CN111025360A

CN111025360A - Unmanned aerial vehicle control method, device, system, equipment and medium

Info

Publication number: CN111025360A
Application number: CN202010159493.9A
Authority: CN
Inventors: 张毅; 于航; 耿萌
Original assignee: Jiagutech Co ltd
Current assignee: Jiagutech Co ltd
Priority date: 2020-03-10
Filing date: 2020-03-10
Publication date: 2020-04-17

Abstract

The embodiment of the invention discloses a method, a device, a system, equipment and a medium for controlling an unmanned aerial vehicle. The method comprises the following steps: the remote controller receives a mode switching instruction sent by the ground station and determines a target working mode matched with the mode switching instruction; if the target working mode is the dotting mode, determining the current working mode as the dotting mode, calculating according to differential data of a continuously operating reference station system and a position acquisition instruction sent by the ground station through a carrier phase differential module in the remote controller, obtaining dotting position information matched with the position acquisition instruction, and sending the dotting position information to the ground station; and if the target working mode is the flight mode, determining the current working mode as the flight mode, receiving the differential data of the continuously-operating reference station system sent by the ground station, and sending the differential data of the continuously-operating reference station system to the unmanned aerial vehicle flight control. The embodiment of the invention can reduce the control cost of the unmanned aerial vehicle.

Description

Unmanned aerial vehicle control method, device, system, equipment and medium

Technical Field

The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a method, a device, a system, equipment and a medium for controlling an unmanned aerial vehicle.

Background

The carrier-time kinematic (RTK) technology has a positioning accuracy much higher than that of a common single-point Global Positioning System (GPS), and is widely used in an unmanned aerial vehicle control system in recent years.

In the prior art, an unmanned aerial vehicle using RTK for positioning is generally controlled by an unmanned aerial vehicle control system as shown in fig. 1 a. The ground RTK dotting device performs wireless communication with a Continuous Operation Reference Station (CORS) system, logs in the CORS system, acquires differential data of the continuous operation reference station system, and then performs unmanned aerial vehicle operation area demarcation according to the differential data of the continuous operation reference station system through an RTK module in the ground RTK dotting device. The airborne RTK module in the unmanned aerial vehicle performs wireless communication with the CORS system, logs in the CORS system, acquires differential data of the continuously-operating reference station system, performs position calculation, and sends the position information of the unmanned aerial vehicle to the unmanned aerial vehicle for flight control. Information is transmitted between the unmanned aerial vehicle flight control module and an airborne RTK module in the unmanned aerial vehicle through a Controller Area Network (CAN) or a Universal Asynchronous Receiver Transmitter/Transmitter (UART). The remote controller and the unmanned aerial vehicle flight control transmit attitude control instructions. The ground station and the unmanned aerial vehicle flight control transmit the air route control command and the state return.

In the process of implementing the invention, the inventor finds that the prior art has the following defects: the two RTK modules are independently connected with the CORS system in a direct wireless mode, and the hardware cost is high; two RTK modules need to use the services of the CORS system, and the usage cost of the CORS system is generally bound to an Identity Document (ID), so the usage cost of the CORS system is high.

Disclosure of Invention

The embodiment of the invention provides a method, a device, a system, equipment and a medium for controlling an unmanned aerial vehicle, which are used for optimizing the existing unmanned aerial vehicle control method and reducing the unmanned aerial vehicle control cost.

In a first aspect, an embodiment of the present invention provides an unmanned aerial vehicle control method, including:

the remote controller receives a mode switching instruction sent by the ground station and determines a target working mode matched with the mode switching instruction;

if the target working mode is the dotting mode, the remote controller determines the current working mode as the dotting mode, and calculates according to differential data and a position acquisition instruction of a continuously operating reference station system sent by the ground station through a carrier phase differential module in the remote controller to obtain dotting position information matched with the position acquisition instruction and send the dotting position information to the ground station;

if the target working mode is the flight mode, the remote controller determines the current working mode as the flight mode, receives differential data of the continuously-operating reference station system sent by the ground station, and sends the differential data of the continuously-operating reference station system to the unmanned aerial vehicle flight control, so that the unmanned aerial vehicle flight control sends the differential data of the continuously-operating reference station system to a carrier phase difference component module in the unmanned aerial vehicle;

the carrier phase difference module in the unmanned aerial vehicle receives differential data of a continuous operation reference station system sent by the unmanned aerial vehicle flight control, and calculates according to the differential data of the continuous operation reference station system and satellite signals received by the carrier phase difference module in the unmanned aerial vehicle, and sends the obtained unmanned aerial vehicle position information to the unmanned aerial vehicle flight control.

In a second aspect, an embodiment of the present invention further provides an unmanned aerial vehicle control apparatus, including:

the mode determining module is used for receiving a mode switching instruction sent by the ground station and determining a target working mode matched with the mode switching instruction;

the position information sending module is used for determining the current working mode as the dotting mode if the target working mode is the dotting mode, calculating according to differential data of a continuously operating reference station system and a position acquisition instruction sent by the ground station through a carrier phase differential module in the remote controller, obtaining dotting position information matched with the position acquisition instruction and sending the dotting position information to the ground station;

the differential data sending module of the continuous operation reference station system is used for determining the current working mode as the flight mode if the target working mode is the flight mode, receiving the differential data of the continuous operation reference station system sent by the ground station and sending the differential data of the continuous operation reference station system to the unmanned aerial vehicle flight control so that the unmanned aerial vehicle flight control sends the differential data of the continuous operation reference station system to a carrier phase difference component module in the unmanned aerial vehicle;

In a third aspect, an embodiment of the present invention further provides an unmanned aerial vehicle control system, including: the system comprises a ground station, a remote controller, an unmanned aerial vehicle flight control module and a carrier phase difference module in the unmanned aerial vehicle;

the ground station is used for sending a mode switching instruction to the remote controller so that the remote controller determines the current working mode as a dotting mode or a flight mode according to the mode switching instruction; if the remote controller determines the current working mode as a dotting mode, sending differential data and a position acquisition instruction of a continuously operating reference station system to the remote controller; if the remote controller determines the current working mode as the flight mode, sending differential data of the continuously operating reference station system to the remote controller;

the remote controller is used for receiving a mode switching instruction sent by the ground station and determining a target working mode matched with the mode switching instruction; if the target working mode is the dotting mode, determining the current working mode as the dotting mode, calculating according to differential data of a continuously operating reference station system and a position acquisition instruction sent by the ground station through a carrier phase differential module in the remote controller, obtaining dotting position information matched with the position acquisition instruction, and sending the dotting position information to the ground station; if the target working mode is the flight mode, determining the current working mode as the flight mode, receiving differential data of the continuously-operating reference station system sent by the ground station, and sending the differential data of the continuously-operating reference station system to the unmanned aerial vehicle flight control;

the unmanned aerial vehicle flight control is used for receiving the differential data of the continuously-operating reference station system sent by the remote controller and sending the differential data of the continuously-operating reference station system to a carrier phase differential module in the unmanned aerial vehicle;

and the carrier phase difference sub-module in the unmanned aerial vehicle is used for receiving the differential data of the continuous operation reference station system sent by the unmanned aerial vehicle flight control, calculating according to the differential data of the continuous operation reference station system and the satellite signals received by the carrier phase difference sub-module in the unmanned aerial vehicle, obtaining the position information of the unmanned aerial vehicle and sending the position information to the unmanned aerial vehicle flight control.

In a fourth aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the method for controlling an unmanned aerial vehicle according to the embodiment of the present invention.

In a fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the drone control method according to the embodiment of the present invention.

According to the technical scheme of the embodiment of the invention, a mode switching instruction sent by a ground station is received through a remote controller, and a target working mode matched with the mode switching instruction is determined; if the target working mode is the dotting mode, the remote controller determines the current working mode as the dotting mode, and calculates according to differential data and a position acquisition instruction of a continuously operating reference station system sent by the ground station through a carrier phase differential module in the remote controller to obtain dotting position information matched with the position acquisition instruction and send the dotting position information to the ground station; if the target working mode is the flight mode, the remote controller determines the current working mode as the flight mode, receives differential data of a continuously-operating reference station system sent by a ground station, and sends the differential data of the continuously-operating reference station system to the unmanned aerial vehicle flight control, under the dotting mode, position information of each boundary point of an operation area of the unmanned aerial vehicle is obtained through a carrier phase difference sub-module in the remote controller, the operation area of the unmanned aerial vehicle is defined, under the flight mode, the differential data of the continuously-operating reference station system is sent to the carrier phase difference sub-module in the unmanned aerial vehicle through the ground station, the remote controller and the unmanned aerial vehicle flight control, high-precision positioning of the unmanned aerial vehicle is completed through the carrier phase difference sub-module in the unmanned aerial vehicle, and the cost of the unmanned aerial vehicle is reduced.

Drawings

Fig. 1a is a schematic structural diagram of an unmanned aerial vehicle control system in the prior art;

fig. 1b is a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is a flowchart of an unmanned aerial vehicle control method according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of an unmanned aerial vehicle control apparatus according to a third embodiment of the present invention;

fig. 4a is a schematic structural diagram of an unmanned aerial vehicle control system according to a fourth embodiment of the present invention;

fig. 4b is a schematic structural diagram of a remote controller according to a fourth embodiment of the present invention;

fig. 5 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.

Example one

Fig. 1b is a flowchart of an unmanned aerial vehicle control method according to an embodiment of the present invention. The present embodiment is applicable to the case of controlling an unmanned aerial vehicle, and the method may be executed by the unmanned aerial vehicle control device provided in the embodiment of the present invention, and the device may be implemented in a software and/or hardware manner, and may be generally integrated in a remote controller in an unmanned aerial vehicle control system.

As shown in fig. 1b, the method of the embodiment of the present invention specifically includes:

step 101, receiving a mode switching instruction sent by a ground station, and determining a target working mode matched with the mode switching instruction: if the target working mode is the dotting mode, executing step 102; if the target operating mode is the flight mode, step 103 is executed.

Among them, ground stations are devices with the ability to monitor and manipulate unmanned aerial vehicles and mission loads. The ground station is an important component of an unmanned aerial vehicle control system and is a channel for direct interaction between ground operators and the unmanned aerial vehicle. The ground station and the unmanned aerial vehicle flight control transmit the air route control command and the state return. And the ground station sends a flight path control instruction to the unmanned aerial vehicle flight control, so that the flight path of the unmanned aerial vehicle is controlled according to the flight path control instruction. The unmanned aerial vehicle flies to control and passes back unmanned aerial vehicle's current state information to ground station through wireless data transmission link.

Alternatively, the ground station may be a mobile terminal.

The remote controller and the unmanned aerial vehicle flight control transmit attitude control instructions. The remote controller sends an attitude control instruction to the unmanned aerial vehicle flight control device, so that the flight attitude of the unmanned aerial vehicle is controlled according to the attitude control instruction. The embodiment of the invention integrates the RTK dotter into the remote controller. Optionally, the remote controller includes: little the control unit, bluetooth module, wireless module and carrier phase difference module. Therefore, the attitude control command can be sent to the unmanned aerial vehicle through the remote controller to control the flight attitude of the unmanned aerial vehicle, and the operation area of the unmanned aerial vehicle can be defined according to differential data of the continuously operating reference station system through the carrier phase differential module in the remote controller.

The working mode of the unmanned aerial vehicle control system comprises the following steps: a dotting mode and a flight mode. The dotting mode is a mode that the unmanned aerial vehicle is not electrified and the remote controller is used for carrying out the division of the operation area of the unmanned aerial vehicle. The flight mode is a mode that the whole unmanned aerial vehicle control system is powered on and the ground station and the remote controller are used for controlling the unmanned aerial vehicle to operate.

The switching of the working mode of the unmanned aerial vehicle control system is determined by the ground station. The ground station sends a mode switching command to the remote controller. The mode switching instruction is an instruction for setting the current operation mode of the unmanned aerial vehicle control system.

Optionally, the mode switching instruction carries the working mode information. And determining a target working mode matched with the mode switching instruction according to the working mode information carried by the mode switching instruction. The target working mode is the working mode which the ground station requires to be switched to.

In a specific example, the remote controller receives a mode switching instruction sent by the ground station, and determines a target working mode matched with the mode switching instruction as a dotting mode according to working mode information carried by the mode switching instruction. Namely, the ground station sends a mode switching instruction to the remote controller to request the remote controller to switch to the dotting mode.

In another specific example, the remote controller receives a mode switching instruction sent by the ground station, and determines that a target working mode matched with the mode switching instruction is a flight mode according to working mode information carried by the mode switching instruction. Namely, the ground station sends a mode switching command to the remote controller to request the remote controller to switch to the flight mode.

Optionally, the ground station sends the mode switching command to the remote controller through an internal bluetooth module. And the micro control unit MCU in the remote controller receives the mode switching instruction sent by the ground station through the Bluetooth module in the remote controller. And a micro control unit in the remote controller determines a target working mode matched with the mode switching instruction according to the working mode information carried by the mode switching instruction.

And 102, determining the current working mode as a dotting mode, calculating according to differential data of a continuously operating reference station system and a position acquisition instruction sent by a ground station through a carrier phase differential module in the remote controller, obtaining dotting position information matched with the position acquisition instruction, and sending the dotting position information to the ground station.

Optionally, the differential data of the continuously operating reference station system is the reference station correction information and the reference station coordinates.

A Continuous Operation Reference Stations (CORS) system, which is a comprehensive product integrating a plurality of high and new technologies such as satellite positioning, computer network, digital communication and the like by using a multi-base station network RTK technology. All the reference stations and the monitoring and analyzing center are connected into a whole through a data transmission system to form a special network. The continuous operation reference station system consists of five parts, namely a reference station network, a data processing center, a data transmission system, a positioning and navigation data broadcasting system and a user application system, provides the coordinates of the reference station site and GPS measurement data in an international universal format, and enables more departments and more people to use GPS high-precision service. The data transmission Protocol (NTRIP Protocol) is a professional application layer Protocol which is certified by the radio technical committee of the international maritime industry (RTCM committee) and is used publicly, and is a main communication Protocol for continuously operating the reference station system.

Optionally, the ground station determines a system account number of the continuously operating reference station bound with the ground station according to the equipment identity identification number; logging in a continuous operation reference station system according to a continuous operation reference station system account, and receiving reference station correction information and reference station coordinates sent by the continuous operation reference station system; and sending the correction information of the reference station and the site coordinates of the reference station to the remote controller through the internal Bluetooth module.

And binding the equipment identity identification number of the ground station with the system account number of the continuously operating reference station by the ground station in advance to obtain the system account number of the continuously operating reference station. And the ground station determines a system account number of the continuously operating reference station bound with the ground station according to the equipment identity identification number of the ground station, and then logs in a continuously operating reference station system according to the system account number of the continuously operating reference station. After the ground station logs in the continuously operating reference station system, the continuously operating reference station system transmits the correction information of the reference station and the station coordinates of the reference station to the ground station in the form of an RTCM signal through the 4G network by using an NTRIP protocol. And the ground station receives the correction information of the reference station and the station coordinates of the reference station sent by the continuous operation reference station system.

Optionally, calculating, by using a carrier phase differential module inside the remote controller, according to differential data and a position acquisition instruction of the continuously operating reference station system sent by the ground station, to obtain dotting position information matched with the position acquisition instruction, and sending the dotting position information to the ground station, where the method includes: the remote controller receives the reference station correction information and the reference station site coordinates sent by the ground station through the internal Bluetooth module; after the remote controller receives a position acquisition instruction sent by the ground station through the Bluetooth module, calculating the position offset of the remote controller and the reference station through a carrier phase difference sub-module in the remote controller according to satellite signals received by the carrier phase difference sub-module in the remote controller and reference station correction information; calculating a dotting position coordinate according to the station coordinate of the reference station and the position offset; the remote controller sends the dotting position coordinates to the ground station through the Bluetooth module.

The ground station sends the correction information of the reference station and the station coordinates of the reference station to the remote controller through the internal Bluetooth module.

And the micro control unit in the remote controller receives the reference station correction information and the reference station site coordinates sent by the ground station through the Bluetooth module in the remote controller. And then the micro control unit in the remote controller sends the received reference station correction information and the reference station site coordinates to a carrier phase differential module in the remote controller.

In the dotting mode, the remote controller position information is the dotting position information. The remote controller is sequentially placed on each boundary point of the operation area of the unmanned aerial vehicle, the position information of the remote controller is obtained, and the position information of each boundary point of the operation area of the unmanned aerial vehicle is obtained, so that the boundary points of the operation area of the unmanned aerial vehicle are dotted. The remote controller position information is the position information of each boundary point.

Optionally, the dotting position information is a dotting position coordinate. The remote controller is sequentially placed on each boundary point of the operation area of the unmanned aerial vehicle, and the position coordinates of the remote controller are obtained to obtain the position coordinates of each boundary point of the operation area of the unmanned aerial vehicle.

When the ground station determines that the remote controller is located at the boundary point of the operation area of the unmanned aerial vehicle, the ground station sends a position acquisition instruction to the remote controller through the internal Bluetooth module. The position acquisition instruction is an instruction for requesting acquisition of dotting position information.

And after receiving the position acquisition instruction, the micro control unit in the remote controller sends the position acquisition instruction to the carrier phase differential module in the remote controller. After receiving the position acquisition instruction, the carrier phase difference sub-module in the remote controller calculates the position offset of the remote controller and the reference station according to the satellite signal received by the carrier phase difference sub-module in the remote controller and the correction information of the reference station; and calculating the dotting position coordinate according to the station coordinate and the position offset of the reference station.

In one embodiment, a micro-control unit within the remote control sends the received reference station correction information and the reference station site coordinates (x, y, z) to a carrier phase differential module within the remote control. Meanwhile, the carrier phase differential module in the remote controller still receives satellite signals. After receiving the position acquisition instruction, the carrier phase differential module in the remote controller calculates the position offset (delta x) of the remote controller and the reference station according to the satellite signal received by the carrier phase differential module and the correction information of the reference station₁，Δy₁，Δz₁). And then based on the site coordinates (x, y, z) of the reference station and the positional offset (Δ x) of the remote control and the reference station₁，Δy₁，Δz₁) Calculating the position coordinates (a) of the remote controller₁，b₁，c₁). Remote controller position coordinate (a)₁，b₁，c₁）=（x+Δx₁，y+Δy₁，z+Δz₁). Remote controllerThe position coordinates are dotting position coordinates matched with the boundary points of the current operation area.

And the carrier phase difference division module in the remote controller sends the calculated dotting position coordinates to a micro-control unit in the remote controller. And a micro control unit in the remote controller sends the dotting position coordinates to the ground station through the Bluetooth module.

The ground station receives the dotting position coordinate sent by the remote controller through the internal Bluetooth module.

Therefore, under the dotting mode, the position coordinates of each boundary point of the unmanned aerial vehicle operation area are acquired through the remote controller, and the unmanned aerial vehicle operation area is defined.

And 103, determining the current working mode as a flight mode, receiving differential data of the continuously-operating reference station system sent by the ground station, and sending the differential data of the continuously-operating reference station system to the unmanned aerial vehicle flight control, so that the unmanned aerial vehicle flight control sends the differential data of the continuously-operating reference station system to a carrier phase difference component module in the unmanned aerial vehicle.

Optionally, the differential data of the continuously operating reference station system sent by the ground station is received, and the differential data of the continuously operating reference station system is sent to the unmanned aerial vehicle flight control, so that the unmanned aerial vehicle flight control sends the differential data of the continuously operating reference station system to the carrier phase differential module inside the unmanned aerial vehicle, which may include: the remote controller receives the reference station correction information and the reference station site coordinates sent by the ground station through an internal Bluetooth module; the remote controller sends the correction information of the reference station and the site coordinates of the reference station to the unmanned aerial vehicle flight control through an internal wireless module, so that the unmanned aerial vehicle flight control sends the correction information of the reference station and the site coordinates of the reference station to a carrier phase differential module inside the unmanned aerial vehicle; the carrier phase difference module in the unmanned aerial vehicle receives reference station correction information and reference station site coordinates sent by the unmanned aerial vehicle flight control, and calculates according to the reference station correction information, the reference station site coordinates and satellite signals received by the carrier phase difference module in the unmanned aerial vehicle, obtains unmanned aerial vehicle position information and sends the unmanned aerial vehicle flight control information to the unmanned aerial vehicle.

And the micro control unit in the remote controller receives the reference station correction information and the reference station site coordinates sent by the ground station through the Bluetooth module in the remote controller. Then the little the control unit of the inside of remote controller passes through the inside wireless module of remote controller, sends the station site coordinate of reference station correction information and reference station for unmanned aerial vehicle flight control to make unmanned aerial vehicle fly the accuse with reference station correction information and reference station site coordinate send for the inside carrier phase difference of unmanned aerial vehicle divides the module.

The carrier phase difference split module in the unmanned aerial vehicle receives the reference station correction information and the reference station site coordinates sent by the unmanned aerial vehicle flight control, and calculates according to the reference station correction information and the reference station site coordinates sent by the unmanned aerial vehicle flight control and the satellite signals received by the carrier phase difference split module in the unmanned aerial vehicle, and sends the obtained unmanned aerial vehicle position information to the unmanned aerial vehicle flight control.

Optionally, the position information of the unmanned aerial vehicle is an unmanned aerial vehicle position coordinate.

In a specific example, the unmanned aerial vehicle flight control sends the received reference station correction information and the reference station site coordinates (x, y, z) to a carrier phase differential module inside the unmanned aerial vehicle. Meanwhile, the carrier phase differential module in the unmanned aerial vehicle still needs to receive satellite signals. The carrier phase differential module in the unmanned aerial vehicle calculates the position offset (delta x) of the unmanned aerial vehicle and the reference station according to the satellite signal received by the carrier phase differential module and the correction information of the reference station₂，Δy₂，Δz₂). And then according to the station coordinates (x, y, z) of the reference station and the position offset (delta x) of the unmanned aerial vehicle and the reference station₂，Δy₂，Δz₂) Calculating the position coordinates (a) of the unmanned plane₂，b₂，c₂). Remote controller position coordinate (a)₂，b₂，c₂）=（x+Δx₂，y+Δy₂，z+Δz₂）。

And the carrier phase difference sub-module in the unmanned aerial vehicle sends the calculated position coordinates of the unmanned aerial vehicle to the unmanned aerial vehicle for flight control, so that the high-precision positioning of the unmanned aerial vehicle is completed.

From this, under flight mode, through ground satellite station, remote controller and unmanned aerial vehicle flight control, send reference station correction information and reference station website coordinate for the inside carrier wave phase difference submodule group of unmanned aerial vehicle, accomplish unmanned aerial vehicle's high accuracy location through the inside carrier wave phase difference submodule group of unmanned aerial vehicle.

In the prior art, an unmanned aerial vehicle which adopts RTK for positioning is controlled by an unmanned aerial vehicle control system as shown in fig. 1 a. A ground RTK dotter is a device used for accurately measuring the operation area of an unmanned aerial vehicle. The ground RTK dotter wirelessly communicates with the CORS system, logs in the CORS system, acquires differential data of the continuously-operating reference station system, and then carries out unmanned aerial vehicle operation area planning according to the differential data of the continuously-operating reference station system through an RTK module in the ground RTK dotter. The airborne RTK module in the unmanned aerial vehicle performs wireless communication with the CORS system, logs in the CORS system, acquires differential data of the continuously-operating reference station system, performs position calculation, and sends the position information of the unmanned aerial vehicle to the unmanned aerial vehicle for flight control. Carry out information transfer through CAN or UART between unmanned aerial vehicle flight control and the inside airborne RTK module of unmanned aerial vehicle. The remote controller and the unmanned aerial vehicle flight control transmit attitude control instructions. The ground station and the unmanned aerial vehicle flight control transmit the air route control command and the state return.

In the unmanned aerial vehicle control system shown in fig. 1a, the RTK module inside the ground RTK dotter and the airborne RTK module inside the unmanned aerial vehicle are both independently connected with the CORS system in a direct wireless manner, so that the hardware cost is high.

The RTK module inside ground RTK dotter and the airborne RTK module inside unmanned aerial vehicle all need use the service of CORS system, and the cost of service of CORS system generally binds with equipment identity number. Namely, the ground RTK dotter and the unmanned aerial vehicle need to be respectively bound with the system account number of the continuously-running reference station by using the equipment identity identification number in advance to obtain the respective system account number of the continuously-running reference station. The unmanned aerial vehicle control system shown in fig. 1a needs to pay the usage cost of the CORS system corresponding to two continuously operating reference station system accounts, and the usage cost of the CORS system is high.

Based on the above thought, the inventor creatively proposes to integrate the RTK dotter into the remote controller. The working mode of the unmanned aerial vehicle control system comprises the following steps: a dotting mode and a flight mode. The dotting mode is a mode that the unmanned aerial vehicle is not electrified and the remote controller is used for carrying out the division of the operation area of the unmanned aerial vehicle. The flight mode is a mode that the whole unmanned aerial vehicle control system is powered on and the ground station and the remote controller are used for controlling the unmanned aerial vehicle to operate. The switching of the working mode of the unmanned aerial vehicle control system is determined by the ground station. And the remote controller receives a mode switching instruction sent by the ground station and determines a target working mode matched with the mode switching instruction. And if the target working mode is the dotting mode, determining the current working mode as the dotting mode by the remote controller, calculating according to differential data of a continuously operating reference station system and a position acquisition instruction sent by the ground station through a carrier phase differential module in the remote controller, obtaining dotting position information matched with the position acquisition instruction, and sending the dotting position information to the ground station. And if the target working mode is the flight mode, the remote controller determines the current working mode as the flight mode, receives the differential data of the continuously-operating reference station system sent by the ground station, and sends the differential data of the continuously-operating reference station system to the unmanned aerial vehicle flight control, so that the unmanned aerial vehicle flight control sends the differential data of the continuously-operating reference station system to a carrier phase difference component module in the unmanned aerial vehicle. The differential data of the continuously operating reference station system are the correction information of the reference station and the station coordinates of the reference station.

In the unmanned aerial vehicle control system, a ground station binds a continuous operation reference station system account by using an equipment identity identification number of the ground station in advance. Under the mode of dotting, the ground station sends the difference data reference station correction information and the reference station site coordinate of the continuous operation reference station system to the remote controller through the inside bluetooth module, and the position coordinates of each boundary point of the operation area of the unmanned aerial vehicle are obtained through the inside carrier phase differential module of the remote controller, so that the operation area of the unmanned aerial vehicle is defined. Under the flight mode, fly through ground satellite station, remote controller and unmanned aerial vehicle and control, send the difference data of continuous operation reference station system for the inside carrier phase difference submodule group of unmanned aerial vehicle, accomplish unmanned aerial vehicle's high accuracy location through the inside carrier phase difference submodule group of unmanned aerial vehicle. In the unmanned aerial vehicle control system, only the ground station establishes direct wireless connection with the CORS system independently, so that the hardware cost is reduced, the service cost of the CORS system corresponding to a continuously running reference station system account only needs to be paid, and the service cost of the CORS system is reduced.

The embodiment of the invention provides an unmanned aerial vehicle control method, which comprises the steps of receiving a mode switching instruction sent by a ground station through a remote controller, and determining a target working mode matched with the mode switching instruction; if the target working mode is the dotting mode, the remote controller determines the current working mode as the dotting mode, and calculates according to differential data and a position acquisition instruction of a continuously operating reference station system sent by the ground station through a carrier phase differential module in the remote controller to obtain dotting position information matched with the position acquisition instruction and send the dotting position information to the ground station; if the target working mode is the flight mode, the remote controller determines the current working mode as the flight mode, receives differential data of a continuously-operating reference station system sent by a ground station, and sends the differential data of the continuously-operating reference station system to the unmanned aerial vehicle flight control, under the dotting mode, position information of each boundary point of an operation area of the unmanned aerial vehicle is obtained through a carrier phase difference sub-module in the remote controller, the operation area of the unmanned aerial vehicle is defined, under the flight mode, the differential data of the continuously-operating reference station system is sent to the carrier phase difference sub-module in the unmanned aerial vehicle through the ground station, the remote controller and the unmanned aerial vehicle flight control, high-precision positioning of the unmanned aerial vehicle is completed through the carrier phase difference sub-module in the unmanned aerial vehicle, and the cost of the unmanned aerial vehicle is reduced.

Example two

Fig. 2 is a flowchart of an unmanned aerial vehicle control method according to a second embodiment of the present invention. Embodiments of the present invention may be combined with various alternatives in one or more of the above embodiments, in which the differential data of the continuously operating reference station system is the reference station correction information and the reference station coordinates.

And calculating according to the differential data of the continuously operating reference station system and the position acquisition instruction sent by the ground station through a carrier phase differential module in the remote controller, obtaining dotting position information matched with the position acquisition instruction and sending the dotting position information to the ground station, wherein the method comprises the following steps: the remote controller receives the reference station correction information and the reference station site coordinates sent by the ground station through the internal Bluetooth module; after the remote controller receives a position acquisition instruction sent by the ground station through the Bluetooth module, calculating the position offset of the remote controller and the reference station through a carrier phase difference sub-module in the remote controller according to satellite signals received by the carrier phase difference sub-module in the remote controller and reference station correction information; calculating a dotting position coordinate according to the station coordinate and the position offset of the reference station; the remote controller sends the dotting position coordinate to the ground station through the Bluetooth module.

And receiving differential data of the continuous operation reference station system sent by the ground station, and sending the differential data of the continuous operation reference station system to the unmanned aerial vehicle flight control, so that the unmanned aerial vehicle flight control sends the differential data of the continuous operation reference station system to a carrier phase differential module inside the unmanned aerial vehicle, and the method can comprise the following steps: the remote controller receives the reference station correction information and the reference station site coordinates sent by the ground station through an internal Bluetooth module; the remote controller sends the correction information of the reference station and the site coordinates of the reference station to the unmanned aerial vehicle flight control through an internal wireless module, so that the unmanned aerial vehicle flight control sends the correction information of the reference station and the site coordinates of the reference station to a carrier phase differential module inside the unmanned aerial vehicle; the carrier phase difference module in the unmanned aerial vehicle receives reference station correction information and reference station site coordinates sent by the unmanned aerial vehicle flight control, and calculates according to the reference station correction information, the reference station site coordinates and satellite signals received by the carrier phase difference module in the unmanned aerial vehicle, obtains unmanned aerial vehicle position information and sends the unmanned aerial vehicle flight control information to the unmanned aerial vehicle.

As shown in fig. 2, the method of the embodiment of the present invention specifically includes:

step 201, the remote controller receives a mode switching instruction sent by the ground station, and determines a target working mode matched with the mode switching instruction: if the target working mode is the dotting mode, executing step 202; if the target operating mode is an airplane mode, step 206 is performed.

Optionally, the remote controller includes: little the control unit, bluetooth module, wireless module and carrier phase difference module.

Optionally, the ground station sends the mode switching command to the remote controller through an internal bluetooth module. And the micro control unit in the remote controller receives the mode switching instruction sent by the ground station through the Bluetooth module in the remote controller. And a micro control unit in the remote controller determines a target working mode matched with the mode switching instruction according to the working mode information carried by the mode switching instruction.

Step 202, determining the current working mode as a dotting mode, and receiving the reference station correction information and the reference station site coordinates sent by the ground station through the internal Bluetooth module.

Optionally, the ground station sends the reference station correction information and the reference station site coordinates to the remote controller through the internal bluetooth module. And the micro control unit in the remote controller receives the reference station correction information and the reference station site coordinates sent by the ground station through the Bluetooth module in the remote controller.

And 203, after receiving the position acquisition instruction sent by the ground station through the Bluetooth module, calculating the position offset of the remote controller and the reference station according to the satellite signal received by the carrier phase difference module in the remote controller and the reference station correction information through the carrier phase difference module in the remote controller.

And step 204, calculating the dotting position coordinate according to the station coordinate and the position offset of the reference station.

Optionally, the micro control unit in the remote controller sends the received reference station correction information and the reference station site coordinates to the carrier phase differential module in the remote controller.

And after receiving the position acquisition instruction, the micro control unit in the remote controller sends the position acquisition instruction to the carrier phase differential module in the remote controller. After the carrier phase difference sub-module in the remote controller receives the position acquisition instruction, the carrier phase difference sub-module in the remote controller calculates the position offset between the remote controller and the reference station according to the satellite signal received by the carrier phase difference sub-module in the remote controller and the correction information of the reference station after receiving the position acquisition instruction. And then calculating the dotting position coordinate according to the station coordinate and the position offset of the reference station.

In one embodiment, a micro-control unit within the remote control sends the received reference station correction information and the reference station site coordinates (x, y, z) to a carrier phase differential module within the remote control. Meanwhile, the carrier phase differential module in the remote controller still receives satellite signals. After receiving the position acquisition instruction, the carrier phase differential module in the remote controller calculates the position offset (delta x) of the remote controller and the reference station according to the satellite signal received by the carrier phase differential module and the correction information of the reference station₁，Δy₁，Δz₁). And then based on the site coordinates (x, y, z) of the reference station and the positional offset (Δ x) of the remote control and the reference station₁，Δy₁，Δz₁) Calculating the position coordinates (a) of the remote controller₁，b₁，c₁). Remote controller position coordinate (a)₁，b₁，c₁）=（x+Δx₁，y+Δy₁，z+Δz₁). The remote controller position coordinate is the dotting position coordinate matched with the boundary point of the current operation area.

And step 205, sending the dotting position coordinates to the ground station through the Bluetooth module.

Optionally, the carrier phase difference module in the remote controller sends the calculated dotting position coordinate to the micro control unit in the remote controller. And a micro control unit in the remote controller sends the dotting position coordinates to the ground station through the Bluetooth module.

And step 206, determining the current working mode as a flight mode, and receiving the reference station correction information and the reference station site coordinates sent by the ground station through an internal Bluetooth module.

And step 207, sending the correction information of the reference station and the station coordinates of the reference station to the unmanned aerial vehicle flight control through an internal wireless module, so that the unmanned aerial vehicle flight control sends the correction information of the reference station and the station coordinates of the reference station to a carrier phase differential module in the unmanned aerial vehicle.

The carrier phase difference module in the unmanned aerial vehicle receives reference station correction information and reference station site coordinates sent by the unmanned aerial vehicle flight control, and calculates according to the reference station correction information, the reference station site coordinates and satellite signals received by the carrier phase difference module in the unmanned aerial vehicle, obtains unmanned aerial vehicle position information and sends the unmanned aerial vehicle flight control information to the unmanned aerial vehicle.

Optionally, the little the control unit inside the remote controller passes through the inside wireless module of remote controller, gives unmanned aerial vehicle flight control with reference station correction information and reference station website coordinate transmission to make unmanned aerial vehicle flight control send the reference station correction information and reference station website coordinate for the inside carrier phase difference of unmanned aerial vehicle divides the module.

The embodiment of the invention provides an unmanned aerial vehicle control method, after a position acquisition instruction sent by a ground station is received by a Bluetooth module through a remote controller, a dotting position coordinate is calculated according to reference station correction information, a reference station site coordinate and a satellite signal received by the carrier phase difference sub-module through a carrier phase difference sub-module in the remote controller, the reference station correction information and the reference station site coordinate sent by the ground station are received by the Bluetooth module in the remote controller, then the reference station correction information and the reference station site coordinate are sent to an unmanned aerial vehicle flight control through a wireless module in the remote controller, so that the unmanned aerial vehicle flight control sends the reference station correction information and the reference station site coordinate to the carrier phase difference sub-module in the unmanned aerial vehicle, and the position coordinates of each boundary point of an operation area of the unmanned aerial vehicle can be acquired through the carrier phase difference sub-module in the remote controller in a dotting mode, the unmanned aerial vehicle's operation region is drawn together, can be under the flight mode, through ground satellite station, remote controller and unmanned aerial vehicle flight control, sends the difference data of continuous operation reference station system for the inside carrier wave phase difference submodule group of unmanned aerial vehicle, accomplishes unmanned aerial vehicle's high accuracy location through the inside carrier wave phase difference submodule group of unmanned aerial vehicle, has reduced unmanned aerial vehicle control cost.

EXAMPLE III

Fig. 3 is a schematic structural diagram of an unmanned aerial vehicle control device provided in the third embodiment of the present invention. As shown in fig. 3, the apparatus may be configured in a remote controller in an unmanned aerial vehicle control system, including: a mode determination module 301, a position information transmission module 302, and a differential data transmission module 303.

The mode determining module 301 is configured to receive a mode switching instruction sent by a ground station, and determine a target working mode matched with the mode switching instruction; a position information sending module 302, configured to determine the current working mode as a dotting mode if the target working mode is the dotting mode, perform calculation according to differential data of a continuously operating reference station system and a position acquisition instruction sent by the ground station through a carrier phase differential module inside the remote controller, obtain dotting position information matched with the position acquisition instruction, and send the dotting position information to the ground station; the differential data sending module 303 is configured to determine the current working mode as the flight mode if the target working mode is the flight mode, receive differential data of the continuously operating reference station system sent by the ground station, and send the differential data of the continuously operating reference station system to the unmanned aerial vehicle flight control, so that the unmanned aerial vehicle flight control sends the differential data of the continuously operating reference station system to a carrier phase difference component module inside the unmanned aerial vehicle; the carrier phase difference module in the unmanned aerial vehicle receives differential data of a continuous operation reference station system sent by the unmanned aerial vehicle flight control, and calculates according to the differential data of the continuous operation reference station system and satellite signals received by the carrier phase difference module in the unmanned aerial vehicle, and sends the obtained unmanned aerial vehicle position information to the unmanned aerial vehicle flight control.

The embodiment of the invention provides an unmanned aerial vehicle control device, which receives a mode switching instruction sent by a ground station through a remote controller and determines a target working mode matched with the mode switching instruction; if the target working mode is the dotting mode, the remote controller determines the current working mode as the dotting mode, and calculates according to differential data and a position acquisition instruction of a continuously operating reference station system sent by the ground station through a carrier phase differential module in the remote controller to obtain dotting position information matched with the position acquisition instruction and send the dotting position information to the ground station; if the target working mode is the flight mode, the remote controller determines the current working mode as the flight mode, receives differential data of a continuously-operating reference station system sent by a ground station, and sends the differential data of the continuously-operating reference station system to the unmanned aerial vehicle flight control, under the dotting mode, position information of each boundary point of an operation area of the unmanned aerial vehicle is obtained through a carrier phase difference sub-module in the remote controller, the operation area of the unmanned aerial vehicle is defined, under the flight mode, the differential data of the continuously-operating reference station system is sent to the carrier phase difference sub-module in the unmanned aerial vehicle through the ground station, the remote controller and the unmanned aerial vehicle flight control, high-precision positioning of the unmanned aerial vehicle is completed through the carrier phase difference sub-module in the unmanned aerial vehicle, and the cost of the unmanned aerial vehicle is reduced.

On the basis of the above embodiments, the differential data of the continuously operating reference station system is the correction information of the reference station and the station coordinates of the reference station; the method comprises the following steps that a ground station determines a system account number of a continuously-operating reference station bound with the ground station according to an equipment identity identification number; logging in a continuous operation reference station system according to a continuous operation reference station system account, and receiving reference station correction information and reference station coordinates sent by the continuous operation reference station system; and sending the correction information of the reference station and the site coordinates of the reference station to the remote controller through the internal Bluetooth module.

On the basis of the foregoing embodiments, the location information sending module 302 may include: the information receiving unit is used for receiving the reference station correction information and the reference station site coordinates sent by the ground station through the internal Bluetooth module; the coordinate value calculation unit is used for calculating the position offset of the remote controller and the reference station according to the satellite signal received by the carrier phase difference sub-module in the remote controller and the correction information of the reference station after receiving the position acquisition instruction sent by the ground station through the Bluetooth module; calculating a dotting position coordinate according to the station coordinate and the position offset of the reference station; and the coordinate value sending unit is used for sending the dotting position coordinate to the ground station through the Bluetooth module.

On the basis of the foregoing embodiments, the differential data transmitting module 303 may include: the information receiving unit is used for receiving the reference station correction information and the reference station site coordinates sent by the ground station through an internal Bluetooth module; the coordinate value sending unit is used for sending the correction information of the reference station and the site coordinates of the reference station to the unmanned aerial vehicle flight control through an internal wireless module so that the unmanned aerial vehicle flight control sends the correction information of the reference station and the site coordinates of the reference station to a carrier phase difference module inside the unmanned aerial vehicle; the carrier phase difference module in the unmanned aerial vehicle receives reference station correction information and reference station site coordinates sent by the unmanned aerial vehicle flight control, and calculates according to the reference station correction information, the reference station site coordinates and satellite signals received by the carrier phase difference module in the unmanned aerial vehicle, obtains unmanned aerial vehicle position information and sends the unmanned aerial vehicle flight control information to the unmanned aerial vehicle.

The unmanned aerial vehicle control device can execute the unmanned aerial vehicle control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the unmanned aerial vehicle control method.

Example four

Fig. 4a is a schematic structural diagram of an unmanned aerial vehicle control system according to a fourth embodiment of the present invention. As shown in fig. 4a, the system specifically includes: the system comprises a ground station 401, a remote controller 402, a unmanned aerial vehicle flight control 403 and a carrier phase differential module 404 inside the unmanned aerial vehicle.

The ground station 401 is configured to send a mode switching instruction to the remote controller 402, so that the remote controller 402 determines the current working mode as a dotting mode or a flight mode according to the mode switching instruction; if the remote controller 402 determines the current operating mode as the dotting mode, sending differential data and a position acquisition instruction of the continuously operating reference station system to the remote controller 402; if the remote control 402 determines the current operating mode as the flight mode, differential data for continuously operating the reference station system is transmitted to the remote control 402.

The remote controller 402 is used for receiving a mode switching instruction sent by the ground station 401 and determining a target working mode matched with the mode switching instruction; if the target working mode is the dotting mode, determining the current working mode as the dotting mode, calculating according to differential data of a continuously operating reference station system and a position acquisition instruction sent by the ground station 401 through a carrier phase differential module in the remote controller 402, obtaining dotting position information matched with the position acquisition instruction, and sending the dotting position information to the ground station 401; if the target working mode is the flight mode, the current working mode is determined as the flight mode, the differential data of the continuously-operating reference station system sent by the ground station 401 is received, and the differential data of the continuously-operating reference station system is sent to the unmanned aerial vehicle flight control 403.

And the unmanned aerial vehicle flight control 403 is configured to receive the differential data of the continuously operating reference station system sent by the remote controller 402, and send the differential data of the continuously operating reference station system to the carrier phase differential module 404 inside the unmanned aerial vehicle.

The carrier phase difference sub-module 404 inside the unmanned aerial vehicle is configured to receive differential data of the continuously operating reference station system sent by the unmanned aerial vehicle flight control 403, perform calculation according to the differential data of the continuously operating reference station system and satellite signals received by the carrier phase difference sub-module 404 inside the unmanned aerial vehicle, obtain position information of the unmanned aerial vehicle, and send the position information of the unmanned aerial vehicle to the unmanned aerial vehicle flight control 403.

The continuously operating reference station system transmits differential data of the continuously operating reference station system to the ground station 401 in the form of RTCM signals through the 4G network using the NTRIP protocol. The ground station 401 receives differential data of the continuously operating reference station system transmitted by the continuously operating reference station system.

The ground station 401 and the remote controller 402 transmit information via bluetooth. The information transmission is performed between the remote controller 402 and the unmanned aerial vehicle flight control 403 through a wireless communication mode. The unmanned aerial vehicle flight control 403 and the carrier phase differential module 404 inside the unmanned aerial vehicle transmit information through a CAN or a UART.

Optionally, the differential data of the continuously operating reference station system is the correction information of the reference station and the station coordinates of the reference station; the ground station 401 is further configured to determine, according to the device identity identification number, a system account number of the continuously operating reference station bound to the ground station 401; logging in a continuous operation reference station system according to a continuous operation reference station system account, and receiving reference station correction information and reference station coordinates sent by the continuous operation reference station system; the reference station correction information and the reference station site coordinates are sent to the remote controller 402 through the internal bluetooth module.

Optionally, the remote controller 402 includes: little the control unit, bluetooth module, wireless module and carrier phase difference module. As shown in fig. 4b, the micro control unit and the wireless module transmit information via the two-wire serial bus I2C or UART. The information transmission is carried out between the micro control unit and the Bluetooth module through a two-wire serial bus I2C or UART. And the micro control unit and the carrier phase differential module carry out information transmission through a CAN or a UART.

The embodiment of the present invention integrates an RTK clicker into remote control 402. The working mode of the unmanned aerial vehicle control system comprises the following steps: a dotting mode and a flight mode. The dotting mode is a mode in which the unmanned aerial vehicle is not powered on and the remote controller 402 is used to demarcate the working area of the unmanned aerial vehicle. The flight mode is a mode in which the whole unmanned aerial vehicle control system is powered on and the ground station 401 and the remote controller 402 are used to control the unmanned aerial vehicle to operate. The switching of the operating mode of the drone control system is determined by the ground station 401. The remote controller 402 receives the mode switching instruction sent by the ground station 401 and determines a target working mode matched with the mode switching instruction. If the target working mode is the dotting mode, the remote controller 402 determines the current working mode as the dotting mode, and calculates according to the differential data of the continuously operating reference station system and the position acquisition instruction sent by the ground station 401 through a carrier phase differential module in the remote controller 402, so as to obtain dotting position information matched with the position acquisition instruction and send the dotting position information to the ground station 401. If the target working mode is the flight mode, the remote controller 402 determines the current working mode as the flight mode, receives the differential data of the continuously operating reference station system sent by the ground station 401, and sends the differential data of the continuously operating reference station system to the unmanned aerial vehicle flight control 403, so that the unmanned aerial vehicle flight control 403 sends the differential data of the continuously operating reference station system to the carrier phase difference component module 404 inside the unmanned aerial vehicle.

In the unmanned aerial vehicle control system, the ground station 401 binds the equipment identity identification number of the ground station with the system account number of the continuously operating reference station in advance to obtain a system account number of the continuously operating reference station. Under the mode of dotting, ground station 401 sends difference data reference station correction information and reference station site coordinate of continuous operation reference station system to remote controller 402 through inside bluetooth module, acquires the position coordinate of each boundary point of unmanned aerial vehicle's operation region through the inside carrier phase difference module of remote controller 402, delimits unmanned aerial vehicle's operation region. In the flight mode, differential data of a continuously-operating reference station system is sent to a carrier phase differential module 404 in the unmanned aerial vehicle through a ground station 401, a remote controller 402 and an unmanned aerial vehicle flight control 403, and high-precision positioning of the unmanned aerial vehicle is completed through the carrier phase differential module 404 in the unmanned aerial vehicle. In the unmanned aerial vehicle control system, only the ground station 401 establishes direct wireless connection with the continuously-running reference station system, so that the hardware cost is reduced, the use cost of the continuously-running reference station system corresponding to one continuously-running reference station system account only needs to be paid, and the use cost of the continuously-running reference station system is reduced.

The embodiment of the invention provides an unmanned aerial vehicle control system, which receives a mode switching instruction sent by a ground station through a remote controller and determines a target working mode matched with the mode switching instruction; if the target working mode is the dotting mode, the remote controller determines the current working mode as the dotting mode, and calculates according to differential data and a position acquisition instruction of a continuously operating reference station system sent by the ground station through a carrier phase differential module in the remote controller to obtain dotting position information matched with the position acquisition instruction and send the dotting position information to the ground station; if the target working mode is the flight mode, the remote controller determines the current working mode as the flight mode, receives differential data of a continuously-operating reference station system sent by a ground station, sends the differential data of the continuously-operating reference station system to the unmanned aerial vehicle flight control, the unmanned aerial vehicle flight control receives the differential data of the continuously-operating reference station system sent by the remote controller, and sends the differential data of the continuously-operating reference station system to a carrier phase difference module in the unmanned aerial vehicle, the carrier phase difference module in the unmanned aerial vehicle receives the differential data of the continuously-operating reference station system sent by the unmanned aerial vehicle flight control, and calculates according to the differential data of the continuously-operating reference station system and satellite signals received by the carrier phase difference module in the unmanned aerial vehicle, so as to obtain position information of the unmanned aerial vehicle and send the position information to the unmanned aerial vehicle flight control, and under the dotting mode, the position information of each boundary point of an operation area of the unmanned aerial vehicle can be obtained through the The operating area of the unmanned aerial vehicle is defined, the differential data of the continuous operation reference station system can be sent to the carrier phase difference sub-module inside the unmanned aerial vehicle through the ground station, the remote controller and the unmanned aerial vehicle flight control in the flight mode, the high-precision positioning of the unmanned aerial vehicle is completed through the carrier phase difference sub-module inside the unmanned aerial vehicle, and the control cost of the unmanned aerial vehicle is reduced.

EXAMPLE five

Fig. 5 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention. FIG. 5 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in FIG. 5 is only an example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention.

As shown in FIG. 5, computer device 12 is embodied in the form of a general purpose computer device. The components of computer device 12 may include, but are not limited to: one or more processors 16, a memory 28, and a bus 18 that connects the various system components (including the memory 28 and the processors 16). The processor 16 includes, but is not limited to, an AI processor.

Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Computer device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

The memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, and commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.

Computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with computer device 12, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, computer device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with the other modules of computer device 12 via bus 18. It should be appreciated that although not shown in FIG. 5, other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processor 16 of the computer device 12 executes various functional applications and data processing, such as implementing the drone control method provided by embodiments of the present invention, by running programs stored in the memory 28. The method specifically comprises the following steps: the remote controller receives a mode switching instruction sent by the ground station and determines a target working mode matched with the mode switching instruction; if the target working mode is the dotting mode, the remote controller determines the current working mode as the dotting mode, and calculates according to differential data and a position acquisition instruction of a continuously operating reference station system sent by the ground station through a carrier phase differential module in the remote controller to obtain dotting position information matched with the position acquisition instruction and send the dotting position information to the ground station; and if the target working mode is the flight mode, the remote controller determines the current working mode as the flight mode, receives the differential data of the continuously-operating reference station system sent by the ground station, and sends the differential data of the continuously-operating reference station system to the unmanned aerial vehicle flight control, so that the unmanned aerial vehicle flight control sends the differential data of the continuously-operating reference station system to a carrier phase difference component module in the unmanned aerial vehicle.

EXAMPLE six

The sixth embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the unmanned aerial vehicle control method provided in the embodiments of the present invention. The method specifically comprises the following steps: the remote controller receives a mode switching instruction sent by the ground station and determines a target working mode matched with the mode switching instruction; if the target working mode is the dotting mode, the remote controller determines the current working mode as the dotting mode, and calculates according to differential data and a position acquisition instruction of a continuously operating reference station system sent by the ground station through a carrier phase differential module in the remote controller to obtain dotting position information matched with the position acquisition instruction and send the dotting position information to the ground station; and if the target working mode is the flight mode, the remote controller determines the current working mode as the flight mode, receives the differential data of the continuously-operating reference station system sent by the ground station, and sends the differential data of the continuously-operating reference station system to the unmanned aerial vehicle flight control, so that the unmanned aerial vehicle flight control sends the differential data of the continuously-operating reference station system to a carrier phase difference component module in the unmanned aerial vehicle.

Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, Ruby, Go, and conventional procedural programming languages, such as the "C" programming language or similar programming languages, and computer languages for AI algorithms. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. An unmanned aerial vehicle control method, comprising:

the method comprises the following steps that a remote controller receives a mode switching instruction sent by a ground station, and determines a target working mode matched with the mode switching instruction;

if the target working mode is a dotting mode, determining the current working mode as the dotting mode by the remote controller, calculating according to differential data of a continuously operating reference station system and a position acquisition instruction sent by the ground station through a carrier phase differential module in the remote controller, and sending dotting position information matched with the position acquisition instruction to the ground station;

if the target working mode is a flight mode, the remote controller determines the current working mode as the flight mode, receives differential data of a continuously-operating reference station system sent by the ground station, and sends the differential data of the continuously-operating reference station system to the unmanned aerial vehicle flight control, so that the unmanned aerial vehicle flight control sends the differential data of the continuously-operating reference station system to a carrier phase difference component module in the unmanned aerial vehicle;

the carrier phase difference module group in the unmanned aerial vehicle receives differential data of a continuous operation reference station system sent by the unmanned aerial vehicle flight control, and calculates according to the differential data of the continuous operation reference station system and satellite signals received by the carrier phase difference module group in the unmanned aerial vehicle to obtain unmanned aerial vehicle position information and send the unmanned aerial vehicle position information to the unmanned aerial vehicle flight control.

2. The method of claim 1, wherein the differential data of the continuously operating reference station system is reference station correction information and reference station site coordinates;

the ground station determines a system account number of a continuously operating reference station bound with the ground station according to the equipment identity identification number; logging in a continuous operation reference station system according to the continuous operation reference station system account, and receiving reference station correction information and reference station coordinates sent by the continuous operation reference station system; and sending the correction information of the reference station and the site coordinates of the reference station to the remote controller through an internal Bluetooth module.

3. The method of claim 2, wherein the calculating according to the differential data of the continuously operating reference station system and the position acquisition instruction sent by the ground station through a carrier phase differential module in the remote controller to obtain dotting position information matched with the position acquisition instruction and send the dotting position information to the ground station comprises:

the remote controller receives the reference station correction information and the reference station site coordinates sent by the ground station through the internal Bluetooth module;

after the remote controller receives a position acquisition instruction sent by the ground station through the Bluetooth module, calculating the position offset of the remote controller and a reference station through a carrier phase difference module in the remote controller according to satellite signals received by the carrier phase difference module in the remote controller and the correction information of the reference station; calculating a dotting position coordinate according to the station coordinate of the reference station and the position offset;

and the remote controller sends the dotting position coordinates to the ground station through the Bluetooth module.

4. The method of claim 2, wherein receiving differential data of the continuously operating reference station system sent by the ground station and sending the differential data of the continuously operating reference station system to the drone flight control, so that the drone flight control sends the differential data of the continuously operating reference station system to a carrier-phase differential module inside the drone comprises:

the remote controller receives the reference station correction information and the reference station site coordinates sent by the ground station through an internal Bluetooth module;

the remote controller sends the reference station correction information and the reference station site coordinates to an unmanned aerial vehicle flight control through an internal wireless module, so that the unmanned aerial vehicle flight control sends the reference station correction information and the reference station site coordinates to a carrier phase difference division module inside the unmanned aerial vehicle;

the carrier phase difference module in the unmanned aerial vehicle receives the reference station correction information and the reference station site coordinates sent by the unmanned aerial vehicle flight control, and calculates according to the reference station correction information, the reference station site coordinates and satellite signals received by the carrier phase difference module in the unmanned aerial vehicle, and sends the obtained unmanned aerial vehicle position information to the unmanned aerial vehicle flight control.

5. An unmanned aerial vehicle controlling means, its characterized in that includes:

the position information sending module is used for determining the current working mode as the dotting mode if the target working mode is the dotting mode, calculating according to differential data of a continuously operating reference station system and a position acquisition instruction sent by the ground station through a carrier phase differential module in a remote controller, obtaining dotting position information matched with the position acquisition instruction and sending the dotting position information to the ground station;

the differential data sending module is used for determining the current working mode as the flight mode if the target working mode is the flight mode, receiving differential data of the continuously-operating reference station system sent by the ground station, and sending the differential data of the continuously-operating reference station system to the unmanned aerial vehicle flight control, so that the unmanned aerial vehicle flight control sends the differential data of the continuously-operating reference station system to a carrier phase differential module inside the unmanned aerial vehicle;

6. An unmanned aerial vehicle control system, comprising: the system comprises a ground station, a remote controller, an unmanned aerial vehicle flight control module and a carrier phase difference module in the unmanned aerial vehicle;

the ground station is used for sending a mode switching instruction to the remote controller so that the remote controller determines the current working mode as a dotting mode or a flight mode according to the mode switching instruction; if the remote controller determines the current working mode as the dotting mode, sending differential data and a position acquisition instruction of a continuously operating reference station system to the remote controller; if the remote controller determines the current working mode as the flight mode, sending differential data of a continuously operating reference station system to the remote controller;

the remote controller is used for receiving a mode switching instruction sent by the ground station and determining a target working mode matched with the mode switching instruction; if the target working mode is a dotting mode, determining the current working mode as the dotting mode, calculating according to differential data of a continuously operating reference station system and a position acquisition instruction sent by the ground station through a carrier phase difference module in the remote controller, obtaining dotting position information matched with the position acquisition instruction, and sending the dotting position information to the ground station; if the target working mode is a flight mode, determining the current working mode as the flight mode, receiving differential data of a continuously-operating reference station system sent by the ground station, and sending the differential data of the continuously-operating reference station system to the unmanned aerial vehicle flight control;

the unmanned aerial vehicle flight control is used for receiving the differential data of the continuously operating reference station system sent by the remote controller and sending the differential data of the continuously operating reference station system to a carrier phase differential module in the unmanned aerial vehicle;

the carrier phase difference sub-module in the unmanned aerial vehicle is used for receiving the differential data of the continuous operation reference station system sent by the unmanned aerial vehicle flight control, calculating according to the differential data of the continuous operation reference station system and the satellite signals received by the carrier phase difference sub-module in the unmanned aerial vehicle, obtaining the position information of the unmanned aerial vehicle and sending the position information to the unmanned aerial vehicle flight control.

7. The system of claim 6, wherein the differential data of the continuously operating reference station system is reference station correction information and reference station site coordinates;

the ground station is also used for determining a system account number of the continuously operating reference station bound with the ground station according to the equipment identity identification number; logging in a continuous operation reference station system according to the continuous operation reference station system account, and receiving reference station correction information and reference station coordinates sent by the continuous operation reference station system; and sending the correction information of the reference station and the site coordinates of the reference station to the remote controller through an internal Bluetooth module.

8. The system of claim 6, wherein the remote control comprises: little the control unit, bluetooth module, wireless module and carrier phase difference module.

9. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements the drone control method of any one of claims 1-4.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the drone controlling method according to any one of claims 1 to 4.