CN111010436A - Data transmission system for unmanned aerial vehicle group system - Google Patents
Data transmission system for unmanned aerial vehicle group system Download PDFInfo
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Abstract
The invention discloses a data transmission system for an unmanned aerial vehicle cluster system, which is divided into two parts, wherein the first part is a client side, and the second part is a server side. The server is divided into three modules, namely a Tcp server module, an Mqtt server module and an Sql server module. The client is divided into five modules, namely a main program module, a Tcp client module, an Mqtt client module, an Sql client module and a Ros module. The invention integrates the two data transmission modes together to realize the data interaction between the supporting platform at the rear end of the operation of the Gazebo unmanned cluster and the test bed developed based on OSG; adding the data base, writing unmanned aerial vehicle data obtained by Ros from a rear-end supporting platform and an instruction obtained by Mqtt from a testing platform into the data base in real time, and modifying and inquiring the data in the data base according to the unmanned aerial vehicle data and the control instruction in real time; it is also possible to disconnect Mqtt, sql after the Tcp connection is disconnected and then delete the relevant data in the database.
Description
Technical Field
The invention relates to a data sending and receiving system, in particular to a data sending and receiving system for a simulation unmanned aerial vehicle, a rear-end supporting platform and a simulation test bed, and belongs to the technical field of unmanned aerial vehicles.
Background
The pilotless airplane is an unmanned airplane mainly controlled by a radio remote control or by a self program. Although compare with manned aircraft, it has small, the cost is low, convenient to use's advantage, in the middle of the in-service use, receives factors such as cost constraint, manpower demand, the implementation degree of difficulty, experimental risk and restricts, and many unmanned aerial vehicle cluster tests must adopt virtual simulation's mode earlier. And the intelligent unmanned system simulation can verify the effectiveness of the large-scale unmanned cluster system experimental bed architecture and the experimental method. The intelligent unmanned system simulation provides the test capability of a cluster test of multiple concurrent unmanned systems.
The unmanned aerial vehicle cluster system is a test platform which is established based on a virtual simulation technology and can carry out key technology and prototype verification of the intelligent unmanned aerial vehicle cluster system, and the problems of cost, safety, comprehensiveness and the like in the unmanned aerial vehicle cluster test are solved. The system comprises an unmanned cluster operation rear-end supporting platform and an unmanned cluster virtual simulation test bed.
The Gazebo is a 3D dynamic simulator, and can accurately and effectively simulate robot groups in complex indoor and outdoor environments. Gazebo provides high fidelity physical simulation, which provides a suite of sensor models, and a very user and program friendly way of interacting, similar to the visual simulation that the game engine provides high fidelity. And the Ggazebo carries out simulation on the unmanned aerial vehicle at the back end.
Osg (openscene graph) is an open-source three-dimensional engine, and is widely applied in the fields of visual simulation, games, virtual reality, scientific calculation, three-dimensional reconstruction, geographic information, space exploration, petroleum and mineral products, and the like. OSG uses the most advanced graphics rendering technology internationally, and has abundant expansion in various industries. The unmanned cluster virtual simulation test bed based on OSG development simulates the behaviors of unmanned terminals (rotor unmanned aerial vehicles, fixed wing unmanned aerial vehicles) and the like by a digital method according to the dynamic characteristics and the behavior characteristics of the unmanned terminals, interacts with the rear end of an unmanned cluster operation support platform and receives the control of the rear end.
At present, no data transmission mechanism is available at home and abroad to enable the testing bed developed based on OSG to interact with the Gazebo.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a data transmission system for an unmanned aerial vehicle cluster system, which is a data transmission and reception mode for realizing interaction between the rear end of an unmanned aerial vehicle cluster operation support platform and an unmanned aerial vehicle cluster virtual simulation test bed.
In order to achieve the above purpose, the technical scheme adopted by the invention is a data sending and receiving mode, which is divided into two parts, wherein the first part is a client side, and the second part is a server side.
The server is divided into three modules, namely a Tcp server module, an Mqtt server module and an Sql server module. The Mqtt server module and the Sql server module are connected with the Tcp server module and controlled by the Tcp server module. And when the Tcp server module establishes Tcp connection, the Mqtt server module and the Sql server module start to monitor the connection request, and when the Tcp connection is disconnected, the Mqtt connection and the Sql connection are disconnected.
The Tcp server module monitors a connection request of the Tcp client module, establishes Tcp connection after receiving the connection request, distributes the ID of the unmanned aerial vehicle to return to the Tcp client module, and disconnects Mqtt connection and Sql connection after the Tcp is disconnected. And deleting the unmanned aerial vehicle registry in the database in the Sql client module.
The Mqtt server module monitors a connection request of the Mqtt client module, establishes Mqtt connection after receiving the connection request, issues the ID, the type and the state of the unmanned aerial vehicle issued by the Mqtt client module to the test bed after receiving the ID, the type and the corresponding state of the unmanned aerial vehicle, and then sends the test ID, the task ID and the control instruction subscribed from the test bed to the Mqtt client module. The control instructions include configuration, takeoff, hover, landing, takeoff point, and landing point.
The Sql server module monitors the connection request of the Sql client module, and establishes Sql connection after receiving the connection request.
The client is divided into five modules, namely a main program module, a Tcp client module, an Mqtt client module, an Sql client module and a Ros module. The main program module is interconnected with other four modules; the Mqtt module is also connected with the Tcp client module, the Sql client module and the Ros client module; the Sql client module is also connected with the Ros client module.
The main program module controls the Tcp client module, Mqtt client module, Sql client module and Ros module and assigns them the connected IP address and password and converts the format of the transmission data.
The Tcp client module is divided into a subscription module and a sending module, is actively connected with the Tcp server module, and issues the ID of the unmanned aerial vehicle to the Mqtt client module after subscribing the ID of the unmanned aerial vehicle distributed by the Tcp server module.
The Mqtt client module is divided into a subscription module and a sending module, the Mqtt client module is actively connected with the Mqtt server module, after subscribing the unmanned aerial vehicle ID transmitted by the Tcp client module and the unmanned aerial vehicle type transmitted by the Ros client module, the Mqtt client module is sent the unmanned aerial vehicle ID and the unmanned aerial vehicle type, decodes the control instruction, the test ID and the task ID in json format subscribed by the Mqtt server module, transmits the control instruction to the Ros module, transmits the control instruction, the test ID and the task ID to the Sql client module and subscribes the unmanned aerial vehicle state (configuration, take-off, spiral or landing; longitude and latitude; height; Euler angle; speed) from the Ros module. And then, the unmanned aerial vehicle state code issued by the Ros module is issued to the Mqtt server-side module in a json format.
The Ros module is divided into a subscription module and a sending module, and after the Gazebo unmanned cluster operates a rear-end supporting platform to start an airplane, the type of the unmanned aerial vehicle published by the rear end is subscribed and then published to the Mqtt client module and the Sql client module. After subscribing the instruction issued by the Mqtt client module, transmitting the instruction to the back-end support platform and issuing the state information to the Mqtt client module.
The Sql client module is divided into a data insertion module, a data deletion module, a data modification module and a data query module. The data insert module writes unmanned aerial vehicle ID, unmanned aerial vehicle type, state, control command into the unmanned aerial vehicle realtime table and the unmanned aerial vehicle registry of database, and the data modification module constantly updates unmanned aerial vehicle's in the unmanned aerial vehicle realtime table instruction, unmanned aerial vehicle ID, experimental ID, task ID. After receiving the unmanned aerial vehicle ID, type, test ID and task ID sent by the Mqtt client module, the data insertion module writes the unmanned aerial vehicle ID, type, test ID and task ID into the unmanned aerial vehicle registry, and after obtaining the unmanned aerial vehicle state information and the control instruction sent by the Mqtt client module, writes the state information and the control instruction into the real-time table. After the Tcp is disconnected, the data deleting module deletes the unmanned aerial vehicle registry in the database, and the test bed continuously queries the unmanned aerial vehicle state and the unmanned aerial vehicle type through the Sql server module and the data query module.
The data sending and receiving system of the invention is: after the airplane is started at the rear end of the Gazebo unmanned cluster operation support platform, the rear end issues the type of the unmanned aerial vehicle to the Ros client module, and the Ros client module then issues the type of the unmanned aerial vehicle to the Mqtt client module. After the test bed is started, the Tcp client module sends a connection request to the Tcp server module, the Tcp server module establishes Tcp connection after monitoring the connection request of the Tcp client module, distributes the ID of the unmanned aerial vehicle and returns the ID to the Tcp client module, and then sends the ID of the unmanned aerial vehicle to the Mqtt client module. And the Mqtt client module sends the type and the ID to the Sql client module after receiving the type and the ID of the unmanned aerial vehicle. The test bed distributes a test ID, a task ID and a control instruction for the unmanned aerial vehicle ID after subscribing the unmanned aerial vehicle ID and the unmanned aerial vehicle type from the Mqtt server module, then sends the control instruction to the Mqtt client module through the Mqtt server module, and sends the unmanned aerial vehicle ID, the test ID, the task ID and the instruction to the Sql client module through the Mqtt client module. The Mqtt client module decodes the json format instruction and transmits the json format instruction to the Ros module, the Ros module transmits the json format instruction to the Gazebo supporting platform, the state of the unmanned aerial vehicle is changed at the moment, the Gazebo supporting platform returns the state to the Ros, and the Mqtt module codes the json format information after obtaining the state information transmitted by the Ros and transmits the json format information to the Mqtt server module and the Sql client module. And after subscribing the state information of the Mqtt server module, the test bed displays the state of the unmanned aerial vehicle in real time on a task control interface.
Compared with the existing Mqtt and Tcp data transmission technology and Mqtt and Ros data transmission technology, the invention integrates the two data transmission modes together, and realizes the data interaction between the Gazebo unmanned cluster operation rear-end supporting platform and the test bed developed based on OSG; adding the data base, writing unmanned aerial vehicle data obtained by Ros from a rear-end supporting platform and an instruction obtained by Mqtt from a testing platform into the data base in real time, and modifying and inquiring the data in the data base according to the unmanned aerial vehicle data and the control instruction in real time; it is also possible to disconnect Mqtt, sql after the Tcp connection is disconnected and then delete the relevant data in the database.
Drawings
Fig. 1 is a schematic diagram of a data transmission and reception method according to the present invention.
Wherein:
10: a client; 11: a main program module; a Tcp client module; 13: an Mqtt client module; 14: a Sql client module; and 15, Ro module.
20: a server side; 21: a Tcp server module; 22: an Mqtt server module; 23: and a Sql server module.
FIG. 2 is a schematic diagram of a Tcp client module.
Wherein:
10: a Tcp client module; 11: a Tcp client subscription module; 12: a Tcp client sending module; 13: a Tcp server module; 14: mqtt client module.
FIG. 3 is a schematic diagram of an Mqtt client module.
Wherein:
10: an Mqtt client module; 11: an Mqtt client subscription module; 12: an Mqtt client sending module; 13: an Mqtt server module; 14: a Ros module; 15: and a Sql client module.
Fig. 4 is a diagram of the Sql client module.
Wherein:
10: a Sql client module; 11: a Sql client data insertion module; 12: a Sql client data deletion module; 13: a Sql client data modification module; 14: a Sql client data query module; 15: an unmanned aerial vehicle registry; 16: an unmanned aerial vehicle real-time meter; 17: an Mqtt client module; 18: a Tcp client module; 19: and a Sql server module.
Fig. 5 is a schematic diagram of a Ros module.
Wherein:
10: a Ros module; 11: a Ros subscription module; 12: a Ros transmitting module; 13: an Mqtt client module; and 14, a rear end supporting platform.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
Data sending and receiving embodiment referring to fig. 1, the mode provided by the present invention is divided into two parts, a client 10 and a server 20. Wherein the client 10 can encode and decode data. The client 10 includes a main program module 11, a Tcp client module 12, an Mqtt client module 13, an Sql client module 14, and a Ros module 15.
The server 20 may use a local server. The server 20 comprises a Tcp server module 21, an Mqtt server module 22 and an Sql server module 23. The client 10 and the server 20 can perform information interaction with the test bed and the back end of the support platform through a network.
The data sending and receiving work flow comprises the following steps:
referring to fig. 1, a Tcp client module 10 actively connects to a Tcp server module 13, the Tcp client module returns a random 7-bit drone ID to a subscription module 11, and a sending module 12 sends the drone ID to an Mqtt client module 14.
Referring to fig. 2, the Mqtt client module 10 is divided into a subscription module 11 and a sending module 12, the subscription module 11 encodes and decodes data after receiving the instruction, the drone ID, the test ID, the task ID and the drone type and state data sent by the Mqrr server module 13, the sending module 12 sends the decoded instruction to the Ros module 14, sends the encoded drone ID, the type and the state to the Mqtt server module 13, and then sends the instruction, the drone ID, the test ID, the task ID, the drone type and the state to the Sql client module 15.
Referring to fig. 3, after receiving the data of the unmanned aerial vehicle from the Mqtt client module 17, the Sql client module 10 writes the type and the ID of the unmanned aerial vehicle into the unmanned aerial vehicle registry 15, writes the status of the unmanned aerial vehicle into the unmanned aerial vehicle real-time table 16, and the data modification module 13 modifies the command, the test ID, and the task ID in the unmanned aerial vehicle registry according to the ID of the unmanned aerial vehicle. If various types of data of the unmanned aerial vehicle can be checked in the unmanned aerial vehicle registry 15 and the unmanned aerial vehicle real-time table 16 of the database, the Mqtt client 13 successfully receives and sends the unmanned aerial vehicle data. After the Sql client module 10 is disconnected from the Tcp client module 18, the data deleting module 12 deletes the data of the unmanned aerial vehicle in the unmanned aerial vehicle registry 15, the Tcp is disconnected when the test bed is closed, and the connection is proved to be disconnected if the data of the unmanned aerial vehicle in the unmanned aerial vehicle registry is deleted. When the ID, the test ID and the task ID of the unmanned aerial vehicle are checked on the interface of the test bed, the data query module 14 returns the data queried from the unmanned aerial vehicle registry 15 to the Sql server module 19, and the Sql server module 19 returns the queried data to the test bed.
Referring to fig. 4, the Ros client module 10 is divided into a subscription module 11 and a sending module 12, and the subscription module 11 accepts the command sent from the Mqtt client module and the type and state of the drone sent by the backend support platform. The transmit module 12 wants the Mqtt client module 13 to transmit the drone type and status.
After the Gazebo unmanned cluster operates the rear-end support platform to start the aircraft, referring to fig. 5, the rear end issues an unmanned aerial vehicle type rotor or fixed wing to the Ros client module 15, and the Ros client module 15 issues to the Mqtt client module 13. After the test bed is started, the Tcp client module 12 sends a connection request to the Tcp server module 21, the Tcp server module 21 establishes Tcp connection after monitoring the connection request of the Tcp client module 12, allocates a random 7-bit unmanned aerial vehicle ID for ensuring the uniqueness of the unmanned aerial vehicle ID, returns the unmanned aerial vehicle ID to the Tcp client module 12, and then sends the unmanned aerial vehicle ID to the Mqtt client module 13. The Mqtt client module 13 sends the ID and type to the Sql client module 14 after receiving the drone ID and drone type. The test bed can check the controllable unmanned aerial vehicle ID and type from the interface after subscribing the unmanned aerial vehicle ID and type from the Mqtt server module 22, allocate test, task and control instructions to the unmanned aerial vehicle on the test bed interface, when allocating test tasks, the test bed can randomly generate the test ID and task ID for the test and task, then send the control instructions to the Mqtt client module 13 through the Mqtt server module 22, and send the unmanned aerial vehicle ID, type, test ID, task ID, and instructions to the Sql client module 14 through the Sql server module. The Mqtt client module 13 decodes the json-format control instruction and transmits the json-format control instruction to the Ros module 15, the Ros module 15 transmits the json-format control instruction to the rear-end supporting platform, the state of the unmanned aerial vehicle changes at the moment, the rear-end supporting platform returns the state to the Ros module 15, and the Mqtt module 13 codes the information into json-format information after obtaining the state information transmitted by the Ros module 15 and transmits the json-format information to the Mqtt server module 22 and the Sql client module 14. And after the test bed subscribes to the state information of the Mqtt server-side module 22, the state of the unmanned aerial vehicle is displayed in real time on the task control interface.
Therefore, the data sending and receiving system for interaction between the unmanned cluster operation rear-end supporting platform and the unmanned cluster virtual simulation test bed is realized.
Claims (10)
1. A data transmission system for a drone swarm system, characterized by: the system realizes data transmission and reception by means of interaction between the rear end of the unmanned cluster operation support platform and the unmanned cluster virtual simulation test bed;
the data transmission and reception of the system are divided into two parts, wherein the first part is a client and the second part is a server;
the server is divided into three modules, namely a Tcp server module, an Mqtt server module and an Sql server module; the Mqtt server module and the Sql server module are connected with the Tcp server module and controlled by the Tcp server module; when the Tcp server module establishes Tcp connection, the Mqtt server module and the Sql server module start to monitor connection requests, and when the Tcp connection is disconnected, the Mqtt connection and the Sql connection are disconnected;
the client is divided into five modules, namely a main program module, a Tcp client module, an Mqtt client module, an Sql client module and a Ros module; the main program module is interconnected with other four modules; the Mqtt module is also connected with the Tcp client module, the Sql client module and the Ros client module; the Sql client module is also connected with the Ros client module.
2. The data transmission system of claim 1, wherein: the data sending and receiving are as follows: after an airplane is started at the rear end of the Gazebo unmanned cluster operation support platform, the rear end issues the type of the unmanned aerial vehicle to a Ros client module, and the Ros client module then issues the type of the unmanned aerial vehicle to an Mqtt client module; after the test bed is started, the Tcp client module sends a connection request to the Tcp server module, the Tcp server module establishes Tcp connection after monitoring the connection request of the Tcp client module, allocates the unmanned aerial vehicle ID to return to the Tcp client module, and then sends the unmanned aerial vehicle ID to the Mqtt client module; the Mqtt client module sends the type and the ID to the Sql client module after receiving the type and the ID of the unmanned aerial vehicle; the test bed distributes a test ID, a task ID and a control instruction for the unmanned aerial vehicle ID after subscribing the unmanned aerial vehicle ID and the unmanned aerial vehicle type from the Mqtt server module, then sends the control instruction to the Mqtt client module through the Mqtt server module, and sends the unmanned aerial vehicle ID, the test ID, the task ID and the instruction to the Sql client module through the Mqtt client module; the Mqtt client module decodes the instructions in the json format and transmits the instructions to the Ros module, the Ros module transmits the instructions to the Gazebo supporting platform, the state of the unmanned aerial vehicle is changed at the moment, the Gazebo supporting platform returns the state to the Ros, and the Mqtt module codes the information into the json format after obtaining the state information transmitted by the Ros and transmits the json format to the Mqtt server module and the Sql client module; and after subscribing the state information of the Mqtt server module, the test bed displays the state of the unmanned aerial vehicle in real time on a task control interface.
3. The data transmission system of claim 1, wherein: the Tcp server module monitors a connection request of the Tcp client module, establishes Tcp connection after receiving the connection request, distributes the ID of the unmanned aerial vehicle to return to the Tcp client module, and disconnects Mqtt connection and Sql connection after the Tcp connection is disconnected; and deleting the unmanned aerial vehicle registry in the database in the Sql client module.
4. The data transmission system of claim 1, wherein: the Mqtt server module monitors a connection request of the Mqtt client module, establishes Mqtt connection after receiving the connection request, issues the ID, the type and the state of the unmanned aerial vehicle issued by the Mqtt client module to the test bed after receiving the ID, the type and the corresponding state of the unmanned aerial vehicle, and then sends the test ID, the task ID and the control instruction subscribed from the test bed to the Mqtt client module; the control instructions include configuration, takeoff, hover, landing, takeoff point, and landing point.
5. The data transmission system of claim 1, wherein: the Sql server module monitors the connection request of the Sql client module, and establishes Sql connection after receiving the connection request.
6. The data transmission system of claim 1, wherein: the main program module controls the Tcp client module, Mqtt client module, Sql client module and Ros module and assigns them the connected IP address and password and converts the format of the transmission data.
7. The data transmission system of claim 1, wherein: the Tcp client module is divided into a subscription module and a sending module, is actively connected with the Tcp server module, and issues the ID of the unmanned aerial vehicle to the Mqtt client module after subscribing the ID of the unmanned aerial vehicle distributed by the Tcp server module.
8. The data transmission system of claim 1, wherein: the Mqtt client module is divided into a subscription module and a sending module, the Mqtt client module is actively connected with the Mqtt server module, after subscribing the unmanned aerial vehicle ID transmitted by the Tcp client module and the unmanned aerial vehicle type transmitted by the Ros client module, the Mqtt client module is sent the unmanned aerial vehicle ID and the unmanned aerial vehicle type, a json format control instruction, a test ID and a task ID which are subscribed from the Mqtt server module are decoded, then the control instruction is transmitted to the Ros module, the control instruction, the test ID and the task ID are transmitted to the Sql client module, and the Ros module subscribes the unmanned aerial vehicle state; and then, the unmanned aerial vehicle state code issued by the Ros module is issued to the Mqtt server-side module in a json format.
9. The data transmission system of claim 1, wherein: the Ros module is divided into a subscription module and a sending module, and after the Gazebo unmanned cluster operates a rear-end supporting platform to start an airplane, the type of the unmanned aerial vehicle published by the rear end is subscribed and then published to the Mqtt client module and the Sql client module; after subscribing the instruction issued by the Mqtt client module, transmitting the instruction to the back-end support platform and issuing the state information to the Mqtt client module.
10. The data transmission system of claim 1, wherein: the Sql client module is divided into a data insertion module, a data deletion module, a data modification module and a data query module; the data insertion module writes the unmanned aerial vehicle ID, the unmanned aerial vehicle type, the state and the control command into an unmanned aerial vehicle real-time table and an unmanned aerial vehicle registry of the database, and the data modification module continuously updates the unmanned aerial vehicle command, the unmanned aerial vehicle ID, the test ID and the task ID in the unmanned aerial vehicle real-time table; after receiving the unmanned aerial vehicle ID, type, test ID and task ID sent by the Mqtt client module, the data insertion module writes the unmanned aerial vehicle ID, type, test ID and task ID into an unmanned aerial vehicle registry, and after obtaining the unmanned aerial vehicle state information and the control instruction sent by the Mqtt client module, writes the state information and the control instruction into a real-time table; after the Tcp is disconnected, the data deleting module deletes the unmanned aerial vehicle registry in the database, and the test bed continuously queries the unmanned aerial vehicle state and the unmanned aerial vehicle type through the Sql server module and the data query module.
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| CN113848983A (en) * | 2021-10-29 | 2021-12-28 | 武汉大学 | Unmanned aerial vehicle group automatic inspection system and method aiming at dam defect detection |
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