CN109496435B - Wireless communication method, device and system - Google Patents
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- CN109496435B CN109496435B CN201780035500.0A CN201780035500A CN109496435B CN 109496435 B CN109496435 B CN 109496435B CN 201780035500 A CN201780035500 A CN 201780035500A CN 109496435 B CN109496435 B CN 109496435B
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- 238000004891 communication Methods 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 45
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- 230000002457 bidirectional effect Effects 0.000 claims description 4
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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
An unmanned aerial vehicle device, an RTK base station device, a wireless communication system, a wireless communication method thereof, a recording medium, and a program. The wireless communication method of the unmanned aerial vehicle equipment and the RTK base station equipment comprises the following steps: the RTK base station device sends first position information to a server (S201); the drone device sending second location information to the server via an RTK client (S202); the server performing a difference calculation using the first location information and the second location information (S203); the server transmits the calculated third location information to the drone device via the RTK client (S204). In this way, the unmanned aerial vehicle equipment can effectively utilize the RTK base station equipment to carry out high-precision navigation through the RTK client, and the unmanned aerial vehicle work requirement is accomplished.
Description
Technical Field
The invention relates to a wireless communication method, wireless communication equipment and a wireless communication system, in particular to a wireless communication method, wireless communication equipment and a wireless communication system of unmanned aerial vehicle equipment and RTK base station equipment.
Background
Today, unmanned aerial vehicles are becoming increasingly popular, and industrial application unmanned aerial vehicles are beginning to be exposed. Unmanned aerial vehicle has higher requirement to geographical position's accurate degree at trade working process, like electric power, agriculture, survey and drawing, and ordinary GPS (Global Positioning System) location often can bring great error, causes the course skew, can even bump into the barrier, causes the incident. An RTK (Real-time kinematic) high-precision navigation positioning technology can improve the positioning precision to centimeter level and reduce the flight error. Therefore, in navigation positioning using unmanned planes or the like at an industrial level, use of the RTK technique is being actively studied.
However, it is difficult for the drone itself to directly transmit RTK data through the network due to hardware design, development difficulty, signal stability, and the like.
Disclosure of Invention
The present invention has been made in view of the above problems, and an object of the present invention is to provide a wireless communication system and a wireless communication method for an unmanned aerial vehicle device and an RTK base station device, an unmanned aerial vehicle device and a wireless communication method thereof, an RTK base station device and a wireless communication method thereof, a recording medium, and a program, so that the unmanned aerial vehicle device can effectively utilize the RTK base station device to perform high-precision navigation through an RTK client, thereby fulfilling the working requirements of the unmanned aerial vehicle.
In order to solve the above problem, one aspect of the present invention relates to a wireless communication method between an unmanned aerial vehicle device and a real-time kinematic positioning RTK base station device, including: the RTK base station equipment sends the first position information to a server; the unmanned aerial vehicle equipment sends second position information to the server through an RTK client; the server performs difference calculation by using the first position information and the second position information; the server sends the calculated third position information to the unmanned aerial vehicle device through the RTK client.
Another aspect of the present invention relates to a wireless communication system, including an unmanned aerial vehicle device, a real-time kinematic positioning RTK base station device, an RTK client, and a server, wherein the RTK base station device sends first position information to the server, the unmanned aerial vehicle device sends second position information to the server via the RTK client, the server performs differential calculation using the first position information and the second position information, and the server sends the calculated third position information to the unmanned aerial vehicle device via the RTK client.
Another aspect of the invention relates to an unmanned aerial vehicle system comprising an unmanned aerial vehicle device and an RTK client, the unmanned aerial vehicle device sending second location information to a server via the RTK client; the drone device receives third position information from the server via the RTK client, the third position information being obtained by the server performing a differential calculation using the second position information and the first position information received from the RTK base station device.
Another aspect of the invention relates to a system for real-time dynamic positioning of an RTK base station device and a server, the RTK base station device sending first position information to the server; the server receives second position information sent by the unmanned aerial vehicle device through the RTK client; the server performs difference calculation by using the first position information and the second position information; the server sends the calculated third position information to the unmanned aerial vehicle device through the RTK client.
Another aspect of the present invention relates to a computer-readable recording medium storing executable instructions that, when executed by a processor, cause the processor to perform the above-described wireless communication method.
Another aspect of the present invention relates to a program for causing a computer to execute the above-described wireless communication method.
Effects of the invention
According to the invention, the unmanned aerial vehicle equipment can effectively utilize the RTK base station equipment to carry out high-precision navigation through the RTK client so as to meet the working requirement of the unmanned aerial vehicle. By combining the network RTK technology and the unmanned aerial vehicle equipment, the RTK equipment can be effectively and conveniently managed, and high-precision geographical navigation positioning information can be provided for the unmanned aerial vehicle equipment.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings.
Fig. 1 is a schematic block diagram of a wireless communication system according to an embodiment of the present invention.
Fig. 2 is an overall schematic flowchart of the wireless communication between the drone device and the RTK device according to the embodiment of the present invention.
Fig. 3 is a schematic flowchart of authentication and communication of an RTK base station device according to an embodiment of the present invention.
Fig. 4 is a schematic flowchart of authentication and communication of the drone device according to the embodiment of the present invention.
Fig. 5 is a schematic flowchart of the communication between the drone device and the server via the RTK client according to the embodiment of the present invention.
Fig. 6 is a schematic flowchart of communication between an RTK base station device and a server according to an embodiment of the present invention.
Description of the reference numerals
101 … unmanned aerial vehicle equipment
102 … RTK base station equipment
103 … RTK client
104 … server
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "link," "connected" and "connecting" are to be construed broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
Next, radio communication between the drone device and the RTK base station device according to the embodiment of the present invention will be described in detail with reference to the drawings.
Fig. 1 is a schematic block diagram of a wireless communication system according to an embodiment of the present invention.
As shown in fig. 1, the wireless communication system according to the present embodiment includes: unmanned aerial vehicle equipment 101, RTK base station equipment 102, RTK client 103 and server 104. The RTK base station device 102 sends the first location information to the server 104. The drone device 101 sends the second location information to the server 104 via the RTK client 103. The server 104 performs differential calculation using the first position information and the second position information, and transmits the calculated third position information to the drone device 101 via the RTK client 103.
The position information may be various navigation information such as GPS information, GLONASS (GLONASS) information, and beidou navigation information.
Fig. 2 is an overall schematic flowchart of the wireless communication between the drone device and the RTK device according to the embodiment of the present invention.
As shown in fig. 2, when the drone device 101 performs wireless communication with the RTK base station device 102, the RTK base station device 102 transmits first position information to the server 104 (step S201), the drone device 101 transmits second position information to the server 104 via the RTK client 103 (step S202), the server 104 performs difference calculation using the first position information and the second position information (step S203), and transmits the calculated third position information to the drone device 101 via the RTK client 103 (step S204).
It can be understood by those skilled in the art that, in the above communication process, there is no precedence relationship between step S201 and step S202, and the two steps may be executed successively or simultaneously.
According to the invention, the unmanned aerial vehicle device 101 can effectively utilize the RTK base station device 102 to perform high-precision navigation through the RTK client 103 so as to meet the working requirements of the unmanned aerial vehicle. In addition, through combining network RTK technique and unmanned aerial vehicle equipment, management RTK equipment that can be effective, convenient makes it provide the geographical navigation positioning information of high accuracy for unmanned aerial vehicle equipment.
In the present embodiment, when the RTK base station device leaves the factory, a company may implant a certificate of x.509 format for company authentication, which may be one-certificate-for-one, multiple-certificate-for-one, or multiple-certificate-for-one, and be maintained by the company or a third-party certificate issuing authority. And securely hold the certificate, for example and without limitation to the trustzone scheme of 1860 chips.
Fig. 3 is a schematic flowchart of authentication and communication of an RTK base station device according to an embodiment of the present invention. In an embodiment, when the RTK base station device 102 operates, a Secure communication link is first established through a Secure Sockets Layer (SSL) protocol, and a bidirectional SSL protocol verification scheme is adopted during the SSL protocol handshake of the server to verify the validity of the RTK base station device 102 and prevent a counterfeit RTK base station device from transmitting data. After the authentication is passed, the RTK base station device transmits the differential data for navigation to the server 104 by using an Ntrip Protocol (network Transport of RTCM via Internet Protocol, Protocol for performing RTCM network transmission via the Internet). The verification scheme is not limited to the above-described scheme, and any applicable verification scheme may be employed.
That is, before the RTK base station apparatus 102 transmits the position information (first position information) to the server 104, the RTK base station apparatus 102 and the server 104 establish the SSL protocol link through bidirectional SSL protocol verification. After the SSL protocol link is successfully established, the RTK base station device 102 sends the position information (first position information) to the server 104 through the Ntrip protocol.
In some embodiments, the usage rights of the RTK client need to be managed.
Specifically, in embodiments of the present invention, RTK usage rights may be purchased by a user at a company's account. When the RTK client is used, the connection of the secure link is also established with the server through the SSL protocol link, and the RTK client authenticates the server through the certificate of the server. And the server completes the authentication of the RTK client by the Ntrip protocol.
Fig. 4 is a schematic flowchart of authentication and communication of the drone device according to the embodiment of the present invention. In some embodiments, as shown in fig. 4, the drone device 101 establishes a connection with the RTK client 103 over a local link before the drone device 101 sends the position information (second position information) to the server 104 via the RTK client 103. In the present embodiment, as a local link, taking an SDR (Software defined Radio) link as an example for explanation, the drone device 101 may establish a connection with the RTK client 103 through the SDR link. However, the local link is not limited to the SDR link, and may be a wifi (Wireless Fidelity) link, a Bluetooth (Bluetooth) link, or the like. The RTK client 103 authenticates the server 104 through the server-side certificate, and the server authenticates the RTK client 103 through the Ntrip protocol handshake.
After establishing the connection, the RTK client 103 provides the user name and account number to the server 104 through Ntrip protocol handshake. After the authentication is passed, the position information (second position information) is transmitted by using the TCP connection, and if the server fails to verify, the server disconnects the TCP connection.
That is, in one embodiment, the drone device 101 sends the position information (second position information) over the local link to the RTK client 103, which the RTK client 103 sends to the server 104 using a TCP connection.
In the present invention, the RTK base station device may be a single RTK base station device or a network RTK base station device, etc. The RTK client may be a remote controller or a mobile phone, etc.
Fig. 5 is a schematic flowchart of the communication between the drone device and the server via the RTK client according to the embodiment of the present invention. In some embodiments, as shown in fig. 5, in the wireless communication method of the drone device 101 for wireless communication with the RTK base station device 102, in step S501, the position information (second position information) is sent to the server 104 via the RTK client 103. In step S502, the third position information is received from the server 104 via the RTK client 103, the third position information is obtained by performing a differential calculation by the server 104 using the second position information and the position information (first position information) received from the RTK base station 102, and the RT client 103 uploads the result to the drone device after completing the resolution.
Fig. 6 is a schematic flowchart of communication between an RTK base station device and a server according to an embodiment of the present invention. As shown in fig. 6, in the wireless communication method of the RTK base station device for wireless communication with the drone device, in step S601, the position information (first position information) is transmitted to the server 104. In step S602, the server 104 transmits third position information, which is obtained by performing differential calculation by the server 104 using the first position information and position information (second position information) received from the drone apparatus 101 via the RTK client 103, to the drone apparatus 101 via the RTK client 103.
In one embodiment of the invention, the drone device 101 may include a processor and a memory having stored therein computer-executable instructions that, when executed by the processor, cause the processor to perform a wireless communication method of the drone device.
In one embodiment of the present invention, the drone device 101 may include a transmitting portion that transmits position information (second position information) to the server 104 via the RTK client 103, and a receiving portion that receives third position information from the server 104 via the RTK client 103, the third position information being obtained by the server 104 performing a differential calculation using the second position information and the position information (first position information) received from the RTK base station 102.
In one embodiment of the present invention, the RTK device 102 may include a processor and a memory having stored therein computer-executable instructions that, when executed by the processor, cause the processor to perform a wireless communication method of the RTK device.
In one embodiment of the present invention, the RTK device 102 may include a transmitting section that transmits position information (first position information) to the server 104, and the server 104 transmits third position information, which is obtained by the server 104 performing differential calculation using the first position information and position information (second position information) received from the drone device 101 via the RTK client 103, to the drone device 101 via the RTK client 103.
Further, the present invention provides a computer-readable recording medium storing executable instructions that, when executed by a processor, cause the processor to perform the above-described wireless communication method.
Further, the present invention provides a program for causing a computer to execute the above-described wireless communication method.
In the description herein, references to the description of "one embodiment," "an embodiment," "some embodiments," "an embodiment," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable recording medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable recording medium include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable recording medium may even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried out to implement the above-described implementation method can be implemented by hardware related to instructions of a program, which can be stored in a computer-readable recording medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The above-mentioned recording medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office official records and records.
Claims (31)
1. A wireless communication method for an unmanned aerial vehicle device and a real-time dynamic positioning RTK base station device comprises the following steps:
the RTK base station equipment sends the first position information to a server;
the unmanned aerial vehicle equipment sends second position information to the server through an RTK client;
the server performs difference calculation by using the first position information and the second position information;
the server sends the calculated third position information to the unmanned aerial vehicle device through the RTK client;
wherein the RTK base station device sends the first location information to a server, comprising: the RTK base station equipment sends the first position information to the server through an Ntrip protocol;
before the drone device sends the second location information to the server via the RTK client, comprising:
the unmanned aerial vehicle equipment establishes connection with the RTK client through a local link;
the RTK client authenticates the server through the certificate of the server;
the server authenticates the RTK client through an Ntrip protocol handshake.
2. The wireless communication method according to claim 1,
before the RTK base station device sends the first location information to the server, the method includes:
and the RTK base station equipment and the server establish an SSL protocol link through SSL protocol verification of a bidirectional secure socket layer.
3. The wireless communication method according to claim 1,
when the server authenticates the RTK client through Ntrip protocol handshaking, the RTK client sends a user name and an account number to the server through Ntrip protocol handshaking.
4. The wireless communication method according to claim 1,
when the server authenticates the RTK client through Ntrip protocol handshake, if the authentication is successful, the server establishes TCP connection with the RTK client, and if the authentication is failed, the server disconnects TCP connection with the RTK client.
5. The wireless communication method according to claim 1,
the drone device sending second location information to the server via an RTK client, comprising:
the drone device sends the second location information to the RTK client over a local link,
the RTK client sends the second location information to the server using a TCP connection.
6. The wireless communication method according to claim 5,
the local link is a software defined radio SDR link,
and the unmanned aerial vehicle equipment establishes connection with the RTK client through the SDR link frequency alignment.
7. The wireless communication method according to any one of claims 1 to 6,
the RTK base station equipment is single RTK base station equipment or network RTK base station equipment.
8. The wireless communication method according to any one of claims 1 to 6,
the RTK client is a remote controller or a mobile phone.
9. A wireless communication system comprises an unmanned aerial vehicle device, a real-time dynamic positioning RTK base station device, an RTK client and a server, wherein,
the RTK base station device sends the first location information to the server,
the drone device sends second location information to the server via the RTK client,
the server performs a differential calculation using the first location information and the second location information,
the server sends the calculated third position information to the unmanned aerial vehicle device through the RTK client;
the RTK base station equipment sends the first position information to the server through an Ntrip protocol;
before the drone device sends the second location information to the server via the RTK client,
the unmanned aerial vehicle device establishes a connection with the RTK client through a local link,
the RTK client authenticates the server through the certificate of the server,
the server authenticates the RTK client through an Ntrip protocol handshake.
10. The wireless communication system of claim 9,
before the RTK base station device sends the first position information to the server, the RTK base station device and the server establish an SSL protocol link through two-way secure socket layer SSL protocol verification.
11. The wireless communication system of claim 9,
and the RTK client sends the user name and the account number to the server through Ntrip protocol handshake.
12. The wireless communication system of claim 9,
when the server authenticates the RTK client through Ntrip protocol handshake, if the authentication is successful, the server establishes TCP connection with the RTK client, and if the authentication is failed, the server disconnects TCP connection with the RTK client.
13. The wireless communication system of claim 9,
the drone device sends the second location information to the RTK client over a local link,
the RTK client sends the second location information to the server using a TCP connection.
14. The wireless communication system of claim 13,
the local link is a software defined radio SDR link,
and the unmanned aerial vehicle equipment establishes connection with the RTK client through the SDR link frequency alignment.
15. The wireless communication system according to any one of claims 9 to 14,
the RTK base station equipment is single RTK base station equipment or network RTK base station equipment.
16. The wireless communication system according to any one of claims 9 to 14,
the RTK client is a remote controller or a mobile phone.
17. An unmanned aerial vehicle system comprises an unmanned aerial vehicle device and an RTK client,
the unmanned aerial vehicle equipment sends the second position information to a server through an RTK client;
the unmanned aerial vehicle device receives third position information from the server through the RTK client, wherein the third position information is obtained by difference calculation of the server by using the second position information and the first position information received from the RTK base station device;
before the drone device sends the second location information to the server via the RTK client, comprising:
the unmanned aerial vehicle equipment establishes connection with the RTK client through a local link;
the RTK client authenticates the server through the certificate of the server;
the RTK client is authenticated by the server through an Ntrip protocol handshake.
18. The drone system of claim 17 wherein,
the RTK client is authenticated by the server through an Ntrip protocol handshake, including: and the RTK client sends the user name and the account number to the server through Ntrip protocol handshake.
19. The drone system of claim 17 wherein,
when the RTK client is authenticated by the server through Ntrip protocol handshake, if the authentication is successful, the RTK client establishes TCP connection with the server, and if the authentication is failed, the RTK client disconnects TCP connection with the server.
20. The drone system of claim 17 wherein,
the unmanned aerial vehicle device sends the second position information to the server via the RTK client, and the method comprises the following steps:
the drone device sends the second location information to the RTK client over a local link,
the RTK client sends the second location information to the server using a TCP connection.
21. The drone system of claim 20 wherein,
the local link is a software defined radio SDR link,
and the unmanned aerial vehicle equipment establishes connection with the RTK client through the SDR link frequency alignment.
22. The drone system of any one of claims 17 to 21 wherein,
the RTK base station equipment is single RTK base station equipment or network RTK base station equipment.
23. The drone system of any one of claims 17 to 21 wherein,
the RTK client is a remote controller or a mobile phone.
24. A system for real-time dynamic positioning of an RTK base station device and a server,
the RTK base station equipment sends first position information to the server;
the server receives second position information sent by the unmanned aerial vehicle device through the RTK client;
the server performs difference calculation by using the first position information and the second position information;
the server sends the calculated third position information to the unmanned aerial vehicle device through the RTK client;
the RTK base station equipment sends the first position information to a server, and the method comprises the following steps: the RTK base station equipment sends the first position information to the server through an Ntrip protocol;
before the server receives the second location information sent by the drone device via the RTK client, the method includes:
the server receives the authentication of the RTK client by using the certificate;
the server authenticates the RTK client through an Ntrip protocol handshake.
25. The system of claim 24, wherein,
before the RTK base station device sends the first location information to the server, the method includes:
and the RTK base station equipment and the server establish an SSL protocol link through SSL protocol verification of a bidirectional secure socket layer.
26. The system of claim 24, wherein,
the server authenticating the RTK client through an Ntrip protocol handshake, comprising: and receiving the user name and the account number of the RTK client through Ntrip protocol handshake.
27. The system of claim 24, wherein,
when the server authenticates the RTK client through Ntrip protocol handshake, if the authentication is successful, the TCP connection with the RTK client is established, and if the authentication is failed, the TCP connection with the RTK client is disconnected.
28. The system of claim 24, wherein,
the server receives second position information sent by the unmanned aerial vehicle device through the RTK client, and the method comprises the following steps:
the server receives the second location information from the RTK client using a TCP connection, the second location information being received by the RTK client from the drone device over a local link.
29. The system of any one of claims 24 to 28,
the RTK base station equipment is single RTK base station equipment or network RTK base station equipment.
30. The system of any one of claims 24 to 28,
the RTK client is a remote controller or a mobile phone.
31. A computer-readable recording medium storing executable instructions that, when executed by a processor, cause the processor to perform the wireless communication method of any one of claims 1 to 8.
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 |
|---|---|
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| CN109496435A (en) | 2019-03-19 |
| WO2019113971A1 (en) | 2019-06-20 |
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