmanned planes, the unmanned plane for arbitrarily receiving RTK data can be after being decrypted RTK data, according to decryption
Data that RTK data and GNSS receiver are exported are positioned, and then obtain the location information of unmanned plane, to realize into
The function of one step, such as realize RTK networking formation flights.
In addition, control terminal by radio station's communication interface or wireless network communication interface to RTK data it
Afterwards, control terminal oneself can also combine RTK data to complete fixed by the data that the GNSS receiver of oneself setting is exported
Position, obtains the location information of control terminal.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be the INDIRECT COUPLING or logical by some interfaces, device or unit
Letter connection can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can be stored in one and computer-readable deposit
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. it is various
The medium of program code can be stored.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each function module
Division progress for example, in practical application, can be complete by different function modules by above-mentioned function distribution as needed
At the internal structure of device being divided into different function modules, to complete all or part of the functions described above.On
The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (25)
1. a kind of control method of control terminal, which is characterized in that including：
Receive RTK data；
The RTK data are sent to unmanned plane.
2. according to the method described in claim 1, it is characterized in that, the reception RTK data, including：
The RTK data that RTK base stations are sent are received by radio station's communication interface.
3. according to the method described in claim 1, it is characterized in that, described be sent to unmanned plane by the RTK data, including：
The RTK data sent by wireless network communication interface wireless network base station.
4. according to the method described in claim 1, it is characterized in that, the method further includes：
The location information of control terminal is determined according to the RTK data.
5. according to the method described in claim 1, it is characterized in that, the method further includes：
The RTK data are sent to other control terminals.
6. according to claim 1-5 any one of them methods, which is characterized in that the RTK data are being sent to unmanned plane
Before, the method further includes：
The RTK data are encrypted；
It is described that the RTK data are sent to unmanned plane, including：
Encrypted RTK data are sent to unmanned plane.
7. a kind of control method of unmanned plane, which is characterized in that including：
Receive the RTK data that control terminal is sent；
The location information of unmanned plane is determined according to the RTK data.
8. the method according to the description of claim 7 is characterized in that the method further includes：
The RTK data received are decrypted；
The location information that unmanned plane is determined according to the RTK data, including：
The location information of unmanned plane is determined according to the RTK data after decryption.
9. the method according to the description of claim 7 is characterized in that the method further includes：
The RTK data are sent to other unmanned planes.
10. a kind of control terminal, which is characterized in that including：
Communication interface, for receiving RTK data；
One or more processors individually or synergistically work, for the RTK data to be sent to unmanned plane.
11. control terminal according to claim 10, which is characterized in that the communication interface is that radio station's communication connects
Mouthful；
Radio station's communication interface is specifically used for receiving the RTK data that RTK base stations are sent.
12. control terminal according to claim 10, which is characterized in that the communication interface connects for wireless network communication
Mouthful：
The wireless network communication interface is specifically used for receiving the RTK data that wireless network base station is sent.
13. control terminal according to claim 10, it is characterised in that：
The processor, specifically for determining the location information of the control terminal according to the RTK data.
14. control terminal according to claim 10, it is characterised in that：
The processor, specifically for the RTK data are sent to other control terminals.
15. according to claim 10~14 any one of them control terminal, it is characterised in that：
Encrypted RTK data are sent to nobody by the processor specifically for the RTK data are encrypted
Machine.
16. a kind of unmanned plane, which is characterized in that including：
Communication interface, the RTK data for receiving control terminal transmission；
One or more processors work alone or synergistically, for determining that the position of unmanned plane is believed according to the RTK data
Breath.
17. unmanned plane according to claim 16, it is characterised in that：
The processor, specifically for the RTK data are decrypted, according to the RTK data determination after decryption
The location information of unmanned plane.
18. unmanned plane according to claim 16, it is characterised in that：
The processor, specifically for the RTK data are sent to other unmanned planes.
19. a kind of UAV system, which is characterized in that including：
Control terminal is sent to unmanned plane for receiving RTK data, and by the RTK data；
Unmanned plane, the RTK data sent for receiving the control terminal, and determine according to the RTK data position of unmanned plane
Confidence ceases.
20. system according to claim 19, which is characterized in that the control terminal includes radio station's communication interface；
The control terminal is specifically used for receiving the RTK numbers that RTK base stations are sent using radio station's communication interface
According to.
21. system according to claim 19, which is characterized in that the control terminal includes wireless network communication interface；
The control terminal is specifically used for the RTK numbers sent using wireless network communication interface wireless network base station
According to.
22. system according to claim 19, which is characterized in that further include：
The control terminal, specifically for before the RTK data are sent to unmanned plane, adding to the RTK data
RTK data after encryption are sent to unmanned plane by close processing；
The unmanned plane, specifically for receive control terminal transmission encryption RTK data after, to the RTK
Data are decrypted, and the location information of unmanned plane is determined according to the RTK data after decryption.
23. system according to claim 19, which is characterized in that further include：
The unmanned plane is additionally operable to the RTK data being sent to other unmanned planes.
24. system according to claim 19, which is characterized in that further include：
The control terminal, the RTK data for being additionally operable to receive are sent to other control terminals.
25. system according to claim 19, which is characterized in that further include：
The control terminal is additionally operable to determine the location information of control terminal according to the RTK data.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/082150 WO2018195845A1 (en) | 2017-04-27 | 2017-04-27 | Control terminal, control method and control terminal for unmanned aerial vehicle, unmanned aerial vehicle and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108513624A true CN108513624A (en) | 2018-09-07 |
Family
ID=63374706
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780005143.3A Pending CN108513624A (en) | 2017-04-27 | 2017-04-27 | Control terminal, the control method of unmanned plane, control terminal, unmanned plane and system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108513624A (en) |
| WO (1) | WO2018195845A1 (en) |
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| CN109782226A (en) * | 2019-01-24 | 2019-05-21 | 成都优艾维智能科技有限责任公司 | Unmanned aerial vehicle autonomous tracking positioning system and method based on network RTK |
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| CN111050320A (en) * | 2020-01-17 | 2020-04-21 | 中天泽智能装备有限公司 | Intermediate layer encryption technology for unmanned aerial vehicle |
| CN111025360A (en) * | 2020-03-10 | 2020-04-17 | 南京嘉谷初成通信科技有限公司 | Unmanned aerial vehicle control method, device, system, equipment and medium |
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| CN117742225A (en) * | 2024-02-21 | 2024-03-22 | 天津大学四川创新研究院 | Ground-air radio station two-way communication control system |
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Application publication date: 20180907 |