CN109116864A - A kind of unmanned plane cluster terrestrial information acquisition identification management method - Google Patents
A kind of unmanned plane cluster terrestrial information acquisition identification management method Download PDFInfo
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- G—PHYSICS
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- 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
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Abstract
The present invention relates to a kind of unmanned plane cluster terrestrial informations to acquire identification management method, including equipment assembly, man-machine marshalling, and video is adopted and flies and dynamically adjusts.One aspect of the present invention, which can be realized effectively while control more unmanned plane collaborations, carries out lasting video information collection and image information collection to designated position, and it is not influenced respectively when video information collection and image information collection operation, to effectively improve the continuity of data acquisition, comprehensive and acquisition precision, another aspect can effectively realize the flexibility and convenience of flight coordinated control between each unmanned plane, remote data communication is improved simultaneously and controls the efficiency and quality of signal transmission, to effectively improve the reliability of data communication and unmanned plane manipulation operation, simultaneously, it can also be according to each unmanned plane during flying situation, failure unmanned plane is effectively replaced, greatly improve the flight control of a unmanned plane group of planes, data acquisition and data transmit operation fault-resistant ability, and the reliability and stability of system overall operation.
Description
Technical field
The present invention relates to a kind of unmanned plane cluster terrestrial information acquisition identification management method, belongs to air vehicle technique field.
Background technique
At present by the flight of unmanned plane device clusters to unmanned plane current when carrying out the operations such as information collection in particular range
Important one of the application field of equipment is often all made of traditional currently when carrying out cluster information Collecting operation to unmanned plane
Flight control and information delivery format, i.e., fly in cluster and set at least one main control unmanned plane in each unmanned machine equipment,
Then several control node unmanned planes are set in entire cluster, and information collection operation is then being carried out by main control unmanned plane
Colleague, it is another to realize to control signal relay transmission, integrated machine swarming row is controlled by each control node unmanned plane, is worked together
Remote transmission feedback is carried out to each acquisition information data in a group of planes by main control unmanned plane, although this control mode is opposite
Maturation, and there is preferable control ability to unmanned plane cluster, but in operation, on the one hand cause in a group of planes each unmanned plane into
Mutually independent operating when row data acquire, lacks necessary synthetic operation ability, causes collected information in subsequent processing
When difficulty it is relatively large, on the other hand also cause the autonomous operation ability of each unmanned plane in a group of planes relatively poor, to easily send out
It is raw because any one in main control unmanned plane, control node unmanned plane break down etc. abnormal operations when, cause relevant
Multiple UAVs also break down therewith, fault-resistant inferior capabilities, to seriously affect current unmanned plane cluster flight and letter
The stability and reliability for ceasing Collecting operation especially control nobody when current unmanned plane device clusters are run in this colleague
Machine, the data processing amount of control node unmanned plane at runtime are big, and communication operating flexibility is poor, cannot work together and meet effective control
Group of planes flight processed and the needs that data communication operation is carried out in optimum position, to also cause currently carrying out unmanned plane cluster
Signal communication reliability and control precision when operation is relatively poor, and for this status, there is an urgent need to develop a kind of completely new
Mining personal management and data communication system and application method, to meet the needs of actual use.
Summary of the invention
In order to solve some shortcomings on existing sorting technique, the present invention provides a kind of unmanned plane cluster terrestrial information acquisition
Identify management method.
In order to realize effect above-mentioned, a kind of unmanned plane cluster terrestrial information acquisition identification management method is proposed,
Itself the following steps are included:
A kind of unmanned plane cluster terrestrial information acquisition identification management method, comprising the following steps:
The first step, equipment assembly, according to the needs of use, initially sets up the data processing based on cloud data processing platform (DPP)
Server, the data processing server based on cloud data processing platform (DPP) pass through communication network and an at least unmanned plane remote control
Terminal is connected with each other, then by sum be odd number and quantity be no less than 11 unmanned machine equipments respectively with unmanned plane remote control
Terminal room establishes wireless data connection, to constitute unified video information acquisition hardware system, and hard for video information acquisition
Each unmanned machine equipment in part system distributes mutually independent data communication address and data communication protocol；
Second step, unmanned plane marshalling, after completing first step operation, first to the data processing based on cloud data processing platform (DPP)
Each unmanned plane during flying Attitude Control Strategies of typing in server, terrestrial information acquisition control strategy, remote information communication strategy and
Failure emergency substitute strategy, then leads to unmanned plane during flying Attitude Control Strategies, terrestrial information acquisition control strategy, remote information
News strategy and failure emergency substitute strategy are sent in unmanned plane remote control terminal, then by unmanned plane remote control terminal root
It meets an urgent need and substitutes according to unmanned plane during flying Attitude Control Strategies, terrestrial information acquisition control strategy, remote information communication strategy and failure
Strategy compiles and edit each unmanned machine equipment remote control program respectively, and unmanned machine equipment remote control program is downloaded to each corresponding
It is spare in unmanned machine equipment；
Third step, video acquisition after completing second step, directly start each unmanned machine equipment by unmanned plane remote control terminal
It takes off operation, in each unmanned machine equipment after completing to take off and reach predetermined altitude, according to the unmanned machine equipment of second typing
Remote control program, according to unmanned plane during flying Attitude Control Strategies, terrestrial information acquisition control strategy, remote information communication strategy
And failure emergency substitute strategy is formed into columns, the unmanned machine equipment after forming into columns, in all video information acquisition hardware systems
It is divided at least two information collection working groups, at least two data communications relaying monomer unmanned plane, is on the one hand adopted by each information
Collect working group and information collection is carried out to ground, is sent out after the information of acquisition is then relayed monomer unmanned plane relaying by data communication
It is sent to unmanned plane remote control terminal, and the data based on cloud data processing platform (DPP) are sent to by unmanned plane remote control terminal
In processing server, then received data are stored by the data processing server based on cloud data processing platform (DPP), are divided
Analysis and identification operation；
4th step, flight dynamic adjust, and are passing through the data processing server based on cloud data processing platform (DPP) to received
After data are stored, analyzed and identified operation, according to operation needs, sent out by unmanned plane remote control terminal to each unmanned plane
Send new observation position coordinate and flight path, drive current each unmanned machine equipment flown to according to new flight path send it is new
Then observation position carries out terrestrial information Collecting operation according to third step job requirements.
Further, in the first step operation, respectively every unmanned machine equipment is equipped with video capture device and remote
Journey information communication device.
Further, in the second step, unmanned plane during flying Attitude Control Strategies include unmanned plane landing control parameter,
Flying speed control parameter, flight altitude control parameter, in-flight two neighboring unmanned plane equipment room spacing parameter；Terrestrial information
Acquisition control strategy includes time interval parameter between time parameter when recording a video operation, video recording focal length parameter, adjacent video recording twice, claps
According to focal length parameter, the adjacent spacing parameter of photo opporunity twice and video recording and unmanned plane assignment parameters of taking pictures；Remote information communicates plan
Unmanned machine equipment flying height and between remote data communication time when slightly including remote data communication frequency, remote data communication
Every；Failure emergency substitute strategy includes separate unit unmanned plane equipment fault rear perimeter edge unmanned plane formation control again in operational process
Parameter.
Further, in the third step, in information collection working group include a frame video information acquisition unmanned plane and
At least four framves are taken pictures Image Acquisition unmanned plane, and each unmanned machine equipment in same information collection working group is in the horizontal plane, are clapped
According to Image Acquisition unmanned plane around video information acquisition unmanned plane rectangular array, annular array any one structure distribution.
Further, two data communications relay monomer unmanned plane in the third step, one of them is located at each information
Right above collecting work group, another is located at immediately below each information collection working group, and two data communications relaying monomers nobody
Machine is distributed in the same rectilinear direction with horizontal plane distribution, and each information collection working group is around two data communication relayings
Monomer unmanned plane connecting line rectangular array, annular array any one structure distribution, and the nothing in each information collection working group
Man-machine device's flying height is not higher than the data communication being located above each information collection working group and relays monomer unmanned plane, and flight is most
Low spot is not less than 1-10 meters below the data communication relaying monomer unmanned plane below each information collection working group.
Present system constitutes that structure is simple, and flexible and convenient to use, versatility is good, expansion capability and fault-resistant ability are strong,
High degree of automation is run, on the one hand can effectively realize while control more unmanned planes and cooperate with and carry out lasting view to designated position
The collection of frequency information and image information are collected, and are not influenced respectively when video information collection and image information collection operation, thus effectively
The continuity of raising data acquisition, comprehensive and acquisition precision, on the other hand can effectively realize association of flying between each unmanned plane
Regulate and control the flexibility and convenience of system, while improving remote data communication and controlling the efficiency and quality of signal transmission, to have
The reliability of raising data communication and unmanned plane the manipulation operation of effect simultaneously can also be right according to each unmanned plane during flying situation
Failure unmanned plane is effectively replaced, and is greatly improved unmanned plane group of planes flight control, data acquisition and data and is transmitted operation
The reliability and stability of fault-resistant ability and system overall operation.
Detailed description of the invention
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments；
Fig. 1 is the method for the present invention flow chart；
A kind of Fig. 2 is group of planes flight attitude structural schematic diagram when being vertical direction；
Structural schematic diagram when Fig. 3 group of planes flight attitude is horizontal direction；
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
A kind of unmanned plane cluster terrestrial information acquisition identification management method as shown in figure 1-3, comprising the following steps:
The first step, equipment assembly, according to the needs of use, initially sets up the data processing based on cloud data processing platform (DPP)
Server, the data processing server based on cloud data processing platform (DPP) pass through communication network and an at least unmanned plane remote control
Terminal is connected with each other, then by sum be odd number and quantity be no less than 11 unmanned machine equipments respectively with unmanned plane remote control
Terminal room establishes wireless data connection, to constitute unified video information acquisition hardware system, and hard for video information acquisition
Each unmanned machine equipment in part system distributes mutually independent data communication address and data communication protocol；
Second step, unmanned plane marshalling, after completing first step operation, first to the data processing based on cloud data processing platform (DPP)
Each unmanned plane during flying Attitude Control Strategies of typing in server, terrestrial information acquisition control strategy, remote information communication strategy and
Failure emergency substitute strategy, then leads to unmanned plane during flying Attitude Control Strategies, terrestrial information acquisition control strategy, remote information
News strategy and failure emergency substitute strategy are sent in unmanned plane remote control terminal, then by unmanned plane remote control terminal root
It meets an urgent need and substitutes according to unmanned plane during flying Attitude Control Strategies, terrestrial information acquisition control strategy, remote information communication strategy and failure
Strategy compiles and edit each unmanned machine equipment remote control program respectively, and unmanned machine equipment remote control program is downloaded to each corresponding
It is spare in unmanned machine equipment；
Third step, video acquisition after completing second step, directly start each unmanned machine equipment by unmanned plane remote control terminal
It takes off operation, in each unmanned machine equipment after completing to take off and reach predetermined altitude, according to the unmanned machine equipment of second typing
Remote control program, according to unmanned plane during flying Attitude Control Strategies, terrestrial information acquisition control strategy, remote information communication strategy
And failure emergency substitute strategy is formed into columns, the unmanned machine equipment after forming into columns, in all video information acquisition hardware systems
It is divided at least two information collection working groups 1, at least two data communications relaying monomer unmanned plane 2, on the one hand passes through each information
Collecting work group carries out information collection to ground, after the information of acquisition is then relayed monomer unmanned plane relaying by data communication
It is sent to unmanned plane remote control terminal, and the number based on cloud data processing platform (DPP) is sent to by unmanned plane remote control terminal
According in processing server, then received data are stored by the data processing server based on cloud data processing platform (DPP),
Analysis and identification operation；
4th step, flight dynamic adjust, and are passing through the data processing server based on cloud data processing platform (DPP) to received
After data are stored, analyzed and identified operation, according to operation needs, sent out by unmanned plane remote control terminal to each unmanned plane
Send new observation position coordinate and flight path, drive current each unmanned machine equipment flown to according to new flight path send it is new
Then observation position carries out terrestrial information Collecting operation according to third step job requirements.
In the present embodiment, in the first step operation, respectively every unmanned machine equipment be equipped with video capture device and
Remote information communication apparatus.
In the present embodiment, in the second step, unmanned plane during flying Attitude Control Strategies include unmanned plane landing control ginseng
Number, flying speed control parameter, flight altitude control parameter, in-flight two neighboring unmanned plane equipment room spacing parameter；Ground
Time interval is joined between time parameter, video recording focal length parameter, adjacent video recording twice when information collection control strategy includes video recording operation
Number, focal length parameter of taking pictures, the adjacent spacing parameter of photo opporunity twice and video recording and unmanned plane assignment parameters of taking pictures；Remote information is logical
News strategy unmanned machine equipment flying height and remote data communication time when including remote data communication frequency, remote data communication
Interval；Failure emergency substitute strategy includes in operational process, and separate unit unmanned plane equipment fault rear perimeter edge unmanned plane is formed into columns control again
Parameter processed.
It include that a frame video information acquires unmanned plane in the present embodiment, in the third step, in information collection working group 1
101 and at least four frame take pictures Image Acquisition unmanned plane 102, and each unmanned machine equipment in same information collection working group is in level
On face, Image Acquisition of taking pictures unmanned plane is around video information acquisition unmanned plane rectangular array, annular array any one structure
Distribution.
In the present embodiment, two data communications relay monomer unmanned plane in the third step, one of them is located at each letter
Cease right above collecting work group, another is located at immediately below each information collection working group, and two data communications relaying monomers without
Man-machine to be distributed in the same rectilinear direction with horizontal plane distribution, each information collection working group is in two data communications
After monomer unmanned plane connecting line rectangular array, annular array any one structure distribution, and in each information collection working group
Unmanned machine equipment flying height is not higher than the data communication being located above each information collection working group and relays monomer unmanned plane, flight
Minimum point is not less than 1-10 meters below the data communication relaying monomer unmanned plane below each information collection working group.
Present system constitutes that structure is simple, and flexible and convenient to use, versatility is good, expansion capability and fault-resistant ability are strong,
High degree of automation is run, on the one hand can effectively realize while control more unmanned planes and cooperate with and carry out lasting view to designated position
The collection of frequency information and image information are collected, and are not influenced respectively when video information collection and image information collection operation, thus effectively
The continuity of raising data acquisition, comprehensive and acquisition precision, on the other hand can effectively realize association of flying between each unmanned plane
Regulate and control the flexibility and convenience of system, while improving remote data communication and controlling the efficiency and quality of signal transmission, to have
The reliability of raising data communication and unmanned plane the manipulation operation of effect simultaneously can also be right according to each unmanned plane during flying situation
Failure unmanned plane is effectively replaced, and is greatly improved unmanned plane group of planes flight control, data acquisition and data and is transmitted operation
The reliability and stability of fault-resistant ability and system overall operation.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (5)
1. a kind of unmanned plane cluster terrestrial information acquisition identification management method, it is characterised in that: the unmanned plane cluster ground
Information collection identify management method the following steps are included:
The first step, equipment assembly, according to the needs of use, initially sets up the data processing service based on cloud data processing platform (DPP)
Device, the data processing server based on cloud data processing platform (DPP) pass through communication network and an at least unmanned plane remote control terminal
Be connected with each other, then by sum be odd number and quantity be no less than 11 unmanned machine equipments respectively with unmanned plane remote control terminal
Between establish wireless data connection, to constitute unified video information acquisition hardware system, and be video information acquisition hardware body
Each unmanned machine equipment in system distributes mutually independent data communication address and data communication protocol；
Second step, unmanned plane marshalling, after completing first step operation, first to the data processing service based on cloud data processing platform (DPP)
Each unmanned plane during flying Attitude Control Strategies of typing, terrestrial information acquisition control strategy, remote information communication strategy and failure in device
Emergency substitute strategy, then communicates plan for unmanned plane during flying Attitude Control Strategies, terrestrial information acquisition control strategy, remote information
Slightly and failure emergency substitute strategy is sent in unmanned plane remote control terminal, then by unmanned plane remote control terminal according to nothing
Man-machine flight attitude control strategy, terrestrial information acquisition control strategy, remote information communication strategy and failure emergency substitute strategy
Compile and edit each unmanned machine equipment remote control program respectively, and by unmanned machine equipment remote control program download to it is each it is corresponding nobody
It is spare in machine equipment；
Third step, video acquisition after completing second step, directly start each unmanned machine equipment by unmanned plane remote control terminal and take off
Operation, in each unmanned machine equipment after completing to take off and reach predetermined altitude, the unmanned machine equipment according to second typing is long-range
Program is controlled, according to unmanned plane during flying Attitude Control Strategies, terrestrial information acquisition control strategy, remote information communication strategy and event
Barrier emergency substitute strategy is formed into columns, and after forming into columns, the unmanned machine equipment in all video information acquisition hardware systems is divided into
At least two information collection working groups, at least two data communications relay monomer unmanned plane, on the one hand pass through each information collection work
Make group and information collection is carried out to ground, is sent to after the information of acquisition is then relayed monomer unmanned plane relaying by data communication
Unmanned plane remote control terminal, and the data processing based on cloud data processing platform (DPP) is sent to by unmanned plane remote control terminal
In server, then received data are stored by the data processing server based on cloud data processing platform (DPP), analyze and
Identify operation；
4th step, flight dynamic adjust, and are passing through the data processing server based on cloud data processing platform (DPP) to received data
After being stored, being analyzed and identified operation, according to operation needs, sent newly by unmanned plane remote control terminal to each unmanned plane
Observation position coordinate and flight path, drive current each unmanned machine equipment to fly to according to new flight path and send new observation
Then position carries out terrestrial information Collecting operation according to third step job requirements.
2. a kind of unmanned plane cluster terrestrial information acquisition identification management method according to claim 1, it is characterised in that: institute
In the first step operation stated, respectively every unmanned machine equipment is equipped with video capture device and remote information communication apparatus.
3. a kind of unmanned plane cluster terrestrial information acquisition identification management method according to claim 1, it is characterised in that: institute
In the second step stated, unmanned plane during flying Attitude Control Strategies include unmanned plane landing control parameter, flying speed control parameter, fly
Row height control parameter, in-flight two neighboring unmanned plane equipment room spacing parameter；Terrestrial information acquisition control strategy includes record
Time parameter when as operation, video recording focal length parameter, it is adjacent record a video twice between time interval parameter, focal length parameter of taking pictures, adjacent two
Secondary photo opporunity spacing parameter and video recording and unmanned plane assignment parameters of taking pictures；Remote information communication strategy includes remote data communication
Unmanned machine equipment flying height and remote data communication time interval when frequency, remote data communication；Failure emergency substitute strategy
Including in operational process, separate unit unmanned plane equipment fault rear perimeter edge unmanned plane formation control parameter again.
4. a kind of unmanned plane cluster terrestrial information acquisition identification management method according to claim 1, it is characterised in that: institute
It include that frame video information acquisition unmanned plane and at least four framves are taken pictures Image Acquisition in the third step stated, in information collection working group
Unmanned plane, and each unmanned machine equipment in same information collection working group is in the horizontal plane, Image Acquisition of taking pictures unmanned plane is surround
Video information acquires unmanned plane rectangular array, annular array any one structure distribution.
5. a kind of unmanned plane cluster terrestrial information acquisition identification management method according to claim 1, it is characterised in that: institute
Two data communications relay monomer unmanned plane in the third step stated, one of them is located at right above each information collection working group, separately
One is located at immediately below each information collection working group, and two data communication relaying monomer unmanned planes are distributed in same and horizontal plane
In the rectilinear direction of vertical distribution, each information collection working group is in square around two data communication relaying monomer unmanned plane connecting lines
Any one structure distribution of shape array, annular array, and the unmanned machine equipment flying height in each information collection working group is not high
Monomer unmanned plane is relayed in the data communication being located above each information collection working group, flight minimum point is not less than each information collection
1-10 meters below data communication relaying monomer unmanned plane below working group.
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| CN112305974A (en) * | 2020-11-13 | 2021-02-02 | 青海大学 | Unmanned aerial vehicle cluster remote control method, system, device and equipment |
| CN112821935A (en) * | 2020-12-30 | 2021-05-18 | 嘉兴安步信息科技有限公司 | Information acquisition system based on unmanned aerial vehicle platform |
| CN112987794A (en) * | 2021-04-21 | 2021-06-18 | 南京南机智农农机科技研究院有限公司 | Flight cluster simulator |
| CN113340272A (en) * | 2021-06-29 | 2021-09-03 | 上海良相智能化工程有限公司 | Ground target real-time positioning method based on micro-group of unmanned aerial vehicle |
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Application publication date: 20190101 |