CN110286692A - Wireless communications method, device, unmanned plane and unmanned aerial vehicle control system - Google Patents
Wireless communications method, device, unmanned plane and unmanned aerial vehicle control system Download PDFInfo
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- 230000004927 fusion Effects 0.000 claims description 28
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- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 9
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- 238000012544 monitoring process Methods 0.000 description 4
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Classifications
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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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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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
-
- 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
- H04W4/025—Services making use of location information using location based information parameters
-
- 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
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
-
- 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
- H04W4/029—Location-based management or tracking services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W8/00—Network data management
- H04W8/18—Processing of user or subscriber data, e.g. subscribed services, user preferences or user profiles; Transfer of user or subscriber data
- H04W8/20—Transfer of user or subscriber data
- H04W8/205—Transfer to or from user equipment or user record carrier
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Databases & Information Systems (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Astronomy & Astrophysics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
Abstract
The present invention relates to air vehicle technique field more particularly to a kind of wireless communications method, device, unmanned plane and unmanned aerial vehicle control systems.This method comprises: obtaining the state of flight information of the unmanned plane；Determine that the first communication link disconnects；The state of flight information is sent to remote terminal, so that the remote terminal determines the state of flight of the unmanned plane according to the state of flight information by the second communication link.The embodiment can grasp the state of flight of unmanned plane always, ensure that unmanned plane will not lost contact, improve the safety of unmanned plane, reduce the loss of user.
Description
[technical field]
The present invention relates to air vehicle technique field more particularly to a kind of wireless communications method, device, unmanned plane and nobody
Machine control system.
[background technique]
A kind of flight equipment of the unmanned plane as remote control, can be applied in multiple fields, realize varied
Function.For example, shooting video image etc. by unmanned plane.However, in practical applications, it is easy to because of various originals
Unmanned plane and control terminal are out of touch because caused by, and unmanned plane is easy to fly to lose.
[summary of the invention]
The technical problem to be solved in the present invention is to provide a kind of wireless communications method, device, unmanned plane and unmanned plane controls
System processed solves unmanned plane and is easy and control terminal technical problem out of touch.
The one aspect of the embodiment of the present invention provides a kind of wireless communications method, is applied to unmanned plane, the method packet
It includes:
Obtain the state of flight information of the unmanned plane；
Determine that the first communication link disconnects；
The state of flight information is sent to remote terminal, so that the remote terminal is according to institute by the second communication link
State the state of flight that state of flight information determines the unmanned plane.
Optionally, before first communication link of determination disconnection, the method also includes:
The first communication link is established according to the first eSIM card and the 2nd eSIM card, wherein the first eSIM card is set to
The unmanned plane, the 2nd eSIM card are set to the remote terminal.
Optionally, the unmanned plane includes GPS module and the first Beidou module, then, the acquisition unmanned plane flies
Row status information includes:
Obtain the base station location information of the first eSIM card；
Obtain the location information and velocity information of the unmanned plane of GPS module acquisition；
Obtain the location information and velocity information of the unmanned plane of the first Beidou module acquisition；
By the base station location information, the location information of GPS module acquisition and velocity information, first north
The location information and velocity information of bucket module acquisition are calculated, to obtain data fusion information, wherein the data are melted
Close position and the flying speed that information includes the unmanned plane；
The location information and velocity information, described first acquired according to the base station location information, the GPS module
The location information and velocity information of Beidou module acquisition and the data fusion information are packaged, and the nothing is generated
Man-machine state of flight information.
Optionally, the method also includes:
Flight warning message is sent to the remote terminal by second communication link；
The signal of communication of first communication link is searched in real time, so that first communication link is connected to.
Optionally, the signal of communication for searching for first communication link in real time includes:
The history flight path for obtaining the unmanned plane searches for first communication in real time on the history flight path
The signal of communication of link.
Optionally, the method also includes:
Start program of making a return voyage, the takeoff point so that unmanned plane flies back.
The other side of the embodiment of the present invention provides a kind of wireless communication device, is applied to unmanned plane, described device packet
It includes:
Data obtaining module, for obtaining the state of flight information of the unmanned plane；
Communication link state determining module, for determining that the first communication link disconnects；
First information sending module is used for through the second communication link transmission state of flight information to remote terminal,
So that the remote terminal determines the state of flight of the unmanned plane according to the state of flight information.
Optionally, described device further include:
Communication link establishes module, for establishing the first communication link according to the first eSIM card and the 2nd eSIM card, wherein
The first eSIM card is set to the unmanned plane, and the 2nd eSIM card is set to the remote terminal.
Optionally, the unmanned plane includes GPS module and the first Beidou module, and the data obtaining module includes:
First acquisition unit, for obtaining the base station location information of the first eSIM card；
Second acquisition unit, the location information and velocity information of the unmanned plane for obtaining GPS module acquisition；
Third acquiring unit, the location information and speed of the unmanned plane for obtaining the first Beidou module acquisition
Information；
Computing unit, for believing the base station location information, the location information of GPS module acquisition and speed
Breath, the location information of first Beidou module acquisition and velocity information are calculated, to obtain data fusion information,
In, the data fusion information includes position and the flying speed of the unmanned plane；
Processing unit, for the location information and speed according to the base station location information, GPS module acquisition
Information, the location information of first Beidou module acquisition and velocity information and the data fusion information are beaten
Packet, generates the state of flight information of the unmanned plane.
Optionally, described device further include:
Second information sending module, for sending flight warning letter to the remote terminal by second communication link
Breath；
Signal search module, for searching for the signal of communication of first communication link in real time, so that first communication
Link connection.
Optionally, the signal search module is specifically used for:
The history flight path for obtaining the unmanned plane searches for first communication in real time on the history flight path
The signal of communication of link, so that first communication link is connected to.
Optionally, described device further include:
Program starting module, for starting preset program of making a return voyage, the takeoff point so that unmanned plane flies back.
Another aspect of the embodiment of the present invention provides a kind of unmanned plane, and the unmanned plane includes fuselage, with the fuselage phase
The power device of horn even and the power for providing flight to the unmanned plane, which is characterized in that the unmanned plane is also
Including the first eSIM card, the first Beidou module and the flight controller being set in the fuselage, the flight controller and institute
State the first eSIM card and first Beidou module communication connection；Wherein,
The first eSIM card, for establishing the first communication link；
First Beidou module, for establishing the second communication link；
The flight controller, for obtaining the state of flight information of the unmanned plane；Determine first communication link
It disconnects；Send the state of flight information to remote terminal by second communication link so that the remote terminal according to
The state of flight information determines the state of flight of the unmanned plane.
Optionally, the unmanned plane further includes GPS module, and the GPS module and the flight controller communicate to connect,
The GPS module, for acquiring the location information and velocity information of the unmanned plane；
The first eSIM card, for obtaining the corresponding base station location information of the first eSIM card；
First Beidou module, for acquiring the location information and velocity information of the unmanned plane；
The flight controller, for by the base station location information, the GPS module acquisition the location information and
Velocity information, the location information of first Beidou module acquisition and velocity information are calculated, to obtain data fusion
Information, wherein the data fusion information includes position and the flying speed of the unmanned plane；
The flight controller is also used to:
The location information and velocity information, the Beidou acquired according to the base station location information, the GPS module
The location information and velocity information of module acquisition and the data fusion information are packaged, and the unmanned plane is generated
State of flight information.
Optionally, the flight controller is also used to:
Flight warning message is sent to the remote terminal by second communication link；
The signal of communication of first communication link is searched in real time, so that first communication link is connected to.
Optionally, the flight controller is also used to:
Start program of making a return voyage, the takeoff point so that unmanned plane flies back.
Another aspect of the embodiment of the present invention provides a kind of unmanned aerial vehicle control system, the system comprises:
Unmanned plane as described above；
Remote terminal, the remote terminal are provided with the 2nd eSIM card and the second Beidou module；
The first eSIM card connects the 2nd eSIM card, to establish first communication link, first Beidou
Module connects second Beidou module, to establish second communication link；
The remote terminal, for receiving the unmanned plane by described second when first communication link disconnects
The state of flight information that communication link is sent, the state of flight of the unmanned plane is determined according to the state of flight information.
Optionally, the system also includes cloud server, the cloud server is used for, receive and store it is described nobody
The image information that machine is uploaded by the first eSIM card or first Beidou module.
In an embodiment of the present invention, by obtaining the state of flight information of unmanned plane, and the first communication link is monitored
Connection status, monitoring that the first communication link disconnects, the flight shape sent to remote terminal by the second communication link
State information, so that the remote terminal determines the state of flight of the unmanned plane according to the state of flight information.The embodiment party
Formula can grasp the state of flight of unmanned plane always, ensure that unmanned plane will not lost contact, improve the safety of unmanned plane,
Reduce the loss of user.
[Detailed description of the invention]
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is a kind of structural schematic diagram of unmanned aerial vehicle control system provided in an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of unmanned plane provided in an embodiment of the present invention；
Fig. 3 is a kind of hardware structural diagram of unmanned plane provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of remote terminal provided in an embodiment of the present invention；
Fig. 5 is a kind of flow chart of wireless communications method provided in an embodiment of the present invention；
Fig. 6 is the state of flight information that the unmanned plane is obtained in a kind of wireless communications method provided in an embodiment of the present invention
Method flow chart；
Fig. 7 be another embodiment of the present invention provides a kind of wireless communications method flow chart；
Fig. 8 is a kind of flow chart for wireless communications method that further embodiment of this invention provides；
Fig. 9 is a kind of flow chart for wireless communications method that yet another embodiment of the invention provides；
Figure 10 is a kind of structural schematic diagram of wireless communication device provided in an embodiment of the present invention.
[specific embodiment]
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
It should be noted that each feature in the embodiment of the present invention can be combined with each other, in this hair if do not conflicted
Within bright protection scope.In addition, though having carried out the division of functional module in schematic device, show in flow charts
Logical order, but in some cases, it can be with the sequence in the module division being different from schematic device or flow chart
Execute shown or described step.
Referring to Fig. 1, Fig. 1 is a kind of structural schematic diagram of unmanned aerial vehicle control system provided in an embodiment of the present invention.Such as Fig. 1
Shown, which includes: unmanned plane 10 and remote terminal 20.
In embodiments of the present invention, the unmanned aerial vehicle control system is based primarily upon GPS technology, 5G eSIM card and Beidou
Technology provides a kind of composite communication positioning method, to ensure that the unmanned plane 10 will not be with 20 lost contact of remote terminal；Also,
After the unmanned plane 10 and 20 lost contact of remote terminal, a kind of scheme for protecting unmanned plane 10 is provided, to reduce damage as possible
It loses；Further, it is also possible to solve to be easy to be limited by distance and limited by shelter when unmanned plane 10 transmits image to remote terminal 20
The problem of processed.
Wherein, the unmanned plane 10 is communicated to connect with the remote terminal 20, and the remote terminal 20 can control described
The flight of unmanned plane 10 sends to unmanned plane 10 and instructs, so that unmanned plane 10 returns to corresponding information according to described instruction, than
Such as, unmanned plane 10 sends the image information of shooting according to described instruction to remote terminal 20.In the present embodiment, the unmanned plane
When 10 normal flight, unmanned plane 10 is formed with remote terminal 20 based on GPS technology, 5G eSIM card and Beidou technology compound
Communication mode establishes communication connection.
It should be noted that the unmanned plane 10 can be one-to-one relationship with the remote terminal 20.It can also be with
It is many-to-one relationship, such as the corresponding remote terminal 20 of multiple unmanned planes 10, wherein each of multiple unmanned planes 10
Unmanned plane 10 can be based on the composite communication mode and the remote control that GPS technology, 5G eSIM card and Beidou technology form eventually
20 communication of end.The structure of the unmanned aerial vehicle control system 100 is not limited by Fig. 1.
Specifically, please referring to Fig. 2 and Fig. 3, the unmanned plane 10 includes: 101, four machines extended from fuselage 101 of fuselage
Arm 102, the power device 103 being respectively installed on each horn 102, and the first eSIM card in the fuselage 101
104, the first Beidou module 105, flight controller 106.The flight controller 106 respectively with the first eSIM card 104 and
First Beidou module 105 communicates to connect.
Unmanned plane 10 shown in Fig. 2 is quadrotor unmanned vehicle, and the quantity of power device 103 is four.Other can
In the embodiment of energy, unmanned plane 10 can be other any kind of unmanned vehicles, such as fixed-wing unmanned plane during flying device etc..
It is applied to the occasion of other types unmanned vehicle in power device 103, the quantity of power device 103 can be according to actual needs
Change, this is not limited by the present invention.
In an embodiment of invention, horn 102 is fixedly connected with fuselage 101, it is preferable that horn 102 and fuselage 101 1
It is body formed.In other possible embodiments, horn 102 can by can relative to fuselage 101 be unfolded or fold in a manner of and machine
Body 101 is connected.For example, horn 102 can be connected by a rotating shaft mechanism with fuselage 101, to realize that horn 102 can be relative to machine
The expansion of body 101 folds.
In one embodiment of this invention, power device 103 includes driving device 1031 and is driven by driving device 1031
Propeller component 1032, propeller component 1032 is installed on the output shaft of driving device 1031, and propeller component 1032 exists
The lift for making unmanned plane 10 fly or thrust are rotated to produce under the driving of driving device 1031.Driving device 1031, which can be, appoints
The motor, such as brush motor, brushless motor, direct current generator, stepper motor, AC induction motor etc. of what suitable type.
Referring to Fig. 3, the first eSIM card 104 is for establishing the first communication link.The first eSIM card 104 is specific
It can be the eSIM card with 4G communication function or 5G communication function, have the advantages that small in size, light-weight, facilitate installation
In the unmanned plane 10.The first eSIM card 104 is used to obtain the corresponding base station location information of the first eSIM card 104,
The base station location information refers to that the location information of the unmanned plane 10, the concrete mode for obtaining the base station location information are
The first eSIM card 104 is positioned according to its corresponding base station, to export the location information of the unmanned plane 10.Institute
The first communication link is stated to refer to realizing the unmanned plane 10 and the remote control eventually based on the 5G communication technology or the 4G communication technology
The communication link of 20 connection of end.In embodiments of the present invention, the remote terminal 20 can be according to the first line control of communication institute
State unmanned plane 10, for example control unmanned plane 10 takes off, lands, shoot video, return image etc..
First Beidou module 105 is for establishing the second communication link.First Beidou module 105 specifically can be
The chip for being used to receive Beidou signal being loaded on unmanned plane 10, first Beidou module 105 can be used for navigator fix,
Position, the tachometric survey information etc. of the unmanned plane 10 are provided.First Beidou module 105 can also by unmanned plane 10 with it is distant
Control terminal 20 connect, by second communication link to the remote terminal 20 send the unmanned plane 10 location information,
Airspeed information etc..Second communication link refers to realizing the unmanned plane 10 with the remote control eventually based on Beidou technology
The communication link of 20 connection of end.In embodiments of the present invention, second communication link is mainly used for transmitting the unmanned plane 10
State of flight information to remote terminal 20, the state of flight information includes position, the flying speed etc. of the unmanned plane 10.
It is worth noting that short message communicates usual time delay 0.5 second since Beidou communication is short message communication mode, and
And a data can only be sent within 1 second, to cause data delay big, renewal frequency is low, and therefore, the remote terminal 20 is general not
It, certainly, in practical applications, can be according to specific feelings by the flight of unmanned plane 10 described in second line control of communication
Condition selection uses unmanned plane 10 described in second line control of communication, and preferred, using first communication link, or
The mode of radio communication controls the unmanned plane 10, or first communication link and second communication link is used in combination
To control the unmanned plane 10.
The flight controller 106 be specifically the unmanned plane 10 flight control system, be used to guarantee it is described nobody
The normal flight of machine 10, the flight controller 106 may include the equipment such as processor, sensor, memory, power supply.At this
In embodiment, the flight controller 106 is used to obtain the state of flight information of the unmanned plane 10, and monitors described first
The connection situation of communication link sends the flight by second communication link when first communication link is disconnected
Status information is to remote terminal 20, so that the remote terminal 20 determines the unmanned plane 10 according to the state of flight information
State of flight.Wherein, the state of flight information refers to the flying speed of the unmanned plane 10, the warp of present position
Degree, latitude information, flying height etc..The state of flight of the unmanned plane 10, i.e. basis are determined according to the state of flight information
The state of flight information determines position and the flying speed of the unmanned plane.Wherein, 10 state of flight information of unmanned plane is obtained
Process and monitor the process of connection situation of the first communication link and can carry out simultaneously, can be after unmanned plane 10 takes off with regard to one
The state of flight information is directly obtained, and monitors the connection situation of first communication link always.
In the present embodiment, the state of flight information specifically includes the corresponding base station location of the first eSIM card 104
Information, the position for the unmanned plane 10 that first Beidou module 105 detects, velocity information.The flight controller 106 will
The position and speed information of the base station location information got and the unmanned plane 10 of first Beidou module 105 detection
It is packaged, and remote terminal 20 is sent to by second communication link.Wherein, unmanned plane 10 is determined by base station
The information of position is identical as the location information possibility of the unmanned plane 10 detected by the first Beidou module 105, it is also possible to not phase
Together, when the two location informations are not identical, can on the remote terminal 20 simultaneously show the two positions, judge this two
Whether the distance of a position is less than pre-determined distance threshold value, if so, can be using the corresponding middle position in the two positions as described in
The current position of unmanned plane 10.Alternatively, the analysis corresponding history base station location information of the first eSIM card 104 and described
The historical position of the unmanned plane 10 of first Beidou module 105 detection, it is true according to obtained two groups of historical position informations difference
The flight path of the fixed unmanned plane 10, available two flight paths, determine institute further according to this two flight paths at this time
State the current position of unmanned plane 10.
In some embodiments, same referring to Fig. 3, the unmanned plane 10 further includes GPS module 107.The GPS module
107 communicate to connect with the flight controller 106.
Wherein, the GPS module 107 specifically can be the GPS module that the unmanned plane 10 itself is included, and be used to adopt
Collect position and the flying speed of the unmanned plane 10.
Wherein, the flight controller 106 has data processing function, in the present embodiment, the flight controller 106
The location information that base station location information, the GPS module 107 for acquiring the first eSIM card 104 acquire and
Velocity information, the location information of first Beidou module 105 acquisition and velocity information carry out that data fusion is calculated
Information, the data fusion information include position and the flying speed of the unmanned plane 10.Wherein, the data fusion letter is calculated
When breath, position and the flying speed of the unmanned plane 10 can be specifically calculated using kalman filter method, can also use it
His method calculates position and the flying speed of the unmanned plane 10.The location information and flight speed of the unmanned plane 10 is calculated
After degree, the location information and flying speed are sent to flight controller 106, flight controller 106 is according to preset control
Algorithm instructs the pwm that the location information and flying speed generate motor, sends aircraft to.In the present embodiment, flight control
The location information and speed that device 106 processed respectively acquires the first eSIM card 104, the first Beidou module 105 and GPS module 107
Information carries out COMPREHENSIVE CALCULATING, can obtain accurate location information and velocity information, determines to improve unmanned plane 10
The accuracy rate of position.
After flight controller 106 gets above-mentioned data fusion information, when detecting that first communication link disconnects,
The location information that can be acquired the data fusion information, the first eSIM card 104 by second communication link, institute
State position, the velocity information hair that position, velocity information and the GPS module 107 of the acquisition of the first Beidou module 105 acquire
It send to remote terminal 20, so that remote terminal 20 be enable to obtain the position of the accurate unmanned plane 10 and speed of flying
Degree.Wherein, when sending above-mentioned each position information and velocity information by second communication link, can to each position information and
Velocity information carries out packing compression, is then sent again by the second communication link and is packaged compressed data, thereby, it is possible to improve
The efficiency of transmission of data.
Under normal circumstances, after remote terminal 20 gets the current position of unmanned plane 10 and flying speed, remote terminal
20 can not be flown by unmanned plane 10 described in second line control of communication, therefore, in order to ensure the safety of unmanned plane 10,
The unmanned plane 10 can be protected using following manner.
Specifically, the flight controller 106 is also used to send out by second communication link to the remote terminal 20
Send flight warning message.The flight warning message is for reminding unmanned plane 10 described in the corresponding user of the remote terminal 20 can
Energy meeting lost contact, so that user can timely respond to lost contact accident.At the same time, the flight controller 106 is also used to search in real time
The signal of communication of the first communication link of Suo Suoshu, so that first communication link is connected to.Wherein, described to search for described in real time
The signal of communication of one communication link specifically includes: the history flight path of the unmanned plane 10 is obtained, on history flight road
The signal of communication of first communication link is searched on diameter in real time.In the present embodiment, when the first communication of the unmanned plane 10
When link disconnects, the unmanned plane 10 and 20 lost contact of remote terminal are determined, the unmanned plane 10 independently determines flight at this time, described
Unmanned plane 10 flies according to its history flight path, and search is connected to first communication link automatically in flight course
Signal.After first communication link connection, the remote terminal 20 can control the unmanned plane 10 and fly.Wherein,
When the unmanned plane 10 independently determines flight, preset lost contact process instruction can be triggered, the flight controller 106 is according to described
Lost contact process instruction generates corresponding pwm instruction, to drive motor, controls 10 autonomous flight of unmanned plane.Wherein, in institute
After stating the connection of the first communication link, the unmanned plane 10 keeps original place hovering, and the remote terminal 20 is waited to send operational order.
In some embodiments, after 10 lost contact of unmanned plane, the flight controller 106 is also used to start preset
It makes a return voyage program, the takeoff point so that unmanned plane 10 flies back.Wherein, its takeoff point is had recorded when the unmanned plane 10 takes off.?
In the present embodiment, the unmanned plane 10 can fly back takeoff point automatically, to protect the unmanned plane 10.
Optionally, the unmanned plane 10 further includes SD card, and the SD card is used to store the data information of the unmanned plane 10,
For example, storing the image information that the unmanned plane 10 is shot.
Wherein, referring to Fig. 4, the remote terminal 20 includes the 2nd eSIM card 201 and the second Beidou module 202.It is described
2nd eSIM card 201 is identical as above-mentioned first eSIM card, 104 composition, and the function of being realized is identical, second Beidou module 202
Formed with above-mentioned first Beidou module 105 identical, the function of being realized is also identical.The 2nd eSIM card 201 and above-mentioned first
ESIM card 104 communicates to connect, to establish first communication link；Second Beidou module 201 and above-mentioned first Beidou mould
Block 105 communicates to connect, to establish second communication link.
The remote terminal 20 specifically can be the mobile terminal devices such as remote controler or smart phone, tablet computer.When
When the remote terminal 20 is mobile terminal device, it can be manipulated by the APP installed on the mobile terminal device described
Unmanned plane 10.
Optionally, the remote terminal 20 further includes SD card, SD card information for storing data, such as described in storage
Image information, the state of flight of the unmanned plane 10 etc. that unmanned plane 10 returns.
It is worth noting that the SD card be it is selectable, the SD card default setting works as institute in the remote terminal 20
When stating the 20 not set SD card of remote terminal, the SD card is set to the unmanned plane 10.When the unmanned plane 10 and described
Remote terminal 20 the not set SD card when, the image information that the unmanned plane 10 is shot can store server beyond the clouds.
Described image information includes picture, video, audio etc..
Optionally, the remote terminal 20 further includes display module, and the display module specifically can be LED display
Deng.The display module is used to show the state of flight information of the unmanned plane 10, for example shows map on the screen, according to institute
The position for stating unmanned plane 10 highlights the unmanned plane 10 on map.Wherein, the map can be two-dimensional surface map,
It is also possible to 3 D stereo map, the format of unmanned plane 10 according to the map is corresponding to adjust its display mode.
In the present embodiment, the unmanned aerial vehicle control system 100 passes through the first eSIM card 104 and the 2nd eSIM
Card 201 establishes the first communication link, establishes second with second Beidou module 202 by first Beidou module 105 and leads to
Believe link, when first communication link disconnects, the remote terminal 20 obtains the nothing by second communication link
Man-machine 10 state of flight improves the stability of unmanned plane 10 to reduce the probability of 10 lost contact of unmanned plane.
In some embodiments, the unmanned aerial vehicle control system 100 further includes cloud server, and the cloud server is used
Pass through the first eSIM card 104 or the figure of first Beidou module 105 upload in receiving and storing the unmanned plane 10
As information.
The embodiment provides the state of flights that a kind of unmanned aerial vehicle control system, the system pass through acquisition unmanned plane
Information, and the connection status of the first communication link is monitored, it is monitoring the disconnection of the first communication link, is passing through the second communication link
The state of flight information is sent to remote terminal, so that the remote terminal determines the nothing according to the state of flight information
Man-machine state of flight.The embodiment can grasp the state of flight of unmanned plane always, ensure that unmanned plane will not lose
Connection, improves the safety of unmanned plane, reduces the loss of user.
Referring to Fig. 5, the method is applied to above-mentioned unmanned plane the embodiment of the invention provides a kind of wireless communications method
10, the method is specifically executed by above-mentioned flight controller 106, which comprises
S11, the state of flight information for obtaining the unmanned plane；
Wherein, the unmanned plane includes GPS module and the first Beidou module, referring to Fig. 6, described obtain the unmanned plane
State of flight information include:
S111, the base station location information for obtaining the first eSIM card；
S112, the location information and velocity information for obtaining the unmanned plane that GPS module acquires；
S113, the location information and velocity information for obtaining the unmanned plane that the first Beidou module acquires；
S114, the location information for acquiring the base station location information, the GPS module and velocity information, described
The location information and velocity information of first Beidou module acquisition are calculated, to obtain data fusion information, wherein described
Data fusion information includes position and the flying speed of the unmanned plane；
S115, according to the base station location information, the GPS module acquire the location information and velocity information, institute
The location information and velocity information and the data fusion information for stating Beidou module acquisition are packaged, described in generation
The state of flight information of unmanned plane.
S13, determine that the first communication link disconnects；
S14, the state of flight information is sent by the second communication link to remote terminal, so that the remote terminal root
The state of flight of the unmanned plane is determined according to the state of flight information.
Above-mentioned steps S11 to step S14 is executed by the unmanned plane 10 in above-described embodiment, and specific implementation can refer to upper
The embodiment of unmanned aerial vehicle control system is stated, details are not described herein.
In some embodiments, referring to Fig. 7, the main distinction of Fig. 7 and Fig. 5 is, in step S13, determine that first is logical
Before believing that link disconnects, the method also includes:
S12, the first communication link is established according to the first eSIM card and the 2nd eSIM card, wherein the first eSIM card is set
It is placed in the unmanned plane, the 2nd eSIM card is set to the remote terminal.
In some embodiments, referring to Fig. 8, the main distinction of Fig. 8 and above-mentioned Fig. 7 are, the method also includes:
S15, flight warning message is sent to the remote terminal by second communication link；
S16, the signal of communication for searching for first communication link in real time, so that first communication link is connected to.
The signal of communication for searching for first communication link in real time specifically includes: the history for obtaining the unmanned plane flies
Walking along the street diameter searches for the signal of communication of first communication link in real time on the history flight path.
In some embodiments, referring to Fig. 9, the main distinction of Fig. 9 and above-mentioned Fig. 8 are, the method also includes:
S17, start program of making a return voyage, the takeoff point so that unmanned plane flies back.
Detailed content about wireless communications method provided in an embodiment of the present invention may refer to offer of the embodiment of the present invention
Unmanned aerial vehicle control system embodiment, this will not be detailed here.
The embodiment provides a kind of wireless communications method, this method is believed by obtaining the state of flight of unmanned plane
Breath, and monitor the first communication link connection status, monitoring the first communication link disconnect, by the second communication link to
Remote terminal sends the state of flight information so that the remote terminal according to the state of flight information determine it is described nobody
The state of flight of machine.The embodiment can grasp the state of flight of unmanned plane always, ensure that unmanned plane will not lost contact,
The safety for improving unmanned plane reduces the loss of user.
Referring to Fig. 10, Figure 10 is a kind of structural schematic diagram of wireless communication device 30 provided in an embodiment of the present invention, institute
Wireless communication device 30 is stated applied to above-mentioned unmanned plane 10.The wireless communication device 30 includes: data obtaining module 31, communication
Link state determining module 32 and first information sending module 33.In an embodiment of the present invention, data obtaining module 31, logical
Letter link state determining module 32 and first information sending module 33 can be the flight controller in unmanned plane.
Wherein, data obtaining module 31, for obtaining the state of flight information of the unmanned plane；Communication link state determines
Module 32, for determining that the first communication link disconnects；First information sending module 33, for sending institute by the second communication link
State of flight information is stated to remote terminal, so that the remote terminal determines the unmanned plane according to the state of flight information
State of flight.
Wherein, the unmanned plane 10 includes GPS module and the first Beidou module, at this point, same referring to Fig. 10, the letter
It includes: first acquisition unit 311, second acquisition unit 312, third acquiring unit 313, computing unit 314 that breath, which obtains module 31,
And processing unit 315.First acquisition unit 311, for obtaining the base station location information of the first eSIM card；Second obtains
Unit 312, the location information and velocity information of the unmanned plane for obtaining GPS module acquisition；Third acquiring unit 313,
For obtaining the location information and velocity information of the unmanned plane of Beidou module acquisition；Computing unit 314 is used for the base
The position for the location information that location information, the GPS module acquire and the velocity information, Beidou module acquisition of standing
Information and velocity information are calculated, to obtain data fusion information, wherein the data fusion information includes the unmanned plane
Position and flying speed；Processing unit 315, for institute's rheme according to the base station location information, GPS module acquisition
The location information and velocity information and data fusion letter that confidence breath and velocity information, the Beidou module acquire
Breath is packaged, and the state of flight information of the unmanned plane is generated.
In some embodiments, same referring to Fig. 10, described device 30 further includes that communication link establishes module 34.It is described
Communication link establishes module 34, for establishing the first communication link according to the first eSIM card and the 2nd eSIM card, wherein described
One eSIM card is set to the unmanned plane, and the 2nd eSIM card is set to the remote terminal.In an embodiment of the present invention,
The communication link, which establishes module 34, can be flight controller in unmanned plane.
In some embodiments, equally referring to Fig. 10, described device 30 further includes the second information sending module 35 and letter
Number search module 36.Second information sending module 35 flies for being sent by second communication link to the remote terminal
Row warning message；Signal search module 36, for searching for the signal of communication of first communication link in real time, so that described first
Communication link connection.In an embodiment of the present invention, second information sending module 35 and signal search module 36 can be
Flight controller in unmanned plane.
Wherein, the signal search module 36 is specifically used for: obtaining the history flight path of the unmanned plane, goes through described
The signal of communication of first communication link is searched on history flight path in real time, so that first communication link is connected to.
In some embodiments, same referring to Fig. 10, described device 30 further includes program starting module 37.Described program
Starting module 37 is for starting preset program of making a return voyage, the takeoff point so that unmanned plane 10 flies back.In one embodiment of the invention
In, described program starting module 37 can be the flight controller in unmanned plane.
It should be noted that between modules, unit in one of embodiment of the present invention wireless communication device
The contents such as information exchange, implementation procedure, due to being based on same design with embodiment of the present invention method, particular content is equally applicable to
Wireless communication device.Modules in the embodiment of the present invention can be used as individual hardware or software realize, and can root
According to the combination for the function of needing to realize each unit using individual hardware or software.
The embodiment provides a kind of wireless communication device, which is believed by obtaining the state of flight of unmanned plane
Breath, and monitor the first communication link connection status, monitoring the first communication link disconnect, by the second communication link to
Remote terminal sends the state of flight information so that the remote terminal according to the state of flight information determine it is described nobody
The state of flight of machine.The embodiment can grasp the state of flight of unmanned plane always, ensure that unmanned plane will not lost contact,
The safety for improving unmanned plane reduces the loss of user.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.
Through the above description of the embodiments, those of ordinary skill in the art can be understood that each embodiment
The mode of general hardware platform can be added to realize by software, naturally it is also possible to realize by hardware.Ordinary skill
Personnel are understood that realize that all or part of the process in above-described embodiment method is can to instruct phase by computer program
The hardware of pass is completed, and the program can be stored in a computer-readable storage medium, which when being executed, can wrap
Include the process of the embodiment such as above-mentioned each method.Wherein, the storage medium can be magnetic disk, CD, read-only memory
(Read-Only Memory, ROM) or random access memory (Random Access Memory, RAM) etc..
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this
It under the thinking of invention, can also be combined between the technical characteristic in above embodiments or different embodiment, step can be with
It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have
Have and is provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field
Member is it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of skill
Art feature is equivalently replaced；And these are modified or replaceed, each reality of the present invention that it does not separate the essence of the corresponding technical solution
Apply the range of a technical solution.
Claims (18)
1. a kind of wireless communications method is applied to unmanned plane, which is characterized in that the described method includes:
Obtain the state of flight information of the unmanned plane；
Determine that the first communication link disconnects；
The state of flight information is sent to remote terminal, so that the remote terminal flies according to described by the second communication link
Row status information determines the state of flight of the unmanned plane.
2. the method according to claim 1, wherein first communication link of determination disconnection before, it is described
Method further include:
The first communication link is established according to the first eSIM card and the 2nd eSIM card, wherein the first eSIM card is set to described
Unmanned plane, the 2nd eSIM card are set to the remote terminal.
3. according to the method described in claim 2, it is characterized in that, the unmanned plane includes GPS module and the first Beidou module,
Then, the state of flight information for obtaining the unmanned plane includes:
Obtain the base station location information of the first eSIM card；
Obtain the location information and velocity information of the unmanned plane of the GPS module acquisition；
Obtain the location information and velocity information of the unmanned plane of the first Beidou module acquisition；
The location information and velocity information, the first Beidou mould that the base station location information, the GPS module are acquired
The location information and velocity information of block acquisition are calculated, to obtain data fusion information, wherein the data fusion letter
Breath includes position and the flying speed of the unmanned plane；
The location information and velocity information, first Beidou acquired according to the base station location information, the GPS module
The location information and velocity information of module acquisition and the data fusion information are packaged, and the unmanned plane is generated
State of flight information.
4. method according to any one of claims 1 to 3, which is characterized in that the method also includes:
Flight warning message is sent to the remote terminal by second communication link；
The signal of communication of first communication link is searched in real time, so that first communication link is connected to.
5. according to the method described in claim 4, it is characterized in that, the communication letter for searching for first communication link in real time
Number, comprising:
The history flight path for obtaining the unmanned plane searches for first communication link in real time on the history flight path
Signal of communication.
6. method according to any one of claims 1 to 3, which is characterized in that the method also includes:
Start program of making a return voyage, the takeoff point so that unmanned plane flies back.
7. a kind of wireless communication device, it is applied to unmanned plane, which is characterized in that described device includes:
Data obtaining module, for obtaining the state of flight information of the unmanned plane；
Communication link state determining module, for determining that the first communication link disconnects；
First information sending module is used for through the second communication link transmission state of flight information to remote terminal, so that
The remote terminal determines the state of flight of the unmanned plane according to the state of flight information.
8. device according to claim 7, which is characterized in that described device further include:
Communication link establishes module, for establishing the first communication link according to the first eSIM card and the 2nd eSIM card, wherein described
First eSIM card is set to the unmanned plane, and the 2nd eSIM card is set to the remote terminal.
9. device according to claim 8, which is characterized in that the unmanned plane includes GPS module and the first Beidou module,
The data obtaining module includes:
First acquisition unit, for obtaining the base station location information of the first eSIM card；
Second acquisition unit, the location information and velocity information of the unmanned plane for obtaining the GPS module acquisition；
Third acquiring unit, for obtaining the location information and speed letter of the unmanned plane of the first Beidou module acquisition
Breath；
Computing unit, for by the base station location information, the GPS module acquisition the location information and velocity information,
The location information and velocity information of the first Beidou module acquisition are calculated, to obtain data fusion information, wherein
The data fusion information includes position and the flying speed of the unmanned plane；
Processing unit, for being believed according to the base station location information, the location information of GPS module acquisition and speed
Breath, the location information of first Beidou module acquisition and velocity information and the data fusion information are packaged,
Generate the state of flight information of the unmanned plane.
10. device according to any one of claims 7 to 9, which is characterized in that described device further include:
Second information sending module, for sending flight warning message to the remote terminal by second communication link；
Signal search module, for searching for the signal of communication of first communication link in real time, so that first communication link
Connection.
11. device according to claim 10, which is characterized in that the signal search module is specifically used for:
The history flight path for obtaining the unmanned plane searches for first communication link in real time on the history flight path
Signal of communication so that first communication link be connected to.
12. device according to any one of claims 7 to 9, which is characterized in that described device further include:
Program starting module, for starting program of making a return voyage, the takeoff point so that unmanned plane flies back.
13. a kind of unmanned plane, which is characterized in that the unmanned plane includes fuselage, the horn that is connected with the fuselage and is used for
The power device of the power of flight is provided to the unmanned plane, which is characterized in that the unmanned plane further includes being set to the fuselage
Interior the first eSIM card, the first Beidou module and flight controller, the flight controller and the first eSIM card and institute
State the communication connection of the first Beidou module；Wherein,
The first eSIM card, for establishing the first communication link；
First Beidou module, for establishing the second communication link；
The flight controller, for obtaining the state of flight information of the unmanned plane；Determine that first communication link disconnects；
The state of flight information is sent to remote terminal, so that the remote terminal flies according to described by second communication link
Row status information determines the state of flight of the unmanned plane.
14. unmanned plane according to claim 13, which is characterized in that the unmanned plane further includes GPS module, the GPS
Module and the flight controller communicate to connect,
The GPS module, for acquiring the location information and velocity information of the unmanned plane；
The first eSIM card, for obtaining the corresponding base station location information of the first eSIM card；
First Beidou module, for acquiring the location information and velocity information of the unmanned plane；
The flight controller, the location information and speed for acquiring the base station location information, the GPS module
Information, the location information of first Beidou module acquisition and velocity information are calculated, to obtain data fusion information,
Wherein, the data fusion information includes position and the flying speed of the unmanned plane；
The flight controller is also used to:
The location information and velocity information, the Beidou module acquired according to the base station location information, the GPS module
The location information and velocity information of acquisition and the data fusion information are packaged, and flying for the unmanned plane is generated
Row status information.
15. unmanned plane described in 3 or 14 according to claim 1, which is characterized in that the flight controller is also used to:
Flight warning message is sent to the remote terminal by second communication link；
The signal of communication of first communication link is searched in real time, so that first communication link is connected to.
16. unmanned plane described in 3 or 14 according to claim 1, which is characterized in that the flight controller is also used to:
Start program of making a return voyage, the takeoff point so that unmanned plane flies back.
17. a kind of unmanned aerial vehicle control system, which is characterized in that the system comprises:
Unmanned plane described in any one of claim 13 to 16；
Remote terminal, the remote terminal are provided with the 2nd eSIM card and the second Beidou module；
The first eSIM card connects the 2nd eSIM card, to establish first communication link, first Beidou module
Second Beidou module is connected, to establish second communication link；
The remote terminal, for receiving the unmanned plane and being communicated by described second when first communication link disconnects
The state of flight information that link is sent, the state of flight of the unmanned plane is determined according to the state of flight information.
18. system according to claim 17, which is characterized in that the system also includes: cloud server,
The cloud server is used for, and is received and stored the unmanned plane and is passed through the first eSIM card or first Beidou
The image information that module uploads.
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|---|---|---|---|
| CN202210130011.6A CN114531194A (en) | 2019-07-24 | 2019-07-24 | Wireless communication method and device, unmanned aerial vehicle and unmanned aerial vehicle control system |
| CN201910672651.8A CN110286692A (en) | 2019-07-24 | 2019-07-24 | Wireless communications method, device, unmanned plane and unmanned aerial vehicle control system |
| PCT/CN2020/103852 WO2021013228A1 (en) | 2019-07-24 | 2020-07-23 | Wireless communication method and device, unmanned aerial vehicle, and unmanned aerial vehicle control system |
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| 邓中亮，余彦培，徐连明: "《室内外无线定位与导航》", 31 December 2013 * |
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| WO2021013228A1 (en) * | 2019-07-24 | 2021-01-28 | 深圳市道通智能航空技术有限公司 | Wireless communication method and device, unmanned aerial vehicle, and unmanned aerial vehicle control system |
| CN111212384A (en) * | 2019-12-05 | 2020-05-29 | 北京航空航天大学杭州创新研究院 | Unmanned aerial vehicle multi-data-chain intelligent switching method |
| CN112306092A (en) * | 2020-10-29 | 2021-02-02 | 吉林化工学院 | Unmanned aerial vehicle system of patrolling and examining |
| CN114731578A (en) * | 2020-11-05 | 2022-07-08 | 深圳市大疆创新科技有限公司 | Communication method, unmanned aerial vehicle and storage medium |
| CN114745710A (en) * | 2022-04-13 | 2022-07-12 | 中国联合网络通信集团有限公司 | Airspace admission method, device and system |
| CN114745710B (en) * | 2022-04-13 | 2023-04-18 | 中国联合网络通信集团有限公司 | Airspace admission method, device and system |
| WO2024109598A1 (en) * | 2022-11-22 | 2024-05-30 | 亿航智能设备（广州）有限公司 | Beidou short message communication method, device, system and storage medium |
Also Published As
| Publication number | Publication date |
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| CN114531194A (en) | 2022-05-24 |
| WO2021013228A1 (en) | 2021-01-28 |
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