CN109496435A - Wireless communications method, equipment and system - Google Patents
Wireless communications method, equipment and system Download PDFInfo
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- CN109496435A CN109496435A CN201780035500.0A CN201780035500A CN109496435A CN 109496435 A CN109496435 A CN 109496435A CN 201780035500 A CN201780035500 A CN 201780035500A CN 109496435 A CN109496435 A CN 109496435A
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- 230000006854 communication Effects 0.000 title claims abstract description 63
- 238000004891 communication Methods 0.000 title claims abstract description 62
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- 230000002457 bidirectional effect Effects 0.000 claims 3
- 230000006870 function Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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Abstract
A kind of unmanned machine equipment, RTK base station equipment, wireless communication system and its wireless communications method, recording medium, program.The wireless communications method of unmanned machine equipment and RTK base station equipment includes: that first location information is sent to server (S201) by the RTK base station equipment；Second location information is sent to the server (S202) via RTK client by the unmanned machine equipment；First location information described in the server by utilizing and the second location information carry out Difference Calculation (S203)；The third place information being calculated is sent to the unmanned machine equipment (S204) via the RTK client by the server.Accordingly, unmanned machine equipment can be efficiently used RTK base station equipment by RTK client and carry out high-precision navigation, to complete unmanned plane work requirements.
Description
Technical field
The present invention relates to wireless communications method, equipment and system more particularly to the nothings of unmanned machine equipment and RTK base station equipment
Line communication means, equipment and system.
Background technique
In today that unmanned plane becomes increasingly popular, industry-level application unmanned plane also starts to show up prominently.Unmanned plane is in industry work
During work, such as electric power, agricultural, mapping, there is a higher requirement to the levels of precision in geographical location, and common GPS (Global
Positioning System, global positioning system) it positions and often brings biggish error, cause course line to deviate, or even meeting
Barrier is knocked, safety accident is caused.RTK (Real-time kinematic, real-time dynamic positioning) high-precision navigator fix skill
Positioning accuracy can be promoted to Centimeter Level by art, reduce flight error.Therefore, fixed in the navigation of industry-level application unmanned plane etc.
In position, actively research uses RTK technology.
But unmanned plane itself is because of the reasons such as hardware design, development difficulty and signal stabilization, it is difficult to directly pass through net
Network transmits RTK data.
Summary of the invention
The present invention researches and develops, and it is an object of the present invention to provide a kind of nothing of unmanned machine equipment and RTK base station equipment in view of the above problems
Line communication system and wireless communications method, unmanned machine equipment and its wireless communications method, RTK base station equipment and its wireless communication
Method and recording medium, program, enable unmanned machine equipment to pass through RTK client efficiently use RTK base station equipment into
Row high-precision is navigated, and then completes unmanned plane work requirements.
In order to solve the above problems, one aspect of the present invention is related to a kind of unmanned machine equipment and real-time dynamic positioning RTK
The wireless communications method of base station equipment, comprising: first location information is sent to server by the RTK base station equipment；The nothing
Second location information is sent to the server via RTK client by man-machine device；First described in the server by utilizing
Confidence breath and the second location information carry out Difference Calculation；The server by the third place information being calculated via
The RTK client is sent to the unmanned machine equipment.
Another aspect of the present invention is related to a kind of wireless communication system, including unmanned machine equipment, real-time dynamic positioning RTK
Base station equipment, RTK client and server, wherein first location information is sent to the service by the RTK base station equipment
Second location information is sent to the server, the server benefit via the RTK client by device, the unmanned machine equipment
Difference Calculation, the third that the server will be calculated are carried out with the first location information and the second location information
Location information is sent to the unmanned machine equipment via the RTK client.
Another aspect of the present invention is related to a kind of UAV system, including unmanned machine equipment and RTK client, the nothing
Second location information is sent to server via RTK client by man-machine device；The unmanned machine equipment is via the RTK client
End receives the third place information, the third place information second confidence as described in the server by utilizing from the server
It ceases and carries out Difference Calculation from the received first location information of RTK base station equipment and obtain.
Another aspect of the present invention is related to the system of a kind of real-time dynamic positioning RTK base station equipment and server, described
First location information is sent to the server by RTK base station equipment；The server receives unmanned machine equipment via RTK client
Hold the second location information sent；First location information described in the server by utilizing and the second location information carry out difference
It calculates；The third place information being calculated is sent to the unmanned plane via the RTK client and set by the server
It is standby.
Another aspect of the present invention is related to a kind of computer-readable recording medium, is stored with executable instruction, this refers to
Order makes the processor execute above-mentioned wireless communications method when being executed by processor.
Another aspect of the present invention is related to a kind of for making computer execute the program of above-mentioned wireless communications method.
Invention effect
According to the present invention, unmanned machine equipment can be efficiently used RTK base station equipment by RTK client and carry out high-precision
Navigation, to complete unmanned plane work requirements.It, can be effective, convenient by combining technology of network RTK and unmanned machine equipment
Management RTK equipment, high-precision Geographic Navigation location information can be provided for unmanned machine equipment.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention is from combining in description of the following accompanying drawings to embodiment by change
It obtains obviously and is readily appreciated that.
Fig. 1 is the schematic block diagram of wireless communication system involved in embodiments of the present invention.
It is whole general that Fig. 2 is unmanned machine equipment involved in embodiments of the present invention and RTK equipment carries out wireless communication
Want flow chart.
Fig. 3 is the schematic flow diagram of certification and the communication of RTK base station equipment involved in embodiments of the present invention.
Fig. 4 is the schematic flow diagram of certification and the communication of unmanned machine equipment involved in embodiments of the present invention.
Fig. 5 is unmanned machine equipment involved in embodiments of the present invention via the general of RTK client and server communication
Want flow chart.
Fig. 6 is the outline flowchart of RTK base station equipment and server communication involved in embodiments of the present invention.
Drawing reference numeral explanation
101 ... unmanned machine equipments
102 ... RTK base station equipments
103 ... RTK clients
104 ... servers
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " first ", " second " are used for description purposes only, and cannot
It is interpreted as indication or suggestion relative importance or implicitly indicates the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include one or more feature.In the description of the present invention,
The meaning of " plurality " is two or more, unless otherwise specifically defined.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " link ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected or can be in communication with each other；It can be directly connected, it can also be by between intermediary
It connects connected, can be the connection inside two elements or the interaction relationship of two elements.For the ordinary skill of this field
For personnel, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
Following disclosure provides many different embodiments or example is used to realize different structure of the invention.In order to
Simplify disclosure of the invention, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
And it is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or reference letter,
This repetition is for purposes of simplicity and clarity, itself not indicate between discussed various embodiments and/or setting
Relationship.In addition, the present invention provides the example of various specific techniques and material, but those skilled in the art can be with
Recognize the application of other techniques and/or the use of other materials.
In the following, unmanned machine equipment involved in embodiments of the present invention and RTK base station equipment are carried out referring to attached drawing
Wireless communication is described in detail.
Fig. 1 is the schematic block diagram of wireless communication system involved in embodiments of the present invention.
As shown in Figure 1, the wireless communication system of present embodiment include: unmanned machine equipment 101, RTK base station equipment 102,
RTK client 103 and server 104.First location information is sent to server 104 by RTK base station equipment 102.Unmanned plane
Second location information is sent to server 104 via RTK client 103 by equipment 101.Server 104 is believed using first position
Breath and second location information carry out Difference Calculation, and the third place information being calculated is sent out via RTK client 103
Give unmanned machine equipment 101.
Wherein, it is each to can be GPS information, GLONASS (GLONASS) information, Beidou navigation information etc. for the location information
Kind navigation information.
It is whole general that Fig. 2 is unmanned machine equipment involved in embodiments of the present invention and RTK equipment carries out wireless communication
Want flow chart.
As shown in Fig. 2, when unmanned machine equipment 101 is carried out wireless communication with RTK base station equipment 102, RTK base station equipment 102
First location information is sent to server 104 (step S201), unmanned machine equipment 101 is by second location information via RTK visitor
Family end 103 is sent to server 104 (step S202), and server 104 is carried out using first location information and second location information
Difference Calculation (step S203), and the third place information being calculated is sent to unmanned plane via RTK client 103
Equipment 101 (step S204).
Wherein, it will be understood by those skilled in the art that in above-mentioned communication process, step S201 and step
Precedence relationship is not present between S202, the two can be executed successively, also be may be performed simultaneously.
According to the present invention, unmanned machine equipment 101 can efficiently use RTK base station equipment 102 by RTK client 103
High-precision navigation is carried out, to complete unmanned plane work requirements.In addition, by the way that technology of network RTK and unmanned machine equipment are combined
Come, can effectively, easily manage RTK equipment, high-precision Geographic Navigation location information can be provided for unmanned machine equipment.
In the following, illustrating the certification and use of RTK base station equipment, in the present embodiment, can dispatch from the factory in RTK base station equipment
When, by the certificate of the X.509 format of implantation company, company certification, which can mostly demonstrate,prove for a machine one card, a machine or multimachine
One card, is safeguarded by company or third party's certificate issuance mechanism.And save Credential-Security, citing is not limited to 1860 chips
Trustzone scheme.
Fig. 3 is the schematic flow diagram of certification and the communication of RTK base station equipment involved in embodiments of the present invention.?
In a kind of embodiment, when RTK base station equipment 102 works, pass through SSL (Secure Sockets Layer, safe socket first
Layer) agreement establishes safety communication link, and when Server SSL protocol handshake, uses two-way ssl protocol proof scheme, verifies RTK base
The legitimacy of station equipment 102 prevents the RTK base station equipment forged transmission data.After certification passes through, RTK base station equipment passes through
(Networked Transport of RTCM via Internet Protocol, is carried out Ntrip agreement by internet
The agreement of RTCM network transmission), transmission navigation differential data to server 104.Proof scheme is not limited only to above scheme, can
To use any proof scheme that can be applicable in.
That is, before location information (first location information) is sent to server 104 by RTK base station equipment 102,
RTK base station equipment 102 and server 104 are verified by two-way ssl protocol establishes ssl protocol link.In ssl protocol link establishment
After success, location information (first location information) is sent to server 104 by Ntrip agreement by RTK base station equipment 102.
In some embodiments, it is desirable to be managed to the right to use of RTK client.
Specifically, in embodiments of the present invention, the RTK right to use can be bought by user in the account number of company.?
When using RTK client, the same connection that safety chain is established by ssl protocol link and server, RTK client passes through clothes
The certificate verification server at business device end.And server completes certification RTK client by Ntrip agreement.
Fig. 4 is the schematic flow diagram of certification and the communication of unmanned machine equipment involved in embodiments of the present invention.?
In some embodiments, as shown in figure 4, in unmanned machine equipment 101 by location information (second location information) via RTK client
103 are sent to before server 104, and unmanned machine equipment 101 establishes connection by link-local and RTK client 103.In this reality
It applies in mode, as link-local, by taking SDR (Software Definition Radio, software-defined radio) link as an example
It is illustrated, unmanned machine equipment 101 can establish connection with RTK client 103 by SDR link pair frequency.But link-local
It is not limited to SDR link, can also be wifi (Wireless Fidelity, Wireless Fidelity) link, bluetooth (Bluetooth) chain
Road etc..RTK client 103 authenticates server 104 by the certificate of server end, and server passes through Ntrip agreement
It shakes hands to authenticate RTK client 103.
After a connection is established, RTK client 103 is by Ntrip protocol handshake, to server 104 provide user name and
Account number.Certification then carries out location information (second location information) using TCP connection after passing through and transmits, if server authentication fails,
Then server will disconnect TCP connection.
That is, in one embodiment, unmanned machine equipment 101 passes through link-local for location information (second
Confidence breath) it is sent to RTK client 103, which is sent to server 104 using TCP connection by RTK client 103.
In the present invention, RTK base station equipment can be single RTK base station equipment or network RTK base station equipment etc..RTK visitor
Family end can be remote controler or mobile phone etc..
Fig. 5 is unmanned machine equipment involved in embodiments of the present invention via the general of RTK client and server communication
Want flow chart.In some embodiments, as shown in figure 5, in the unmanned plane for being carried out wireless communication with RTK base station equipment 102
In the wireless communications method of equipment 101, in step S501, by location information (second location information) via RTK client 103
It is sent to server 104.In step S502, the third place information is received from server 104 via RTK client 103, this
Three location informations (are believed first position by server 104 using second location information and from the received location information in the base station RTK 102
Breath) it carries out Difference Calculation and obtains, and RT client 103 is completed to be uploaded to unmanned machine equipment after parsing.
Fig. 6 is the outline flowchart of RTK base station equipment and server communication involved in embodiments of the present invention.Such as figure
Shown in 6, in the wireless communications method of the RTK base station equipment for being carried out wireless communication with unmanned machine equipment, in step S601
In, location information (first location information) is sent to server 104.In step S602, server 104 believes the third place
Breath is sent to unmanned machine equipment 101 via RTK client 103, which is believed by server 104 using first position
Breath and via RTK client 103 from unmanned 101 received location information (second location information) of machine equipment carry out Difference Calculation and
It obtains.
In an embodiment of the invention, unmanned machine equipment 101 may include processor and memory, in memory
In be stored with computer executable instructions, when described instruction is executed by the processor, the processor is made to execute unmanned plane
The wireless communications method of equipment.
In an embodiment of the invention, unmanned machine equipment 101 may include transmission unit and receiving unit, and transmission unit will
Location information (second location information) is sent to server 104 via RTK client 103, and receiving unit is via RTK client 103
The third place information is received from server 104, the third place information is by server 104 using second location information and from RTK
102 received location information (first location information) of base station carries out Difference Calculation and obtains.
In an embodiment of the invention, RTK equipment 102 may include processor and memory, in memory
Computer executable instructions are stored with, when described instruction is executed by the processor, the processor are made to execute RTK equipment
Wireless communications method.
In an embodiment of the invention, RTK equipment 102 may include transmission unit, and transmission unit is by location information (
One location information) it is sent to server 104, the third place information is sent to nobody via RTK client 103 by server 104
Machine equipment 101, the third place information is by server 104 using first location information and via RTK client 103 from unmanned plane
101 received location information (second location information) of equipment carries out Difference Calculation and obtains.
In addition, the present invention provides a kind of computer-readable recording medium, it is stored with executable instruction, the instruction is processed
Device makes the processor execute above-mentioned wireless communications method when executing.
In addition, the present invention provide it is a kind of for making computer execute the program of above-mentioned wireless communications method.
In the description of this specification, reference term " embodiment ", " embodiment ", " some embodiments ", " reality
Apply example " etc. description mean to be contained in conjunction with the embodiment or example particular features, structures, materials, or characteristics described
In at least one embodiment of the invention or example.In the present specification, schematic expression of the above terms not necessarily refer to
Be identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any one
It can be combined in any suitable manner in a or multiple embodiments or example.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable recording medium ", which can be, any may include, store, communicating, passing
It broadcasts or transfer program makes for instruction execution system, device or equipment or in conjunction with these instruction execution systems, device or equipment
Device.The more specific example (non-exhaustive list) of computer-readable recording medium include the following: have one or
The electrical connection section (electronic device) of multiple wirings, portable computer diskette box (magnetic device), random access memory (RAM), only
It reads memory (ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable light
Disk read-only memory (CDROM).In addition, computer-readable recording medium can even is that can print described program on it
Paper or other suitable media, because can then be edited, be solved for example by carrying out optical scanner to paper or other media
It translates or is handled when necessary with other suitable methods electronically to obtain described program, be then stored in computer
In memory.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
It can it will be understood by those skilled in the art that realizing that all or part of the steps that above-mentioned implementation method carries is
To instruct relevant hardware to complete by program, the program be can store in a kind of computer-readable recording medium
In, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Recording medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
This patent document disclosure includes material protected by copyright.The copyright is all for copyright holder.Copyright
Owner does not oppose the patent document in the presence of anyone replicates the proce's-verbal of Patent&Trademark Office and archives or should
Patent discloses.
Claims (39)
1. the wireless communications method of a kind of unmanned machine equipment and real-time dynamic positioning RTK base station equipment, comprising:
First location information is sent to server by the RTK base station equipment；
Second location information is sent to the server via RTK client by the unmanned machine equipment；
First location information described in the server by utilizing and the second location information carry out Difference Calculation；
The third place information being calculated is sent to the unmanned plane via the RTK client and set by the server
It is standby.
2. wireless communications method according to claim 1, wherein
Before first location information is sent to server by the RTK base station equipment, comprising:
The RTK base station equipment and the server are verified by bidirectional safe socket layer ssl protocol establishes ssl protocol link.
3. wireless communications method according to claim 1, wherein the RTK base station equipment sends first location information
To server, comprising: the first location information is sent to the server by Ntrip agreement by the RTK base station equipment.
4. wireless communications method according to claim 1, wherein
Before second location information is sent to the server via RTK client by the unmanned machine equipment, comprising:
The unmanned machine equipment establishes connection by link-local and the RTK client；
The RTK client authenticates the server by the certificate of the server end；
The server authenticates the RTK client by Ntrip protocol handshake.
5. wireless communications method according to claim 4, wherein
When the server authenticates the RTK client by Ntrip protocol handshake, the RTK client passes through Ntrip
User name and account are sent to the server by protocol handshake.
6. wireless communications method according to claim 4, wherein
When the server authenticates the RTK client by Ntrip protocol handshake, the server if authenticating successfully
TCP connection is established with the RTK client, the server and the RTK client disconnect TCP connection if authentification failure.
7. wireless communications method according to claim 1, wherein
Second location information is sent to the server via RTK client by the unmanned machine equipment, comprising:,
The second location information is sent to the RTK client by link-local by the unmanned machine equipment,
The second location information is sent to the server using TCP connection by the RTK client.
8. wireless communications method according to claim 7, wherein
The link-local is software-defined radio SDR link,
The unmanned machine equipment establishes connection with the RTK client by SDR link pair frequency.
9. wireless communications method as claimed in any of claims 1 to 8, wherein
The RTK base station equipment is single RTK base station equipment or network RTK base station equipment.
10. wireless communications method as claimed in any of claims 1 to 8, wherein
The RTK client is remote controler or mobile phone.
11. a kind of wireless communication system, including unmanned machine equipment, real-time dynamic positioning RTK base station equipment, RTK client and
Server, wherein
First location information is sent to the server by the RTK base station equipment,
Second location information is sent to the server via the RTK client by the unmanned machine equipment,
First location information described in the server by utilizing and the second location information carry out Difference Calculation,
The third place information being calculated is sent to the unmanned plane via the RTK client and set by the server
It is standby.
12. wireless communication system according to claim 11, wherein
Before first location information is sent to the server by the RTK base station equipment, the RTK base station equipment and described
Server establishes ssl protocol link by the verifying of bidirectional safe socket layer ssl protocol.
13. wireless communication system according to claim 11, wherein
The first location information is sent to the server by Ntrip agreement by the RTK base station equipment.
14. wireless communication system according to claim 11, wherein
Before second location information is sent to the server via RTK client by the unmanned machine equipment,
The unmanned machine equipment establishes connection by link-local and the RTK client,
The RTK client authenticates the server by the certificate of the server end,
The server authenticates the RTK client by Ntrip protocol handshake.
15. wireless communication system according to claim 14, wherein
User name and account are sent to the server by Ntrip protocol handshake by the RTK client.
16. wireless communication system according to claim 14, wherein
When the server authenticates the RTK client by Ntrip protocol handshake, the server if authenticating successfully
TCP connection is established with the RTK client, the server and the RTK client disconnect TCP connection if authentification failure.
17. wireless communication system according to claim 11, wherein
The second location information is sent to the RTK client by link-local by the unmanned machine equipment,
The second location information is sent to the server using TCP connection by the RTK client.
18. wireless communication system according to claim 17, wherein
The link-local is software-defined radio SDR link,
The unmanned machine equipment establishes connection with the RTK client by SDR link pair frequency.
19. wireless communication system described in any one of 1 to 18 according to claim 1, wherein
The RTK base station equipment is single RTK base station equipment or network RTK base station equipment.
20. wireless communication system described in any one of 1 to 18 according to claim 1, wherein
The RTK client is remote controler or mobile phone.
21. a kind of UAV system, including unmanned machine equipment and RTK client,
Second location information is sent to server via RTK client by the unmanned machine equipment；
The unmanned machine equipment receives the third place information, the third place from the server via the RTK client
Information second location information as described in the server by utilizing and difference is carried out from the received first location information of RTK base station equipment
It calculates and obtains.
22. UAV system according to claim 21, wherein
Before second location information is sent to server via RTK client by the unmanned machine equipment, comprising:
The unmanned machine equipment establishes connection by link-local and the RTK client；
The RTK client authenticates the server by the certificate of the server end；
The RTK client is by Ntrip protocol handshake by the server authentication.
23. UAV system according to claim 22, wherein
The RTK client is by Ntrip protocol handshake by the server authentication, comprising: the RTK client passes through
User name and account are sent to the server by Ntrip protocol handshake.
24. UAV system according to claim 22, wherein
When the RTK client passes through Ntrip protocol handshake by the server authentication, the RTK visitor if authenticating successfully
Family end and the server establish TCP connection, and the RTK client and the server disconnect TCP connection if authentification failure.
25. UAV system according to claim 21, wherein
Second location information is sent to server via RTK client by the unmanned machine equipment, comprising:
The second location information is sent to the RTK client by link-local by the unmanned machine equipment,
The second location information is sent to the server using TCP connection by the RTK client.
26. UAV system according to claim 25, wherein
The link-local is software-defined radio SDR link,
The unmanned machine equipment establishes connection with the RTK client by SDR link pair frequency.
27. the UAV system according to any one of claim 21 to 26, wherein
The RTK base station equipment is single RTK base station equipment or network RTK base station equipment.
28. the UAV system according to any one of claim 21 to 26, wherein
The RTK client is remote controler or mobile phone.
29. a kind of system of real-time dynamic positioning RTK base station equipment and server,
First location information is sent to the server by the RTK base station equipment；
The server receives the second location information that unmanned machine equipment is sent via RTK client；
First location information described in the server by utilizing and the second location information carry out Difference Calculation；
The third place information being calculated is sent to the unmanned plane via the RTK client and set by the server
It is standby.
30. system according to claim 29, wherein
Before first location information is sent to server by the RTK base station equipment, comprising:
The RTK base station equipment and the server are verified by bidirectional safe socket layer ssl protocol establishes ssl protocol link.
31. system according to claim 29, wherein
First location information is sent to server by the RTK base station equipment, comprising: the RTK base station equipment is assisted by Ntrip
The first location information is sent to the server by view.
32. system according to claim 29, wherein
Before the second location information that the server receives that unmanned machine equipment is sent via RTK client, comprising:
The server by utilizing certificate receives the certification of the RTK client；
The server authenticates the RTK client by Ntrip protocol handshake.
33. system according to claim 32, wherein
The server authenticates the RTK client by Ntrip protocol handshake, comprising: is received by Ntrip protocol handshake
The user name and account of the RTK client.
34. system according to claim 32, wherein
When the server authenticates the RTK client by Ntrip protocol handshake, if authenticate successfully if establish with it is described
The TCP connection of RTK client disconnects the TCP connection with the RTK client if authentification failure.
35. system according to claim 29, wherein
The server receives the second location information that unmanned machine equipment is sent via RTK client, comprising:
The server by utilizing TCP connection receives the second location information, the second location information from the RTK client
It is that the RTK client is received from the unmanned machine equipment by link-local.
36. the system according to any one of claim 29 to 35, wherein
The RTK base station equipment is single RTK base station equipment or network RTK base station equipment.
37. the system according to any one of claim 29 to 35, wherein
The RTK client is remote controler or mobile phone.
38. a kind of computer-readable recording medium, is stored with executable instruction, which makes the processing when being executed by processor
Wireless communications method described in any one of device perform claim requirement 1 to 10.
39. a kind of for making the program of wireless communications method described in any one of computer perform claim requirement 1 to 10.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/116606 WO2019113971A1 (en) | 2017-12-15 | 2017-12-15 | Wireless communication method, apparatus and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109496435A true CN109496435A (en) | 2019-03-19 |
| CN109496435B CN109496435B (en) | 2021-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201780035500.0A Expired - Fee Related CN109496435B (en) | 2017-12-15 | 2017-12-15 | Wireless communication method, device and system |
Country Status (2)
| Country | Link |
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| CN (1) | CN109496435B (en) |
| WO (1) | WO2019113971A1 (en) |
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Also Published As
| Publication number | Publication date |
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| WO2019113971A1 (en) | 2019-06-20 |
| CN109496435B (en) | 2021-03-26 |
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