CN109560863A - Multi-unmanned aerial vehicle monitoring method based on cloud - Google Patents
Multi-unmanned aerial vehicle monitoring method based on cloud Download PDFInfo
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- CN109560863A CN109560863A CN201910061575.7A CN201910061575A CN109560863A CN 109560863 A CN109560863 A CN 109560863A CN 201910061575 A CN201910061575 A CN 201910061575A CN 109560863 A CN109560863 A CN 109560863A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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- H—ELECTRICITY
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- H—ELECTRICITY
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- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
- H04L69/161—Implementation details of TCP/IP or UDP/IP stack architecture; Specification of modified or new header fields
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Abstract
The invention discloses a cloud-based multi-unmanned aerial vehicle monitoring method, and aims to improve the real-time performance of multi-unmanned aerial vehicle monitoring. The method is characterized in that an unmanned aerial vehicle monitoring system consisting of a client layer, a cloud service layer and an unmanned aerial vehicle layer is constructed, the client layer sends a registration instruction to the cloud service layer, and unmanned aerial vehicle monitoring data are received from the cloud service layer; the cloud service layer provides computing and storage capacity for the unmanned aerial vehicle and provides an interface for accessing the unmanned aerial vehicle for the client layer; the unmanned plane layer comprises N unmanned planes; the cloud service layer carries out unmanned aerial vehicle according to the registration instruction and connects, constructs the unmanned aerial vehicle avatar, carries out the unmanned aerial vehicle and divides into groups, and cloud service layer and client layer mutually support, realize monitoring a plurality of unmanned aerial vehicles through collecting the attribute value of unmanned aerial vehicle avatar. By adopting the method and the system, the calculation storage task is unloaded to the cloud service layer, and the flight state data of the unmanned aerial vehicle is monitored, so that a large-scale data monitoring scene of an unmanned aerial vehicle cluster can be supported, and the real-time performance of monitoring of multiple unmanned aerial vehicles is ensured.
Description
Technical field
The present invention relates to the monitoring methods of unmanned plane, and in particular to and it is a kind of using cloud platform as background support, pass through visitor
Family end layer-cloud service layer-unmanned plane layer three-tier architecture, the monitoring unmanned method based on cloud of Lai Shixian.
Background technique
Unmanned plane (Unmanned Aerial Vehicle, UAV) i.e. unmanned vehicle, before more than 90 years just
It comes out, was known as " remotely-piloted vehicle " at that time, be the not manned vehicle manipulated using radio robot or automatic pilot,
It is the product of modern development in science and technology, there are many its type, mainly include fixed-wing, rotary wind type, flapping wings type three basic forms of it.Nothing
The research and development of man-machine system is related to a variety of ambits such as flight control technology, communications electronics, computer, dynamics,
Technically have it is comparable perspective, played an important role in national economy.In recent decades, countries in the world are all energetically
Develop multiduty unmanned vehicle, unmanned plane can assemble guidance system, radar system, various measurement sensors, video acquisition
Etc. a variety of airborne equipments, the features such as due to its flexibility, intelligence and concealment, purposes is very extensive, is used primarily in environment
Monitoring, goods handling, forest fire protection, agricultural irrigation, the various rescue actions of participation etc..Therefore the quick hair of UAV system
Exhibition will have broad application prospects in civil field, and the research for carrying out unmanned plane related system has scientific research meaning and work
Journey practical reference value.
Monitoring unmanned plays very important effect to UAV system, is that operator controls unmanned plane dynamic in real time
And make the important leverage of instruction.The monitoring of unmanned plane is related to the multinomial skills such as image procossing, wireless transmission and long-range monitoring
Art, by the combination of various technologies, effective monitoring is may be implemented in unmanned plane.Traditional monitoring unmanned, that is, earth station, ground behaviour
Make personnel and the letter such as unmanned plane course, position is changed by the process control that earth station's operation sequence and unmanned plane are installed above
Breath, realizes the planning of aerial mission, and carry out its policer operation.Grasping unmanned plane in real time includes course angle, and three-dimensional velocity is high
Degree, air speed, attitude angle, longitude and latitude, the status informations such as cell voltage, can just be effectively ensured task run progress and nobody
The safety and enforceability of machine.
Existing monitoring unmanned scheme, is attached mainly for separate unit unmanned plane, and by radio, can produce in this way
Raw following problem: calculation processing task is fallen on unmanned plane body, and processing capacity is lower, and store tasks also fall within nobody
On machine body, storage capacity is limited, and range for wireless communication is restricted.
With the increase of unmanned plane quantity being incremented by with down town unmanned plane density, multiple no-manned plane effective monitoring becomes
It is more and more necessary.As the demand of application develops, complex task needs unmanned plane cluster to be cooperateed with, and the monitoring of unmanned plane is by face
Face scale-up problems, and single monitoring unmanned method is difficult to realize be monitored unmanned plane cluster at present.
Burning hot with cloud computing, the production and living of people are closely bound up with cloud product, and cloud service is obtained as people
Take the important channel of resource information.Some research (Internet-of-Drones methods that such as Sriti M F et al. is announced at present
( A,Qureshi B,Sriti M F,et al.A service-oriented Cloud-based
management system for the Internet-of-Drones[C]//IEEE International
Conference on Autonomous Robot Systems and Competitions.IEEE, 2017:329-335., i.e.,A, Qureshi B, Sriti M F et al. is in IEEE Autonomous Robotic Systems in 2017 and contest international conference
329-335 pages, the cloud unmanned plane management method announced in service-oriented unmanned plane internet management system paper based on cloud)
Cloud computing and monitoring unmanned are integrated, the powerful calculating ability and storage capacity of cloud platform are relied on, it can be by unmanned plane
The calculating of monitoring, store tasks are unloaded, and break the limitation of unmanned plane local resource, but these study also the same needles
Separate unit unmanned plane is monitored, multiple no-manned plane cannot be monitored simultaneously, there are no public technology schemes to be related to for more
The monitoring of unmanned plane, because being monitored the data demand that must solve mass data real-time to multiple no-manned plane, this is ability
The technological difficulties that domain is not yet broken through.
In conclusion traditional monitoring unmanned has the problem that generalling use the direct-connected mode of radio carries out separate unit
The scene of multiple no-manned plane concurrent data monitoring cannot be effectively treated in monitoring, and data calculate and the task of storage falls in nobody
On machine body, the cost of unmanned plane hardware is increased.The monitoring unmanned for relying on cloud computing, is still in the primary stage, and only
For separate unit monitoring unmanned, for the scene of unmanned plane cluster monitoring, a good solution is not proposed also.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of methods of multiple no-manned plane monitoring based on cloud, break unmanned plane
The task that unmanned plane calculates storage is unloaded to cloud by the limitation of local resource, to improve the real-time of multiple no-manned plane monitoring.
The present invention to solve above-mentioned technical problem and use the technical scheme comprises the following steps:
The first step constructs monitoring unmanned system.Monitoring unmanned system is by client tier-cloud service layer-unmanned plane layer
Composition.
Client tier includes N number of client, and N is positive integer, and client tier provides access interface for user, clear by operating in
Look at device web apply and first interface layer composition.Client tier receives the register instruction of user's input, provides resource for user and visits
The entrance asked.Client tier sends register instruction, note to cloud service layer in a manner of http protocol web Service interface
The data format of volume instruction is JSON format (Lanthaler M, G ü tl, Christian.On using JSON-LD to
create evolvable RESTful services[C]//International Workshop on Restful
Design.ACM, 2012., i.e. Lanthaler M, G ü tl, Christian et al. were ground the world Restful Design in 2012
Meeting is begged for, the JSON format announced in the RESTful service paper that can be evolved using JSON-LD creation delivered)；Client tier is logical
It crosses web Service interface and receives monitoring unmanned data from cloud service layer, received monitoring unmanned data are also JSON lattice
Formula.Cloud service layer provides calculating and storage capacity for unmanned plane, and provides the interface of access unmanned plane for client tier.Cloud service
Layer takes layering framework " from bottom to top ", is successively made of second interface layer, accumulation layer, computation layer.Second interface layer is
First layer, for obtaining and parsing the data information sended over from unmanned plane layer and client tier, and upwards and accumulation layer
It interacts.Accumulation layer is the second layer, the data passed over for memory interface layer.Computation layer is third layer, for from depositing
Reservoir obtains the data of monitoring, and carries out alignment processing.
Second interface layer provides two kinds of interfaces: Sockets interface and Web Service interface.
MAVLink agreement is the communications protocol applied in minute vehicle (micro aerial vehicle), and it is small for being
The data used when type aircraft and ground station communications joined the rule of verification (checksum) function sent and received,
Middle transmission rule is MAVLink instruction, and receiving rule is MAVLink message, and unmanned plane and external communication are assisted by MAVLink
The transmission of view.Sockets interface and web Service interface can pass through the database access interface and accumulation layer of accumulation layer
Interaction.
MAVLink message of the Sockets interface from unmanned plane parses it to obtain drone status monitoring
Data cache drone status supervising data storage to Redis；
Web Service interface is connected with client tier.Web Service interface is received from client tier and is passed by HTTP
Register instruction is sent to registration module by the register instruction passed, and will be from the received monitoring unmanned data envelope of accumulation layer
It dresses up HTTP status message and is sent to client tier.
Accumulation layer is made of drone status database, unmanned plane registration database and caching Redis.
Drone status database purchase monitoring unmanned data specifically include unmanned plane ID, cluster ID, IP address, end
Slogan flies control version, registration date, connection status, unmanned plane course angle, three-dimensional velocity, height, air speed, attitude angle, longitude and latitude
With 14 list items of battery information, wherein unmanned plane ID is the unique identification of unmanned plane；Cluster ID is the cluster where the unmanned plane
Grouping, same unmanned plane can only be in a cluster groupings；One unmanned plane corresponds to unique IP address and port numbers；Fly control version
It originally is the version of UAV Flight Control System；Registration date is the date of registration module registration unmanned plane；Connection status, which refers to, to be worked as
Whether preceding monitoring unmanned system connects unmanned plane, if connection unmanned plane, is denoted as 1, is otherwise denoted as 0；Unmanned plane course angle is
Angle between the unmanned plane longitudinal axis and the earth arctic；Three-dimensional velocity is speed of the unmanned plane in three directions of x-axis, y-axis and z-axis；
Height is relative altitude of the unmanned plane relative to sea level；Wind speed when air speed is current flight；Attitude angle is unmanned plane
Three course angle, pitch angle and roll angle Eulerian angles that relationship between body coordinate and geographic coordinate system determines；Longitude and latitude is
Indicate the coordinate of unmanned plane position；Battery information is the remaining capacity size of unmanned plane.
Unmanned plane registration database records unmanned plane registration information, including unmanned plane ID, client id, cluster ID, IP
Location, port numbers fly control version, 8 registration date, connection status list items, and client id is the unique identification of client, a nothing
The corresponding client id of man-machine ID, other 7 list items are consistent with the corresponding table item content in drone status database.
Caching Redis temporarily stores drone status monitoring data, specifically includes unmanned plane ID, unmanned plane course angle, three
Tie up speed, height, air speed, attitude angle, 8 longitude and latitude, battery information data item.This 8 list items and drone status database
In corresponding table item content it is consistent.
Computation layer handles frame Storm, message queue Kafka, monitoring module, registration module, connection by real-time streaming data
Module, grouping module composition.Registration module is connected with link block, and link block is connected with grouping module, grouping module and prison
It controls module to be connected, monitoring module is connected with message queue Kafka, message queue Kafka and real time data processing frame Storm phase
Even.Computation layer, which is first collected, caches 8 item datas that Redis is stored, i.e. unmanned plane ID, unmanned plane course angle, three-dimensional velocity, height,
Air speed, attitude angle, longitude and latitude and battery information, and according to the unmanned plane ID in drone status monitoring data, it is infused in unmanned plane
The IP address of the unmanned plane, port numbers are inquired in volume database, cluster ID flies control version, registration date, 6 item number of connection status
According to, by this 14 item data form monitoring unmanned data, load into Kafka, then by Storm progress real time data at
Reason, finally will be in the monitoring unmanned data deposit drone status database after processing.The main function of Kafka is interim
It stores monitoring unmanned data (element of Kafka is 14 attributes of monitoring unmanned data), to monitoring unmanned
Non-coupled component asynchronous execution in the case of concurrency is big, can be played the role of alleviation, and can mention by system decoupling
The handling capacity of high monitoring unmanned system entirety.Registration module carries out unmanned plane registration, and link block carries out unmanned plane connection, point
Group module carries out unmanned plane grouping, monitoring module and client tier cooperation, carries out monitoring unmanned.
Unmanned plane layer includes N platform unmanned plane, corresponding N number of client.Every unmanned plane is made of hardware layer and software layer.
Hardware layer includes sensor, flies the control underlying hardwares such as plate and rotor, battery, and software layer refers mainly to fly control firmware, realizes nobody
The interaction of the soft or hard level of machine, fly control firmware use MAVLink protocol realization data link transmission, and by Sockets interface with
Sockets interface on cloud service layer interacts.
Second step initializes drone status database, unmanned plane registration database and caching Redis.
Drone status database and unmanned plane registration database, the backstage of log-on data library service are disposed in cloud service layer
Service processes empty drone status database and unmanned plane registration database content.It disposes and caches in cloud service layer
Redis, and start Redis background service process, caching Redis content is emptied.
Third step, client tier chooses K, and (K is the unmanned plane quantity that user needs while monitoring, 1≤K≤N, by user's root
According to it needs to be determined that) a client registered, registration uses serial manner, once has a unmanned plane and is registered.
3.1 client tiers choose an idle client in N number of client, execute registration operation, send registration and refer to
It enables.
The Web Service interface of 3.2 cloud service layers receives the current registration for needing to register unmanned plane from the client and refers to
It enables, register instruction includes 3 part of IP address, port numbers and client id of unmanned plane, and register instruction is sent to cloud service layer
Registration module.
3.3 registration modules according in register instruction IP address and port numbers search unmanned plane registration database because one
A IP address and port numbers only correspond to unique unmanned plane, if unmanned plane registration database have found identical IP address and
Port numbers do not have to registration then, the link order of this unmanned plane is sent to link block, and link order includes the IP of unmanned plane
Location, port numbers and the part unmanned plane ID3 execute the 4th step；Otherwise 3.4 are executed.
3.4 registration modules give unmanned plane to distribute a unmanned plane ID, and unmanned plane ID and current needs are registered nobody
The IP address of machine, cluster ID, flies control version, registration date, connection status (default is not connected) and currently transmitted at port numbers
The client id of the client of register instruction is added to unmanned plane registration database, and the link order of this unmanned plane is sent to
Link block executes the 4th step.
The link block of 4th step, cloud service layer carries out unmanned plane connection.
The link block of 4.1 cloud service layers receives link order from registration module.
Link order is sent to Sockets interface by the link block of 4.2 cloud service layers, and Sockets interface passes through connection
IP address and port numbers in instruction find the correspondence unmanned plane of unmanned plane layer.
4.3 Sockets interfaces from the correspondence unmanned plane of unmanned plane layer receive MAVLink message, to MAVLink message into
Row parsing obtains drone status monitoring data, by drone status supervising data storage to caching Redis.
4.4 link blocks construct the unmanned plane incarnation of unmanned plane corresponding to IP address and port numbers in link order.Nothing
Man-machine incarnation is the abstract of unmanned plane, and the unmanned plane entity of real world is influenced by the management operation on unmanned plane incarnation, and
It can achieve the purpose that monitor unmanned plane entity by obtaining the status data of unmanned plane incarnation.Unmanned plane incarnation encapsulates nobody
The attribute of machine, is embodied in the form of class object in programming, is kept by MAVLink agreement with unmanned plane entity
Connection.The result of unmanned plane connection is the unmanned plane corresponding to the IP address and port numbers in cloud service layer generation link order
Unmanned plane incarnation.
The building method of unmanned plane incarnation are as follows:
Link block obtains drone status monitoring data from caching Redis, chooses unmanned plane ID, unmanned plane course
Angle, three-dimensional velocity, height, air speed, attitude angle, 8 data item of longitude and latitude and battery information, and number is monitored according to drone status
Unmanned plane ID in, inquires the IP address of the unmanned plane, port numbers in unmanned plane registration database, and cluster ID flies control version
This, the registration date, thus 6 data item of connection status obtain monitoring unmanned data, while the category as unmanned plane incarnation
Property, IP address is specifically included, port numbers, unmanned plane ID, cluster ID fly control version, registration date, connection status, unmanned plane boat
To angle, three-dimensional velocity, height, air speed, attitude angle, 14 data item of longitude and latitude and battery information.These attributes just constitute nothing
Man-machine incarnation.
The grouping module of 5th step, cloud service layer carries out unmanned plane grouping.Because complex task needs the collaboration of unmanned plane
Operation, therefore monitoring unmanned is equally as unit of cluster.
5.1 grouping modules guarantee that IP address and port numbers are corresponding with unmanned plane incarnation by construction internal layer Hash table.Hash
Table is the data structure directly accessed according to key value (key-value), that is to say, that will be crucial by hash function
Code value is mapped to a position of Hash table to access record, to accelerate the speed searched.Internal layer Hash table include key1 and
Two fields of value1, wherein key1 is number of the IP address together with port number combinations, and value1 is unmanned plane incarnation.
The element number of internal layer Hash table is the unmanned plane incarnation number of same grouping.Each unmanned plane incarnation have unique IP address and
Port numbers correspond to the IP address and port numbers of unmanned plane entity (i.e. the unmanned plane of unmanned plane layer).
5.2 grouping modules identify the packet number of unmanned plane by the cluster ID of unmanned plane incarnation, in multiple clusters, grouping
Module carries out the maintenance of unmanned plane incarnation cluster by outer layer Hash table.Outer layer Hash table includes two words of key2 and value2
Section, wherein key2 is cluster ID, and value2 is the pointer of internal layer Hash table, the unmanned plane in the internal layer Hash table of pointer meaning
Incarnation is under cluster ID corresponding to key2 value.The element number of outer layer Hash table be all unmanned plane incarnation in total
It is grouped number.Internal layer Hash table and outer layer Hash table are constructed in memory to guarantee response speed.
5.3 grouping modules statistics unmanned plane incarnation sum: outer layer Hash table statistical packet number is first passed through, then by outer layer
The element number of the internal layer Hash table of each grouping of Hash table is cumulative, obtains unmanned plane incarnation sum, judges unmanned plane incarnation
Whether sum is equal to K value, if being less than K value, turns third step 3.1, if being equal to K value, executes the 6th step.6th step, cloud service layer and
Client tier cooperates, and carries out monitoring unmanned.The monitoring module of cloud service layer obtains K unmanned plane of grouping module
Body collects the attribute value of K unmanned plane incarnation, is altogether 14 × K attribute value, as K monitoring unmanned data, by place
K monitoring unmanned data are returned to the corresponding K client of client tier by reason.
6.1 monitoring modules obtain K all unmanned plane incarnation from grouping module: first pass through outer layer Hash table find it is all
Unmanned plane grouping, the unmanned plane incarnation under different grouping is then found by internal layer Hash table.It is obtained from K unmanned plane incarnation
The attribute of unmanned plane obtains the K monitoring unmanned data being made of 14 data item in total.Monitoring unmanned data are put
Enter into message queue Kafka.
6.2 real-time streaming datas handle frame Storm and open K thread parallel from message queue Kafka K unmanned planes of acquisition
K monitoring unmanned data parallels are stored in drone status database by monitoring data.
6.3 Web Service interfaces read K monitoring unmanned data from drone status data base concurrency, by K
Monitoring unmanned data are converted into JSON data format, and by the unmanned plane ID in K monitoring unmanned data at nobody
It is searched in machine registration database, finds K client id corresponding to this K unmanned plane ID, by K JSON data formats
Monitoring unmanned data be packaged into HTTP status message and return to the corresponding client of K client id respectively.
The corresponding client of 6.4 K client ids parses the monitoring unmanned data under corresponding unmanned plane ID, parallel from
File reads electronic map, draws position, the routing information of corresponding unmanned plane according to monitoring unmanned data on the electronic map,
Data displaying is carried out to the monitor state of K unmanned plane.
7th step terminates.
Using the present invention can achieve it is following the utility model has the advantages that
The present invention is deposited calculating by building client tier-cloud service layer-unmanned plane layer composition monitoring unmanned system
Storage task is unloaded to cloud service layer, and is monitored to the Flight Condition Data of unmanned plane, can support the big rule of unmanned plane cluster
Modulus is according to monitoring scene.
Based on the present invention, cloud service layer is relied on, unmanned plane during flying state is carried out by way of the HTTP interface of internet
The monitoring of data, it is ensured that the real-time of multiple no-manned plane monitoring.
Detailed description of the invention
Fig. 1 is the monitoring unmanned system global structure figure of first step building of the present invention.
Fig. 2 is overall flow figure of the present invention.
Specific embodiment
Fig. 2 is overall flow figure of the present invention.
The first step constructs monitoring unmanned system.Monitoring unmanned system is by client tier-cloud service layer-unmanned plane layer
Composition.
As shown in Figure 1, client tier includes N number of client, N is positive integer, and client tier provides access interface for user,
Web by operating in browser is applied and first interface layer forms.Client tier receives the register instruction of user's input, is user
The entrance of resource access is provided.Client tier is sent to cloud service layer in a manner of http protocol web Service interface and is infused
Volume instruction, the data format of register instruction is JSON format；Client tier is received by web Service interface from cloud service layer
Monitoring unmanned data, received monitoring unmanned data are also JSON format.Cloud service layer provides calculating for unmanned plane and deposits
Energy storage power, and the interface of access unmanned plane is provided for client tier.Cloud service layer takes layering framework " from bottom to top ", according to
It is secondary to be made of second interface layer, accumulation layer, computation layer.Second interface layer is first layer, for obtaining and parsing from unmanned plane
The data information that layer and client tier send over, and interacted upwards with accumulation layer.Accumulation layer is the second layer, for storing
The data that interface layer passes over.Computation layer is third layer, for obtaining the data of monitoring from accumulation layer, and carries out corresponding position
Reason.
Second interface layer provides two kinds of interfaces: Sockets interface and Web Service interface.
MAVLink agreement is the communications protocol applied in minute vehicle, when being for small aircraft and ground station communications
The data used joined the rule of verifying function sent and received, wherein sending rule is MAVLink instruction, receive rule
It is MAVLink message, unmanned plane and external communication rely on the transmission of MAVLink agreement.Sockets interface and WebService
Interface can be interacted by the database access interface of accumulation layer with accumulation layer.
MAVLink message of the Sockets interface from unmanned plane parses it to obtain drone status monitoring
Data cache drone status supervising data storage to Redis；
Web Service interface is connected with client tier.Web Service interface is received from client tier and is passed by HTTP
Register instruction is sent to registration module by the register instruction passed, and will be from the received monitoring unmanned data envelope of accumulation layer
It dresses up HTTP status message and is sent to client tier.
Accumulation layer is made of drone status database, unmanned plane registration database and caching Redis.
Drone status database purchase monitoring unmanned data specifically include unmanned plane ID, cluster ID, IP address, end
Slogan flies control version, registration date, connection status, unmanned plane course angle, three-dimensional velocity, height, air speed, attitude angle, longitude and latitude
With 14 list items of battery information, wherein unmanned plane ID is the unique identification of unmanned plane；Cluster ID is the cluster where the unmanned plane
Grouping, same unmanned plane can only be in a cluster groupings；One unmanned plane corresponds to unique IP address and port numbers；Fly control version
It originally is the version of UAV Flight Control System；Registration date is the date of registration module registration unmanned plane；Connection status, which refers to, to be worked as
Whether preceding monitoring unmanned system connects unmanned plane, if connection unmanned plane, is denoted as 1, is otherwise denoted as 0；Unmanned plane course angle is
Angle between the unmanned plane longitudinal axis and the earth arctic；Three-dimensional velocity is speed of the unmanned plane in three directions of x-axis, y-axis and z-axis；
Height is relative altitude of the unmanned plane relative to sea level；Wind speed when air speed is current flight；Attitude angle is unmanned plane
Three course angle, pitch angle and roll angle Eulerian angles that relationship between body coordinate and geographic coordinate system determines；Longitude and latitude is
Indicate the coordinate of unmanned plane position；Battery information is the remaining capacity size of unmanned plane.
Unmanned plane registration database records unmanned plane registration information, including unmanned plane ID, client id, cluster ID, IP
Location, port numbers fly control version, 8 registration date, connection status list items, and client id is the unique identification of client, a nothing
The corresponding client id of man-machine ID, other 7 list items are consistent with the corresponding table item content in drone status database.
Caching Redis temporarily stores drone status monitoring data, specifically includes unmanned plane ID, unmanned plane course angle, three
Tie up speed, height, air speed, attitude angle, 8 longitude and latitude, battery information data item.This 8 list items and drone status database
In corresponding table item content it is consistent.
Computation layer handles frame Storm, message queue Kafka, monitoring module, registration module, connection by real-time streaming data
Module, grouping module composition.Registration module is connected with link block, and link block is connected with grouping module, grouping module and prison
It controls module to be connected, monitoring module is connected with message queue Kafka, message queue Kafka and real time data processing frame Storm phase
Even.Computation layer first collects 8 item datas of caching Redis storage, the IP of the unmanned plane is inquired in unmanned plane registration database
Location, port numbers, cluster ID fly control version, registration date, this 14 item data is formed monitoring unmanned by 6 item data of connection status
Data are loaded into Kafka, then real time data processing are carried out by Storm, finally by the monitoring unmanned number after processing
According in deposit drone status database.The main function of Kafka is interim storage monitoring unmanned data (one of Kafka
Element is 14 attributes of monitoring unmanned data), to monitoring unmanned system decoupling, hold non-coupled component is asynchronous
Row, in the case of concurrency is big, can play the role of alleviation, and the handling capacity of monitoring unmanned system entirety can be improved.
Registration module carries out unmanned plane registration, and link block carries out unmanned plane connection, and grouping module carries out unmanned plane grouping, monitoring module
Cooperate with client tier, carries out monitoring unmanned.
Unmanned plane layer includes N platform unmanned plane, corresponding N number of client.Every unmanned plane is made of hardware layer and software layer.
Hardware layer includes sensor, flies the control underlying hardwares such as plate and rotor, battery, and software layer refers mainly to fly control firmware, realizes nobody
The interaction of the soft or hard level of machine, fly control firmware use MAVLink protocol realization data link transmission, and by Sockets interface with
Sockets interface on cloud service layer interacts.
Second step initializes drone status database, unmanned plane registration database and caching Redis.
Drone status database and unmanned plane registration database, the backstage of log-on data library service are disposed in cloud service layer
Service processes empty drone status database and unmanned plane registration database content.It disposes and caches in cloud service layer
Redis, and start Redis background service process, caching Redis content is emptied.
Third step, client tier choose K, and a client is registered, 1≤K≤N.
3.1 client tiers choose an idle client in N number of client, execute registration operation, send registration and refer to
It enables.
The Web Service interface of 3.2 cloud service layers receives the current registration for needing to register unmanned plane from the client and refers to
It enables, register instruction includes 3 part of IP address, port numbers and client id of unmanned plane, and register instruction is sent to cloud service layer
Registration module.
3.3 registration modules according in register instruction IP address and port numbers search unmanned plane registration database because one
A IP address and port numbers only correspond to unique unmanned plane, if unmanned plane registration database have found identical IP address and
Port numbers do not have to registration then, the link order of this unmanned plane is sent to link block, and link order includes the IP of unmanned plane
Location, port numbers and the part unmanned plane ID3 execute the 4th step；Otherwise 3.4 are executed.
3.4 registration modules give unmanned plane to distribute a unmanned plane ID, and unmanned plane ID and current needs are registered nobody
The IP address of machine, cluster ID, flies control version, registration date, connection status (default is not connected) and currently transmitted at port numbers
The client id of the client of register instruction is added to unmanned plane registration database, and the link order of this unmanned plane is sent to
Link block executes the 4th step.The link block of 4th step, cloud service layer carries out unmanned plane connection.
The link block of 4.1 cloud service layers receives link order from registration module.
Link order is sent to Sockets interface by the link block of 4.2 cloud service layers, and Sockets interface passes through connection
IP address and port numbers in instruction find the correspondence unmanned plane of unmanned plane layer.
4.3 Sockets interfaces from the correspondence unmanned plane of unmanned plane layer receive MAVLink message, to MAVLink message into
Row parsing obtains drone status monitoring data, by drone status supervising data storage to caching Redis.
4.4 link blocks construct the unmanned plane incarnation of unmanned plane corresponding to IP address and port numbers in link order.
The building method of unmanned plane incarnation are as follows:
Link block obtains drone status monitoring data from caching Redis, chooses unmanned plane ID, unmanned plane course
Angle, three-dimensional velocity, height, air speed, attitude angle, 8 data item of longitude and latitude and battery information, and number is monitored according to drone status
Unmanned plane ID in, inquires the IP address of the unmanned plane, port numbers in unmanned plane registration database, and cluster ID flies control version
This, the registration date, thus 6 data item of connection status obtain monitoring unmanned data, while the category as unmanned plane incarnation
Property, IP address is specifically included, port numbers, unmanned plane ID, cluster ID fly control version, registration date, connection status, unmanned plane boat
To angle, three-dimensional velocity, height, air speed, attitude angle, 14 data item of longitude and latitude and battery information.These attributes just constitute nothing
Man-machine incarnation.
The grouping module of 5th step, cloud service layer carries out unmanned plane grouping.
5.1 grouping modules are after link block has constructed unmanned plane incarnation, with guaranteeing IP by construction internal layer Hash table
Location and port numbers are corresponding with unmanned plane incarnation.Internal layer Hash table includes two fields of key1 and value1, and wherein key1 is for IP
Number of the location together with port number combinations, value1 are unmanned plane incarnation.The element number of internal layer Hash table is same point
The unmanned plane incarnation number of group.Each unmanned plane incarnation have unique IP address and port numbers correspond to unmanned plane entity (i.e. nobody
The unmanned plane of machine layer) IP address and port numbers.
5.2 grouping modules identify the packet number of unmanned plane by the cluster ID of unmanned plane incarnation, in multiple clusters, grouping
Module carries out the maintenance of unmanned plane incarnation cluster by outer layer Hash table.Outer layer Hash table includes two words of key2 and value2
Section, wherein key2 is cluster ID, and value2 is the pointer of internal layer Hash table, the unmanned plane in the internal layer Hash table of pointer meaning
Incarnation is under cluster ID corresponding to key2 value.The element number of outer layer Hash table be all unmanned plane incarnation in total
It is grouped number.Internal layer Hash table and outer layer Hash table are constructed in memory to guarantee response speed.
5.3 grouping modules statistics unmanned plane incarnation sum: outer layer Hash table statistical packet number is first passed through, then by outer layer
The element number of the internal layer Hash table of each grouping of Hash table is cumulative, obtains unmanned plane incarnation sum, judges unmanned plane incarnation
Whether sum is equal to K value, if being less than K value, turns third step 3.1, if being equal to K value, executes the 6th step.
6th step, cloud service layer and client tier cooperate, and carry out monitoring unmanned.The monitoring module of cloud service layer obtains
K unmanned plane incarnation of grouping module is taken, the attribute value of K unmanned plane incarnation is collected, is altogether 14 × K attribute value, as K
K monitoring unmanned data are returned to the corresponding K client of client tier by processing by item monitoring unmanned data.
6.1 monitoring modules obtain K all unmanned plane incarnation from grouping module: first pass through outer layer Hash table find it is all
Unmanned plane grouping, the unmanned plane incarnation under different grouping is then found by internal layer Hash table.It is obtained from K unmanned plane incarnation
The attribute of unmanned plane obtains the K monitoring unmanned data being made of 14 data item in total.Monitoring unmanned data are put
Enter into message queue Kafka.
6.2 real-time streaming datas handle frame Storm and open K thread parallel from message queue Kafka K unmanned planes of acquisition
K monitoring unmanned data parallels are stored in drone status database by monitoring data.
6.3 Web Service interfaces read K monitoring unmanned data from drone status data base concurrency, by K
Monitoring unmanned data are converted into JSON data format, and by the unmanned plane ID in K monitoring unmanned data at nobody
It is searched in machine registration database, finds K client id corresponding to this K unmanned plane ID, by K JSON data formats
Monitoring unmanned data be packaged into HTTP status message and return to the corresponding client of K client id respectively.
The corresponding client of 6.4 K client ids parses the monitoring unmanned data under corresponding unmanned plane ID, parallel from
File reads electronic map, draws position, the routing information of corresponding unmanned plane according to monitoring unmanned data on the electronic map,
Data displaying is carried out to the monitor state of K unmanned plane.
7th step terminates.
Claims (5)
1. a kind of multiple no-manned plane monitoring method based on cloud, it is characterised in that the following steps are included:
The first step, constructs monitoring unmanned system, and monitoring unmanned system is made of client tier-cloud service layer-unmanned plane layer；
Client tier includes N number of client, and N is positive integer, and client tier provides access interface for user, by operating in browser
Web apply and first interface layer composition；Client tier receives the register instruction of user's input, provides resource access for user
Entrance；Client tier sends register instruction, client to cloud service layer in a manner of http protocol web Service interface
Layer receives monitoring unmanned data from cloud service layer by web Service interface；Cloud service layer provides calculating for unmanned plane and deposits
Energy storage power, and the interface of access unmanned plane is provided for client tier, cloud service layer takes layering framework " from bottom to top ", according to
It is secondary to be made of second interface layer, accumulation layer, computation layer；Second interface layer is first layer, for obtaining and parsing from unmanned plane
The data information that layer and client tier send over, and interacted upwards with accumulation layer；Accumulation layer is the second layer, for storing
The data that interface layer passes over；Computation layer is third layer, for obtaining the data of monitoring from accumulation layer, and carries out corresponding position
Reason；
Second interface layer provides two kinds of interfaces: Sockets interface and Web Service interface；
MAVLink message of the Sockets interface from unmanned plane parses it to obtain drone status monitoring number
According to by drone status supervising data storage to Redis caching；
Web Service interface is connected with client tier, and web Service interface is received from client tier and transmitted by HTTP
The register instruction come, is sent to registration module for register instruction, and will be packaged into from the received monitoring unmanned data of accumulation layer
HTTP status message is sent to client tier；
Accumulation layer is made of drone status database, unmanned plane registration database and caching Redis；
Drone status database purchase monitoring unmanned data, specifically include unmanned plane ID, cluster ID, IP address, port numbers,
Fly control version, registration date, connection status, unmanned plane course angle, three-dimensional velocity, height, air speed, attitude angle, longitude and latitude and electricity
14 list items of pond information, wherein unmanned plane ID is the unique identification of unmanned plane；Cluster ID is the cluster grouping where the unmanned plane,
Same unmanned plane can only be in a cluster grouping；One unmanned plane corresponds to unique IP address and port numbers；Flying control version is
The version of UAV Flight Control System；Registration date is the date of registration module registration unmanned plane；Connection status refers to current nothing
Whether man-machine monitoring system connects unmanned plane, if connection unmanned plane, is denoted as 1, is otherwise denoted as 0；Unmanned plane course angle is for nobody
Angle between the machine longitudinal axis and the earth arctic；Three-dimensional velocity is speed of the unmanned plane in three directions of x-axis, y-axis and z-axis；Highly
It is relative altitude of the unmanned plane relative to sea level；Wind speed when air speed is current flight；Attitude angle is the body of unmanned plane
Three course angle, pitch angle and roll angle Eulerian angles that relationship between coordinate and geographic coordinate system determines；Longitude and latitude is mark
The coordinate of unmanned plane position；Battery information is the remaining capacity size of unmanned plane；
Unmanned plane registration database records unmanned plane registration information, including unmanned plane ID, client id, cluster ID, IP address, end
Slogan flies control version, 8 registration date, connection status list items, and client id is the unique identification of client, a unmanned plane
ID corresponds to a client id, and other 7 list items are consistent with the corresponding table item content in drone status database；
Caching Redis temporarily stores drone status monitoring data, specifically includes unmanned plane ID, unmanned plane course angle, three-dimensional speed
In 8 degree, height, air speed, attitude angle, longitude and latitude, battery information data item, this 8 list items and drone status database
Corresponding table item content is consistent；
Computation layer by real-time streaming data processing frame Storm, message queue Kafka, monitoring module, registration module, link block,
Grouping module composition；Registration module is connected with link block, and link block is connected with grouping module, grouping module and monitoring module
It is connected, monitoring module is connected with message queue Kafka, and message queue Kafka is connected with real time data processing frame Storm；Meter
8 item datas that layer first collects caching Redis storage are calculated, and according to the unmanned plane ID in drone status monitoring data, at nobody
The IP address of the unmanned plane, port numbers are inquired in machine registration database, cluster ID flies control version, registration date, connection status 6
This 14 item data is formed monitoring unmanned data, loads into Kafka, then carry out real time data by Storm by item data
Processing, will be in the monitoring unmanned data deposit drone status database after processing；The main function of Kafka is temporarily to deposit
Store up monitoring unmanned data；Registration module carries out unmanned plane registration, and link block carries out unmanned plane connection, and grouping module carries out nothing
Man-machine grouping, monitoring module and client tier cooperation, carry out monitoring unmanned；
Unmanned plane layer includes N platform unmanned plane, corresponding N number of client；The winged control firmware of every unmanned plane is real using MAVLink agreement
Existing data link transmission, and interacted by Sockets interface and the Sockets interface on cloud service layer；
Second step initializes drone status database, unmanned plane registration database and caching Redis；
Drone status database and unmanned plane registration database are disposed in cloud service layer, and by drone status database and nothing
Man-machine registration database content empties, and disposes caching Redis in cloud service layer, and caching Redis content is emptied；
Third step, client tier are chosen K client and are registered, and K is the unmanned plane quantity that user needs while monitoring, 1≤K
≤ N, method are:
3.1 client tiers choose an idle client in N number of client, execute registration operation, send register instruction；
The Web Service interface of 3.2 cloud service layers receives the register instruction for currently needing to register unmanned plane from the client,
Register instruction includes 3 part of IP address, port numbers and client id of unmanned plane, and register instruction is sent to the note of cloud service layer
Volume module；
3.3 registration modules are according to the IP address and port numbers lookup unmanned plane registration database in register instruction, because of an IP
Address and port numbers only correspond to unique unmanned plane, if having found identical IP address and port in unmanned plane registration database
Number, then the link order of this unmanned plane is sent to link block, link order includes the IP address, port numbers and nothing of unmanned plane
The man-machine part ID3 executes the 4th step；Otherwise 3.4 are executed；
3.4 registration modules give unmanned plane to distribute a unmanned plane ID, and the unmanned plane for by unmanned plane ID and currently needing to register
IP address, cluster ID, flies to control the client of version, registration date, connection status and currently transmitted register instruction at port numbers
Client id is added to unmanned plane registration database, and the link order of this unmanned plane is sent to link block, executes the 4th
Step；
The link block of 4th step, cloud service layer carries out unmanned plane connection, and method is:
The link block of 4.1 cloud service layers receives link order from registration module；
Link order is sent to Sockets interface by the link block of 4.2 cloud service layers, and Sockets interface passes through link order
In IP address and port numbers find the correspondence unmanned plane of unmanned plane layer；Correspondence nothing of the 4.3 Sockets interfaces from unmanned plane layer
Man-machine reception MAVLink message parses MAVLink message to obtain drone status monitoring data, by drone status
Supervising data storage to caching Redis；
4.4 link blocks construct the unmanned plane incarnation of unmanned plane corresponding to IP address and port numbers in link order；Unmanned plane
The building method of incarnation are as follows: link block obtains drone status monitoring data from caching Redis, chooses unmanned plane ID, nothing
Man-machine course angle, three-dimensional velocity, height, air speed, attitude angle, 8 data item of longitude and latitude and battery information, and according to unmanned plane shape
Unmanned plane ID in state monitoring data, inquires the IP address of the unmanned plane, port numbers, cluster in unmanned plane registration database
ID flies control version, and the registration date, thus 6 data item of connection status obtain 14 data item of monitoring unmanned data, together
The attribute of Shi Zuowei unmanned plane incarnation, these attributes just constitute unmanned plane incarnation；
5th step, the grouping module of cloud service layer carry out unmanned plane grouping, statistics unmanned plane incarnation sum, if unmanned plane incarnation is total
Number is less than K, turns third step 3.1, if unmanned plane incarnation sum is equal to K value, executes the 6th step；
6th step, cloud service layer and client tier cooperate, and carry out monitoring unmanned, method is:
6.1 monitoring modules obtain K all unmanned plane incarnation from grouping module, by the monitoring unmanned in unmanned plane incarnation
Data are put into message queue Kafka；
6.2 real-time streaming datas handle frame Storm and open K thread parallel from K unmanned planes prisons of message queue Kafka acquisition
Data are controlled, K monitoring unmanned data parallels are stored in drone status database；
6.3 Web Service interfaces from drone status data base concurrency read K monitoring unmanned data, by K nobody
Machine monitoring data are converted into JSON data format, and are infused by the unmanned plane ID in K monitoring unmanned data in unmanned plane
It is searched in volume database, K client id corresponding to this K unmanned plane ID is found, by the nothing of K JSON data formats
Man-machine monitoring data returns to the corresponding client of K client id respectively；
The corresponding client of 6.4 K client ids parses the monitoring unmanned data under corresponding unmanned plane ID, parallel from file
Electronic map is read, position, the routing information of corresponding unmanned plane are drawn according to monitoring unmanned data on the electronic map, to K
The monitor state of a unmanned plane carries out data displaying.
7th step terminates.
2. a kind of multiple no-manned plane monitoring method based on cloud as described in claim 1, it is characterised in that the register instruction
Data format is JSON format, and the received monitoring unmanned data of client tier are also JSON format.
3. a kind of multiple no-manned plane monitoring method based on cloud as described in claim 1, it is characterised in that be grouped described in the 5th step
Module carries out unmanned plane grouping, and the method for statistics unmanned plane incarnation sum is:
5.1 grouping modules construct internal layer Hash table and guarantee that IP address and port numbers are corresponding with unmanned plane incarnation, internal layer Hash table packet
Two fields of key1 and value1 are included, wherein key1 is number of the IP address together with port number combinations, and value1 is nothing
Man-machine incarnation, the element number of internal layer Hash table are the unmanned plane incarnation number of same grouping；
5.2 grouping modules identify the packet number of unmanned plane by the cluster ID of unmanned plane incarnation, and outer layer Hash table includes key2
With two fields of value2, wherein key2 is cluster ID, and value2 is the pointer of internal layer Hash table, and the internal layer of pointer meaning is breathed out
The unmanned plane incarnation of Xi Biaonei is under cluster ID corresponding to key2 value, and the element number of outer layer Hash table is all nothings
The grouping number of man-machine incarnation in total；
5.3 grouping modules statistics unmanned plane incarnation sum: outer layer Hash table statistical packet number is first passed through, then breathes out outer layer
The element number of the internal layer Hash table of uncommon each grouping of table is cumulative, obtains unmanned plane incarnation sum.
4. a kind of multiple no-manned plane monitoring method based on cloud as claimed in claim 3, it is characterised in that the internal layer Hash table
It is constructed in memory with outer layer Hash table.
5. a kind of multiple no-manned plane monitoring method based on cloud as described in claim 1, it is characterised in that monitor mould described in 6.1 steps
The method that block obtains K all unmanned plane incarnation from grouping module is: first passing through outer layer Hash table and finds all unmanned planes
Grouping, the unmanned plane incarnation under different grouping is then found by internal layer Hash table: obtaining unmanned plane from K unmanned plane incarnation
Attribute obtains the K monitoring unmanned data being made of 14 data item in total.
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