CN112261618B - ZigBee-based communication method between multiple four-rotor aircrafts - Google Patents
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Abstract
The embodiment of the invention discloses a ZigBee-based communication method between multiple quadrotor aircrafts, and relates to the technical field of communication of multiple small aircrafts. The invention comprises the following steps: the method comprises the steps that a sending end determines transmission information according to a data type and a receiving end type, a combined data frame with the transmission information and the transmission data is generated, a ZigBee communication module of the sending end sends the combined data frame to the receiving end, to which the transmission information points, in the combined data frame only according to a transmission mode selected by the transmission information in the combined data frame, and after the ZigBee communication module of the receiving end receives the combined data frame, the transmission data in the combined data frame are obtained, and the sending end is identified through a sending end address in the combined data frame. The method and the device realize point-to-point and point-to-multipoint communication among the multiple four rotors, between the four rotors and the ground, simplify data flow of the receiving end and ensure that the receiving end is required data, avoid the condition that a communication channel is occupied due to the fact that unnecessary data are received, improve the communication efficiency and avoid data conflict among multiple machines.
Description
Technical Field
The invention relates to the technical field of communication of multiple small aircrafts, in particular to a ZigBee-based communication method between multiple four-rotor aircrafts.
Background
In recent years, the small-sized four-rotor wing is emphasized by various industries with unique advantages, such as easy operation, convenient carrying, and capability of being applied to various complex environments to replace manpower and reduce cost. However, the working capacity is limited due to the small size, the working range is greatly limited, the communication schemes and the communication modules on many medium and large-sized aircrafts are difficult to be effectively applied to the four-rotor aircrafts, and more efficient formation flight of multiple four rotors is required to be developed to improve the working efficiency of the aircrafts. Therefore, a communication mode and a collaborative formation mode of multiple four rotors become one of the emerging research directions.
In terms of the current technology, there have been some research results on communication among multiple quadrotors, and these research results can implement communication among multiple quadrotors, quadrotors and ground stations, but have the problems of low communication efficiency, crowded data stream at the receiving end of the communication module, and incapability of implementing individual information interaction between any two quadrotors, etc. Such as: in the existing research, all four rotors adopt a broadcast mode of a communication module, which causes that the data flow of the receiving end of the communication module of the four rotors is crowded and the communication channel is occupied because unnecessary data is received; or the data is broadcast in turn among a plurality of four rotors, which causes problems of insufficient real-time performance of the data and the like.
Disclosure of Invention
The embodiment of the invention provides a ZigBee-based multi-quad rotor aircraft communication method, which can avoid a large amount of data conflicts among multiple machines.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
a ZigBee-based quad-rotor aircraft communication method for use in a system comprising: the system comprises at least 2 quadrotors and a ground station, wherein each quadrotor and the ground station are provided with ZigBee communication modules, a ZigBee communication network is formed by networking all quadrotors and the ZigBee communication modules of the ground station, and each ZigBee communication module is assigned with a unique network address when being accessed into the ZigBee communication network;
the method comprises the following steps:
step one, a sending end classifies all transmission data and determines corresponding receiving end types according to the data types and the requirement information of the transmission data;
step two, the sending end determines transmission information according to the type of the receiving end and generates a combined data frame with the transmission information and transmission data, wherein the transmission information comprises: transmission type, transmission address, transmission mode, etc.;
step three, the ZigBee communication module installed at the sending end sends the combined data frame to only the receiving end pointed by the transmission address in the combined data frame in the transmission mode recorded in the combined data frame, and the other receiving ends cannot receive the combined data frame;
and step four, after the ZigBee communication module arranged on the receiving end receives the combined data frame, converting the combined data frame from a sending frame format into a receiving frame format and transmitting the receiving frame format to the receiving end.
Specifically, the sending end type includes: the ground station or quad-rotor craft; the receiving end type includes: a single quad-rotor aircraft, the ground station, or all quad-rotor aircraft and the ground station in a communication network.
The first step comprises the following steps: classifying all transmission data according to data types and requirements and determining corresponding receiving end types; wherein, the data type of transmission when four rotor crafts as the sending end includes: the system comprises a four-rotor aircraft, a four-rotor aircraft, a; the types of data transmitted when the ground station is used as a transmitting end include: heartbeat packets and instruction information.
The position and the speed of the four-rotor aircraft are shared in real time in a communication network, and the type of the data receiving end is all four rotors and the ground station in a ZigBee communication network; sensor data and real-time state data of the four-rotor aircraft are sent to the ground station for remote monitoring, and the type of a receiving end of the data is the ground station; when independent communication is carried out between any two quadrotors, the type of the designated information receiving end of one of the quadrotors is the other quadrotor to which the designated information points.
When communication connection is established and kept between the ground station and the four rotors, the ground station periodically sends heartbeat packets to all the four rotors to ensure whether the connection is normal or not, and the receiving ends of the heartbeat packets are all the four rotors in the ZigBee communication network; the ground station sends instruction information to different four rotors according to the states of the four rotors and the current requirements, the purpose of the information is only for one four rotor, and the type of the receiving end of the instruction information is a single four-rotor aircraft pointed by the instruction information.
The second step of generating the combined data frame includes: packaging the transmission information as an outer layer of the combined data frame; the transmission information content comprises: the method comprises the following steps of transmission type, whether a response mark exists, a transmission address, a transmission mode, a broadcast radius and reserved bits, wherein the transmission mode comprises the following steps: unicast or broadcast; according to the message frame form of the MAVLink communication protocol, packaging transmission data and using the transmission data as an inner layer of a combined message frame; the combined data frame inner layer filling field comprises: the specific data transmitted, the type of the specific data, the aircraft number and component number at the transmitting end, the sequence number of the combined message frame, the MAVLink start frame, the length, and the check code. Determining transmission information by a transmission end according to a receiving end type corresponding to transmission data, wherein the method comprises the following steps: for the sending end, the combined data frame is in a sending frame form, and the transmission information in the combined data frame includes: the transmission type is a sending type, the transmission address is a receiving end address, whether a response mark exists, a transmission mode, a broadcast radius and a reserved bit; when the type of a receiving end corresponding to the transmission data is a ground station or a single four-rotor wing, selecting the address of the ground station or the four-rotor wing at the address of the receiving end, and selecting a unicast mode for the transmission mode; when the receiving end types corresponding to the transmission data are all quadrotors and ground stations in a communication network, selecting a broadcast address at the receiving end address, selecting a broadcast mode in a transmission mode, and selecting a broadcast radius; the combined data frame received by the receiving end is in a received frame form, and the transmission information in the combined data frame comprises: the transmission type is a receiving type, the transmission address is a sending end address, whether a response mark exists, a transmission mode and a reserved bit.
The third step comprises: the transmitting end is in wired connection with the installed ZigBee communication module, transmits the combined data frame in a transmitting frame form to the communication module in a wired transmission mode, and the communication module transmits the combined data frame according to transmission information in the combined data frame; if the address of the receiving end in the combined data frame is a ground station address or a single four-rotor address, and the transmission mode is unicast, the communication module only sends the combined data frame to the receiving end pointed by the address of the receiving end in a unicast mode, namely the ground station or a single four-rotor, and other receiving ends cannot receive the combined data frame; if the address of the receiving end in the combined data frame is a broadcast address, and the transmission mode is broadcasting, the communication module sends the combined data frame to the ZigBee communication network in a broadcasting mode, and all the receiving ends in the ZigBee communication network can receive the combined data frame, namely all the four rotors and the ground station can receive the combined data frame.
The fourth step comprises: the receiving end is in wired connection with the installed ZigBee communication module, and the communication module processes the received combined data frame and then sends the combined data frame to the receiving end through wired transmission; after receiving a combined data frame sending frame form sent by a sending end, a ZigBee communication module arranged on a receiving end converts the sending frame form into a receiving frame form, fills a receiving type in a transmission type position, fills a sending end address in a transmission address position, fills the sending end address as a ground station or a four-rotor wing address of the sending end, and then sends the combined data frame to the receiving end through wired transmission; after the receiving end receives the combined data frame, the sending end is identified through the address of the sending end in the combined data frame, namely the sending end of the data frame is identified to be a ground station or a certain four rotors, and the required data is obtained from the transmission data in the combined data frame.
In the embodiment, by constructing the ZigBee communication link and the communication network, the sending end classifies all data according to the data types and requirements and determines the types of the receiving ends, and then determines the transmission information according to the types and the types of the receiving ends, so as to generate a brand-new combined data frame with the transmission data and the transmission information, the communication module only sends the combined data frame to the receiving end pointed by the transmission information in a transmission mode in a group data frame, and other receiving ends cannot receive the combined data frame, thereby realizing point-to-point and point-to-multipoint communication among the four rotors, the four rotors and the ground station, simultaneously simplifying the data flow of the receiving ends and ensuring that all the receiving ends are required data, avoiding the condition that the communication channel is occupied due to the reception of unnecessary data, improving the communication efficiency, identifying the sending end through the information in the data frame and avoiding the data collision among multiple machines.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of communication between multiple quad-rotor aircraft according to an embodiment of the present invention.
Fig. 2 is a transmitting frame/receiving frame format of a combined data frame according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a communication link and a transmission flow according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
At the beginning of the design of the invention, in terms of the current technology, partial research results on communication among multiple four rotors already exist, and although the research results can realize communication among multiple four rotors and communication between four rotors and a ground station, the research results have the problems of low communication efficiency, crowded data flow at a receiving end of a communication module, incapability of realizing independent information interaction between any two four rotors and the like. Such as: all four rotors in the prior art use the broadcast mode of the communication module, which results in the data flow congestion at the receiver end of the communication module of the four rotors and the occupation of the communication channel for receiving unnecessary data. The mode of broadcasting data in turn among a plurality of four rotors can cause a plurality of problems such as insufficient real-time performance of the data.
The invention aims to carry out deeper and more complete research on communication methods among a plurality of four rotors and between the four rotors and a ground station, finally realize communication among multiple machines and avoid data conflict among the multiple machines. A communication scheme among multiple four rotors and among four rotors and ground stations based on a ZigBee communication network is designed, the communication scheme relates to the field of communication of multiple small aircrafts, point-to-point and point-to-multipoint communication among the multiple four rotors and among the four rotors and the ground stations can be realized, and meanwhile, the communication efficiency among multiple machines is improved.
The embodiment of the invention provides a ZigBee-based communication method between multiple four-rotor aircrafts, which is used for a system, and the application of the communication method in the system is shown in figure 1, and the system comprises the following steps: at least 2 four rotor crafts and ground station, every four rotor crafts with ZigBee communication module is all installed to the ground station, and ZigBee communication network is formed by all four rotor crafts with the ZigBee communication module network deployment of ground station, and every ZigBee communication module inserts when ZigBee communication network all distributes unique network address.
Specifically, a communication link and a communication network are built by a plurality of four rotors, a ground station and a ZigBee communication module, wherein the flight control board, the ground station and the ZigBee communication module are in wired connection, and the communication modules are in wireless connection; and selecting an API working mode of the communication module, wherein the mode determines a transmission mode and a receiving end mode to carry out communication according to the transmission message in the data frame, so that the transmission mode and the receiving end of the communication module are not unique and can be changed according to the transmission information in the data frame.
The scheme of the embodiment, if divided according to the rough steps, may include the following steps:
step one, a sending end classifies all transmission data according to the data type and the demand information of the transmission data and determines the corresponding receiving end type;
step two, the sending end determines transmission information according to the type of the receiving end and generates a combined data frame with the transmission information and transmission data, wherein the transmission information comprises: the method comprises the steps of starting symbols, check codes, transmission addresses, transmission modes and whether response marks are needed, wherein the transmission modes comprise broadcasting or unicasting;
step three, the ZigBee communication module installed at the sending end sends the combined data frame to only the receiving end pointed by the transmission address in the combined data frame in the transmission mode recorded in the combined data frame, and the other receiving ends cannot receive the combined data frame;
step four, after receiving the combined data frame, a ZigBee communication module arranged on a receiving end converts the combined data frame into a receiving frame format and transmits the receiving frame format to the receiving end, and the receiving end identifies the sending end through a transmission address in the combined data frame and acquires required data through transmission data in the combined data frame;
the combined data frame with the transmission information and the transmission data is constructed for information interaction, the ZigBee communication module is matched to enable the data to be only sent to a receiving end pointed by a transmission address in the combined data frame, meanwhile, the transmission information such as the transmission address and the transmission mode is packaged into the data frame in advance, after the data frame is transmitted to the communication module, the communication module directly transmits the data according to the transmission information, the transmission module does not need to select the transmission information and then transmit the data, and the transmission processing time of the communication module is shortened.
In the embodiment, a communication link and a communication network are built by a plurality of four rotors, a ground station at a PC end and a ZigBee communication module; determining the type of a receiving end according to the data type and the requirement before the transmitting end encapsulates the transmission information, and determining the transmission information according to the type of the receiving end; the combined data frame loaded with transmission data and transmission information is used for information interaction, and the communication module sends the combined data frame to a receiving end pointed by the transmission information only in a transmission mode selected by the transmission information in the combined data frame, so that the data is transmitted to different required receiving ends in different modes according to requirements. The invention can realize point-to-point and point-to-multipoint communication among the multiple four rotors, the four rotors and the ground station, and communication data is only sent to a required receiving end according to requirements, so that the communication data flow of the receiving end is simplified, and the communication efficiency is improved.
Specifically, the first step includes: the sending end classifies all the transmission data according to the data types and the requirement information of the transmission data and determines the corresponding receiving end types;
specific examples are as follows: the data types of the four-rotor aircraft are divided into three categories, namely position and speed, sensor data and real-time state data of the four-rotor aircraft, and designated information of a certain four-rotor; the position and the speed of the four-rotor aircraft need to be shared in a communication network, and the data receiving ends are all receiving ends in a ZigBee communication network; sensor data and real-time state data of the four-rotor aircraft need to be sent to a ground station for remote monitoring, and a receiving end of the data is the ground station; independent communication may be required between any two quadrotors, and the specified information receiving end of one quadrotor is the quadrotor pointed by the specified information;
the data stream receiving end of the ground station is mainly divided into two categories of information of a certain specified four rotors and all four rotors. The ground station needs to send command information such as take-off/landing, mode switching and uploading waypoints to different four rotors according to the states and current requirements of the four rotors, the purpose of the information is only for one four rotors, and other four rotors do not need, so that the receiving end of the data is a designated four rotors. Meanwhile, when communication connection is established between the ground station and the four rotors and communication connection is kept, the ground station needs to send heartbeat packets to all the four rotors timely to ensure whether the connection is normal or not, and therefore the message receiving ends are all the four rotors. The current requirement can be a requirement judged by an operator according to the field working condition and the flight requirement, and the current requirement is controlled and switched according to the judged requirement.
Specifically, the second step includes: the sending end determines transmission information according to the type of the receiving end and generates a combined data frame with the transmission information and transmission data; determining transmission information according to the type of a receiving end, and packaging the transmission information as an outer layer outside transmission data; according to the message frame format of the MAVLink communication protocol, the transport data is encapsulated as an inner layer of a combined message frame whose transmit/receive frame format of the combined data frame is shown in fig. 2.
The transmission data is encapsulated in the form of a MAVLink message protocol as an inner layer of a combined message frame, including: transmitting load data and data-related description information, wherein the filled fields comprise: filling transmitted specific data in Payload, filling the type of the specific data in MessageType, filling aircraft numbers and component numbers of a transmitting end in SystemID and ComponentID respectively, filling a Sequence number of a combined message frame in Sequence, and filling Start frames in MAVLInk Start, MAVLink Length and MAVLink Checksum respectively、Length and check code.
The transmission information package is used as an outer layer of the combined message frame, wherein the filled fields comprise: TransmitType for recording the transmission mode, ResponseFlag for recording whether to respond, DestinationAddress for recording the transmission address, TransmitOpoints for recording the transmission mode, BroadcastAdadius for recording the broadcast radius, and Reserved as a Reserved bit. The difference between the receiving frame and the sending frame of the combined data frame is that the SourceAddress in the receiving frame is the address of the sending end, and the SourceAddress in the sending frame is the address of the receiving end; the transmission method RecieveType in the received frame is a reception type, the transmission method RecieveType in the transmitted frame is a transmission type, and the field of broadcast radius BroadcastRadius is absent in the received frame.
Specifically, for example, the transmission message is encapsulated according to the data type and the receiving end type, and a combined data frame is generated, where the data type, the receiving end type, and the transmission information thereof are shown in table 1.
TABLE 1 data classification
Taking communication requirements of formation cluster research as an example, firstly judging the data type according to the MAVLinkType, then packaging and transmitting information according to information in a table, and aiming at a four-rotor transmitting end, if the data is position or speed data, and a receiving end is all four rotors in a communication network, filling a broadcast address in a DestinationAddress position in a data frame and selecting a broadcast mode in a TransmitOptions position; if the data is the real-time state data of the aircraft, and the receiving end is a ground station, filling a ground station address in a DestinationAddress bit in a data frame and selecting a unicast mode at a TransmitOptions position; if the four-rotor information is appointed, the receiving end is the appointed four-rotor, the DestinationAddress bit in the data frame fills in the appointed four-rotor address, and the unicast mode is selected at the TransmitOptions position.
When a ground station sending end encapsulates transmission information, if the heartbeat packet is received, and the receiving end is all four rotors, filling a broadcast address in a DestinationAddress position and selecting a broadcast mode in a TransmitOptions position; if the command information is for the specified four rotors, the specified four rotors address is filled in the DestinationAddress bit, and the unicast mode is selected in the TransmitOptions position, so that the frame command information can only be sent to the specified target four rotors. Therefore, different data are sent to different receiving ends according to requirements, data flow is simplified, and communication efficiency is improved.
Specifically, the third step includes: the ZigBee communication module installed at the transmitting end transmits the combined data frame only to the receiving end to which the transmission address points in the combined data frame in the transmission mode recorded in the combined data frame, and the transmission flow is as shown in fig. 3;
after receiving the combined data frame from the sending end, the ZigBee communication module of the sending end sends the combined data frame to a receiving end pointed by a transmission address in a transmission mode in the transmission information according to the transmission information in the combined data frame, namely if the transmission mode is unicast and the transmission address is a certain receiving end address, the communication module sends the frame data to the receiving end only in a unicast mode, and other receiving ends cannot receive the frame data; if the transmission mode is broadcast and the transmission address is a broadcast address, the communication module broadcasts and sends the combined data frame to the ZigBee communication network, and all receiving ends can receive the combined data frame.
Further, the method also comprises the following steps: in order to avoid confusion where the special value disturbs the data stream, the transmitting end needs to escape the special value data before the combined data frame is transmitted by the transmitting end to the communication module. The special value data includes a start delimiter 0x7E, an escape character 0x7D, a data flow control start character 0x11 and a terminator 0x 13. The escape mode is that after the escape character 0x7D is inserted before the special value data, the special value data and 0x20 are processed with XOR operation and then transmitted.
Specifically, the fourth step further includes: after receiving the combined data frame sent by the sending end in a wireless transmission mode, the receiving end communication module converts the combined data frame sending frame mode into a receiving frame mode, namely, the transmission type is modified into a receiving type, the broadcast radius is deleted, the sending end address is filled in the transmission address, and then the combined data frame receiving frame is transmitted to a sending buffer area to be temporarily stored until the data is read by the receiving end through wired transmission.
Further, still include: and after receiving the data frame, the receiving end extracts the original combined data frame from the data frame after the escape. The extraction method is to discard the data and read the next data when the escape character 0x7D is read, and then the original data is obtained by performing XOR operation with the data and 0x 20. After the complete combined data frame is extracted, the receiving end can identify the sending end through the address of the sending end in the combined data frame, namely, the sending end can identify the ground station or one of the four rotors which sends the data of the frame, and the required data can be obtained through the transmission data in the combined data frame.
In this scheme, to between many four rotors, the communication problem between four rotors and the ground station, adopt zigBee communication module, many four rotors, ground station founds communication link and communication network, encapsulate communication data with the combined data frame and encapsulate the transmission information who corresponds according to the flow direction demand, cooperation communication module can only send data to the demand receiving terminal, and other receiving terminals can not receive, realize between many four rotors, the point-to-point between four rotors and the ground station, the communication of point-to-multipoint, retrench the dataflow and guarantee that data only transmits to the demand receiving terminal, communication efficiency has been improved.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, it is relatively simple to describe, and reference may be made to some descriptions of the method embodiment for relevant points. The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. A ZigBee-based quad-rotor aircraft communication method, for use in a system comprising: the system comprises at least 2 quadrotors and a ground station, wherein each quadrotor and the ground station are provided with ZigBee communication modules, a ZigBee communication network is formed by networking all quadrotors and the ZigBee communication modules of the ground station, and each ZigBee communication module is assigned with a unique network address when being accessed into the ZigBee communication network;
the method comprises the following steps:
a sending end classifies all transmission data and determines a corresponding receiving end type according to the data type and demand information of the transmission data, wherein the flow direction of the transmission data is recorded in the demand information;
step two, the sending end determines transmission information according to the type of the receiving end and generates a combined data frame with the transmission information and transmission data, wherein the transmission information comprises: transmission type, transmission address and transmission mode;
step three, the ZigBee communication module installed at the sending end sends the combined data frame to only the receiving end pointed by the transmission address in the combined data frame in the transmission mode recorded in the combined data frame, and the other receiving ends cannot receive the combined data frame;
step four, after the ZigBee communication module installed at the receiving end receives the combined data frame, the combined data frame is converted from a sending frame format to a receiving frame format and then is transmitted to the receiving end;
the first step comprises the following steps:
classifying all transmission data according to data types and requirements and determining corresponding receiving end types;
wherein, the data type of transmission when four rotor crafts as the sending end includes: the system comprises a four-rotor aircraft, a four-rotor aircraft, a;
the types of data transmitted when the ground station is used as a transmitting end include: heartbeat packets and instruction information;
the position and the speed of the four-rotor aircraft are shared in real time in a communication network, and the type of the data receiving end is all four rotors and the ground station in a ZigBee communication network;
sensor data and real-time state data of the four-rotor aircraft are sent to the ground station for remote monitoring, and the type of a receiving end of the data is the ground station;
when independent communication is carried out between any two quadrotors, the type of the appointed information receiving end of one quadrotor is the other quadrotor pointed by the appointed information;
when communication connection is established and kept between the ground station and the four rotors, the ground station periodically sends heartbeat packets to all the four rotors to ensure whether the connection is normal or not, and the receiving ends of the heartbeat packets are all the four rotors in the ZigBee communication network; the ground station sends instruction information to different four rotors according to the states of the four rotors and the current requirements, the purpose of the information is only for one four rotor, and the type of the receiving end of the instruction information is a single four-rotor aircraft pointed by the instruction information;
the receiving end is in wired connection with the installed ZigBee communication module, and the communication module processes the received combined data frame and then sends the combined data frame to the receiving end through wired transmission;
after receiving a combined data frame sending frame form sent by a sending end, a ZigBee communication module arranged on a receiving end converts the sending frame form into a receiving frame form, fills a receiving type in a transmission type position, fills a sending end address in a transmission address position, fills the sending end address as a ground station or a four-rotor wing address of the sending end, and then sends the combined data frame to the receiving end through wired transmission;
after the receiving end receives the combined data frame, the sending end is identified through the address of the sending end in the combined data frame, namely the sending end of the data frame is identified to be a ground station or a certain four rotors, and the required data is obtained from the transmission data in the combined data frame.
2. The method of claim 1, wherein the sender type comprises: the ground station or quad-rotor craft;
the receiving end type includes: a single quad-rotor aircraft, the ground station, or all quad-rotor aircraft and the ground station in a communication network.
3. The method of claim 1, wherein step two, generating a combined data frame, comprises:
packaging the transmission information as an outer layer of the combined data frame; the transmission information content comprises: the method comprises the following steps of transmission type, whether a response mark exists, a transmission address, a transmission mode, a broadcast radius and reserved bits, wherein the transmission mode comprises the following steps: unicast or broadcast;
according to the message frame form of the MAVLink communication protocol, packaging transmission data and using the transmission data as an inner layer of a combined message frame; the combined data frame inner layer filling field comprises: the specific data transmitted, the type of the specific data, the aircraft number and component number at the transmitting end, the sequence number of the combined message frame, the MAVLink start frame, the length, and the check code.
4. The method of claim 3, wherein determining the transmission information with the transmitting end according to the receiving end type corresponding to the transmission data comprises:
for the sending end, the combined data frame is in a sending frame form, and the transmission information in the combined data frame includes: the transmission type is a sending type, the transmission address is a receiving end address, whether a response mark exists, a transmission mode, a broadcast radius and a reserved bit;
when the type of a receiving end corresponding to the transmission data is a ground station or a single four-rotor wing, selecting the address of the ground station or the four-rotor wing at the address of the receiving end, and selecting a unicast mode for the transmission mode;
when the receiving end types corresponding to the transmission data are all quadrotors and ground stations in a communication network, selecting a broadcast address at the receiving end address, selecting a broadcast mode in a transmission mode, and selecting a broadcast radius;
the combined data frame received by the receiving end is in a received frame form, and the transmission information in the combined data frame comprises: the transmission type is a receiving type, the transmission address is a sending end address, whether a response mark exists, a transmission mode and a reserved bit.
5. The method of claim 1, wherein step three comprises:
the transmitting end is in wired connection with the installed ZigBee communication module, transmits the combined data frame in a transmitting frame form to the communication module in a wired transmission mode, and the communication module transmits the combined data frame according to transmission information in the combined data frame;
if the address of the receiving end in the combined data frame is a ground station address or a single four-rotor address, and the transmission mode is unicast, the communication module only sends the combined data frame to the receiving end pointed by the address of the receiving end in a unicast mode, namely the ground station or a single four-rotor, and other receiving ends cannot receive the combined data frame;
if the address of the receiving end in the combined data frame is a broadcast address, and the transmission mode is broadcasting, the communication module sends the combined data frame to the ZigBee communication network in a broadcasting mode, and all the receiving ends in the ZigBee communication network can receive the combined data frame, namely all the four rotors and the ground station can receive the combined data frame.
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