CN112291726B - Unmanned aerial vehicle cluster communication transmission system based on public wireless communication network - Google Patents
Unmanned aerial vehicle cluster communication transmission system based on public wireless communication network Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W8/00—Network data management
- H04W8/02—Processing of mobility data, e.g. registration information at HLR [Home Location Register] or VLR [Visitor Location Register]; Transfer of mobility data, e.g. between HLR, VLR or external networks
- H04W8/08—Mobility data transfer
Abstract
The invention provides an unmanned aerial vehicle cluster communication transmission system based on a public wireless communication network, which comprises a micro unmanned aerial vehicle cluster, a data transmission unit and a data transmission unit, wherein the micro unmanned aerial vehicle cluster consists of a plurality of micro unmanned aerial vehicle nodes of the same type or different types; each micro unmanned aerial vehicle node collects state information, transmits the state information to ground terminal equipment and receives a control instruction issued by the ground terminal equipment; the public network wireless transmission system comprises a terminal side public network data link, a terminal side public network base station, a server, an unmanned aerial vehicle side public network base station and an unmanned aerial vehicle side public network data link, and is used for communication between ground terminal equipment and an unmanned aerial vehicle cluster; and the ground terminal equipment is used for receiving unmanned aerial vehicle node state information transmitted by the unmanned aerial vehicle cluster and issuing a control command to each unmanned aerial vehicle node. The system reduces the cost of the wireless communication device of the micro unmanned aerial vehicle, can better realize the supervision control of the micro unmanned aerial vehicle cluster, and has the advantages of high transmission rate, long distance, reliable data, strong anti-interference capability, low error rate and the like.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a micro unmanned aerial vehicle cluster communication transmission system based on a public wireless communication network.
Background
The existing micro unmanned aerial vehicle generally realizes communication between the unmanned aerial vehicle and a ground station through a wireless communication module, and different wireless signal transmission functions such as image information transmission, control instruction transmission and state information transmission need to be realized by installing wireless communication modules with different functions such as an image transmission module, a remote control module and a data transmission module on the unmanned aerial vehicle.
However, such wireless communication modules can only perform short-distance one-to-one communication while occupying the load space and the effective load inside the micro unmanned aerial vehicle, and have limited transmission distance (generally less than 3 kilometers), small data volume and high interference susceptibility, which makes it difficult to realize real-time reliable transmission of task information such as high-definition images and ultra-long distances, and to realize real-time control of a micro unmanned aerial vehicle cluster.
Disclosure of Invention
Aiming at the problems in the prior art, a public wireless communication network-based micro unmanned aerial vehicle cluster communication transmission system is provided, the system develops a server with different node data rapid processing and analyzing functions through designing a micro unmanned aerial vehicle and a ground station with a public network wireless communication function, formulates sending and receiving rules with a checking function, and adopts the public wireless communication network to realize the forwarding of data signals of different nodes, thereby realizing the transmission of signals such as ultra-far distance high-definition image information, control instructions, state information and the like between the micro unmanned aerial vehicle cluster and the ground station, enabling the micro unmanned aerial vehicle cluster to get rid of the limitation of the distance between the micro unmanned aerial vehicle cluster and the ground station, and solving the problems of short signal transmission distance, small number of nodes, small bandwidth and easy interference of a civil data transmission radio station.
The technical scheme adopted by the invention is as follows: an unmanned aerial vehicle cluster communication transmission system based on a public wireless communication network is characterized by comprising a micro unmanned aerial vehicle cluster, a public network wireless transmission system and ground terminal equipment, wherein the micro unmanned aerial vehicle cluster is communicated with the ground terminal equipment through the public network transmission system;
the micro unmanned aerial vehicle cluster consists of a plurality of micro unmanned aerial vehicle nodes of the same type or different types; each micro unmanned aerial vehicle node collects state information, transmits the state information to ground terminal equipment and receives a control instruction issued by the ground terminal equipment;
the public network wireless transmission system comprises a terminal side public network data link, a terminal side public network base station, a server, an unmanned aerial vehicle side public network base station and an unmanned aerial vehicle side public network data link, and the ground terminal equipment is communicated with the terminal side public network base station through the terminal side public network data link; the unmanned aerial vehicle cluster node is communicated with the unmanned aerial vehicle side public network base station through an unmanned aerial vehicle side public network data link; the server is respectively communicated with the terminal side public network base station and the unmanned aerial vehicle side public network base station through the Internet;
and the ground terminal equipment is used for receiving unmanned aerial vehicle node state information transmitted by the unmanned aerial vehicle cluster and issuing a control command to each unmanned aerial vehicle node.
Furthermore, the micro unmanned aerial vehicle node comprises an unmanned aerial vehicle platform, an intelligent decision unit, an information processing module, a safety module, a GPS positioning module, a public network link module and an information acquisition module, wherein the intelligent decision unit is used for sensing and analyzing the state information of the micro unmanned aerial vehicle cluster node; the safety module stores unique unmanned aerial vehicle registration information of the micro unmanned aerial vehicle cluster node; the signal processing module is used for analyzing the return signal of the information acquisition module; the GPS positioning module is used for acquiring the position information of the micro unmanned aerial vehicle cluster node; the information acquisition module is respectively used for acquiring height information, motion state information, distance information between the nodes and the obstacles and video images of the unmanned aerial vehicle cluster nodes; the public network link module is used for accessing a public network data link.
Further, the working process of the cluster communication transmission system of the unmanned aerial vehicle is as follows: after the micro unmanned aerial vehicle node is powered on, the intelligent decision unit collects the state information of the unmanned aerial vehicle platform and the information collected by the collection module to form unmanned aerial vehicle information, and the signal is sent to the unmanned aerial vehicle side public network base station through a public network link module signal transmission protocol; then the data is transmitted to a server to be sent to a terminal side public network base station and is sent to ground terminal equipment through a terminal side public network data link;
the ground terminal equipment analyzes the received information of each unmanned aerial vehicle node, confirms the number of started unmanned aerial vehicles and carries out numbering networking according to the registration information of the unmanned aerial vehicles; the ground terminal equipment comprehensively processes the state information of each micro unmanned aerial vehicle node, generates a control instruction of each micro unmanned aerial vehicle node, transmits the control instruction to the server through the public network wireless transmission system, and the server analyzes the control instruction and sends the corresponding control instruction to the corresponding micro unmanned aerial vehicle; and an intelligent decision unit of the unmanned aerial vehicle node receives and analyzes the control command, and outputs a driving motor rotating command to the unmanned aerial vehicle platform to control the unmanned aerial vehicle.
Furthermore, the information acquisition module comprises a barometer, a nine-axis sensor module, an ultrasonic sensor, an optical flow sensor and an optical camera.
Further, the unmanned aerial vehicle acquires original video data through the optical camera, then hardware compression coding is adopted, an RTP protocol message header is added to each coded frame data to form an RTP data message, and then the data message is transmitted to the server through a public network transmission protocol and then transmitted to the ground terminal equipment.
Furthermore, ground terminal equipment still according to the spatial position, speed, the acceleration that every unmanned aerial vehicle returned and the barrier information that detects, carries out real-time optimization correction to every unmanned aerial vehicle orbit in the cluster, avoids the unmanned aerial vehicle in the cluster to bump each other, and rotor unmanned aerial vehicle cluster node continuously carries out autonomic collision avoidance in the executive task process.
Further, the internet includes, but is not limited to, the internet, local area networks.
Furthermore, the public network link module covers 5-mode 13-frequency, namely, the public network link module supports five different communication modes of TD-LTE, FDD-LTE, TD-SCDMA, WCDMA and GSM, and the 13-frequency is a frequency band supported by five modes.
Furthermore, the public network link module supports RNDIS remote network driving interface and sends registration packet/heartbeat packet data, the ground terminal and the micro unmanned aerial vehicle cluster can be connected with the Internet through the public network link module, a user can set module parameters and remotely update through a remote command, and meanwhile, the serial port parameters of the public network link module can be dynamically modified from the network.
Furthermore, data transmitted by communication between the unmanned aerial vehicle cluster and the ground terminal equipment are encrypted by adopting a 256-bit AES encryption technology.
Compared with the prior art, the beneficial effects of adopting the technical scheme are as follows: the system reduces the cost of the wireless communication device of the micro unmanned aerial vehicle, can better realize the supervision control of the micro unmanned aerial vehicle cluster, and has the advantages of high transmission rate, long distance, reliable data, strong anti-interference capability, low error rate and the like.
Drawings
Fig. 1 is a schematic structural diagram of a cluster communication transmission system of a micro unmanned aerial vehicle based on a public wireless communication network.
Fig. 2 is a block diagram of a system of a node of a micro drone according to the present invention.
Reference numerals are as follows: 1-micro unmanned aerial vehicle cluster node, 2-unmanned aerial vehicle side public network data link, 3-unmanned aerial vehicle side public network base station, 4-internet, 5-server, 6-terminal side public network base station, 7-terminal side public network data link, 8-ground terminal equipment.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, the invention provides a cluster communication transmission system of a micro unmanned aerial vehicle based on a public wireless communication network, and the system provides a simple, reliable, efficient, low-cost, stable and safe solution for cluster networking of the micro unmanned aerial vehicle and remote real-time transmission of data. Can improve traditional 360P image transmission distance to 1080P or even 4K, improve original 2 Km's cluster control distance to thousands of kilometers, improve traditional one-to-one communication transmission ability to a pair of several hundred, can avoid the communication network deployment that cluster quantity rises to bring simultaneously to set up extremely complicated problem. Meanwhile, the micro unmanned aerial vehicle in the system is provided with the unique electronic identification code, so that the unmanned aerial vehicle can be very conveniently supervised by an aircraft management department. The specific scheme is as follows:
an unmanned aerial vehicle cluster communication transmission system based on a public wireless communication network comprises a micro unmanned aerial vehicle cluster, a public network wireless transmission system and ground terminal equipment, wherein the micro unmanned aerial vehicle cluster is communicated with the ground terminal equipment through the public network transmission system;
the micro unmanned aerial vehicle cluster 1 consists of a plurality of micro unmanned aerial vehicle nodes of the same type or different types; each micro unmanned aerial vehicle node collects state information, transmits the state information to ground terminal equipment and receives a control instruction issued by the ground terminal equipment;
the public network wireless transmission system comprises a terminal side public network data link 7, a terminal side public network base station 6, a server 5, an unmanned aerial vehicle side public network base station 3 and an unmanned aerial vehicle side public network data link 2, and ground terminal equipment is communicated with the terminal side public network base station through the terminal side public network data link; the unmanned aerial vehicle cluster node is communicated with the unmanned aerial vehicle side public network base station through an unmanned aerial vehicle side public network data link; the server 5 is respectively communicated with the terminal side public network base station and the unmanned aerial vehicle side public network base station through the Internet 4; preferably, the public network base station refers to communication equipment such as a fixed station and an emergency communication vehicle;
and the ground terminal equipment 8 is used for receiving unmanned aerial vehicle node state information transmitted by the unmanned aerial vehicle cluster and issuing a control command to each unmanned aerial vehicle node.
The micro unmanned aerial vehicle node comprises an unmanned aerial vehicle platform, a signal processing module, an intelligent decision unit, a safety module, a GPS positioning module, a public network link module and an information acquisition module,
the intelligent decision unit is a central processing control part of the micro unmanned aerial vehicle cluster node, integrates functions of intelligent processing and control, data acquisition and preprocessing, link communication, power supply management, interface conversion and the like, and is used for state information perception and analysis decision of the micro unmanned aerial vehicle cluster node. The signal processing module is used for analyzing the return signal of the information acquisition module; the safety module stores the unique electronic identification code of the micro unmanned aerial vehicle cluster node, the basic user information, the unmanned aerial vehicle registration information such as ID, flight time, fault record and airspace authority. The GPS positioning module is used for acquiring the position information of the micro unmanned aerial vehicle cluster node; the information acquisition module is used for acquiring height information, motion state information, distance information between the nodes and the obstacles and video images of the unmanned aerial vehicle cluster nodes respectively; the public network link module is used for accessing a public network data link.
The data transmitted in the public network wireless transmission system is data information such as navigation commands, path point information, configuration adjustment, data requests, safety instructions, flight states and the like which are compiled by adopting a Mallink communication protocol.
In a preferred embodiment, the public network link module covers 5 mode and 13 frequency, that is, the public network link module supports five different communication modes of TD-LTE, FDD-LTE, TD-SCDMA, WCDMA and GSM, and the 13 frequency is a frequency band supported by five modes.
The public network link module supports RNDIS remote network driving interface and sends registration packet/heartbeat packet data, the ground terminal and the micro unmanned aerial vehicle cluster can be connected with the Internet through the public network link module, a user can set module parameters and remotely update through a remote command, and meanwhile, the serial port parameters of the module can be dynamically modified from the network.
In this embodiment, the unmanned aerial vehicle cluster is composed of independent intelligent unmanned aerial vehicles, the unmanned aerial vehicle is a basic individual unit for realizing cluster targets and functional requirements, and the unmanned aerial vehicle is used as a core capability for autonomous operation, and has the functions of positioning, height determination, fixed point, safety fence, flight forbidden zone, autonomous take-off and landing, autonomous flight path planning, autonomous obstacle avoidance and the like, and transmits information such as position, throttle, steering, height, attitude, speed, electric quantity, voltage, circuit, real-time image, monitoring data and the like to the public network wireless transmission system for connection through the public network link module, and simultaneously receives control instructions and task instructions issued by the ground terminal through the public network wireless transmission system through the public network link module. The working load equipment mainly comprises various optical cameras and a supporting stability augmentation cloud platform, and the stability augmentation cloud platform is mainly used for weakening the influence of airplane vibration on the shooting effect of the optical cameras. The safety module comprises user basic information and registration information such as unmanned aerial vehicle models, parameters, IDs, flight time, fault records, airspace authorities and the like.
On one hand, the public network wireless transmission system receives unmanned aerial vehicle state task information such as unmanned aerial vehicle position, throttle, steering, height, posture, speed, electric quantity, voltage, circuit, real-time image, monitoring data and the like uploaded by a public network link module on the micro unmanned aerial vehicle through a public network base station, and transmits the unmanned aerial vehicle state task information to a server through the Internet; on the other hand, the public network data comprises a navigation command, path point setting, configuration adjustment, a data request and a safety command of the ground terminal to the unmanned aerial vehicle, a command response of the unmanned aerial vehicle to the ground station, flight state data and the like; the server is a customized server provided with specific data processing and analyzing software and has the functions of controlling instructions, forwarding information in real time and the like with low delay.
The ground terminal equipment takes a high-performance computing unit provided with cluster system control software as a main carrier, and is provided with a safety monitoring module, a data storage module and a display unit, and is connected with a public network wireless transmission system through a public network link module, on one hand, the ground terminal equipment receives data information returned by each node unmanned aerial vehicle in a cluster, including but not limited to position, throttle, steering, height, posture, speed, electric quantity, voltage, circuit, real-time image, monitoring data and the like, the cluster system control software displays the information to an operator through the display after the information is processed by the high-performance computing unit, and warns the operator in a sound and flashing mode about key information such as abnormity, faults and the like, thereby realizing real-time monitoring of unmanned aerial vehicle cluster system and each micro unmanned aerial vehicle node state information. The unmanned aerial vehicle control system supports unlocking, locking, taking off, landing and returning of a single unmanned aerial vehicle or multiple unmanned aerial vehicles and flight trajectory optimization based on map planning.
In a preferred embodiment, the unmanned aerial vehicle acquires original video data through the optical camera, then adopts hardware compression coding, adds an RTP protocol header to each coded frame data to form an RTP data message, and then transmits the RTP data message to the server through the public network transmission protocol and then transmits the RTP data message to the ground terminal equipment.
In a preferred embodiment, the information acquisition module comprises a barometer, a nine-axis sensor module, an ultrasonic sensor, an optical flow sensor, and an optical camera. The barometer is used for acquiring height information of the micro unmanned aerial vehicle cluster node; the nine-axis sensor module is used for acquiring the motion state information of the cluster node of the micro unmanned aerial vehicle; the ultrasonic waves and the optical flow are used for acquiring distance information between the micro unmanned aerial vehicle cluster nodes and the obstacles.
The invention also provides a working method of the transmission system, which comprises the following steps:
after the micro unmanned aerial vehicle node is powered on, state information, sensor information, image information and the like of an unmanned aerial vehicle platform are collected through an intelligent decision unit, and signals are sent to a public network base station according to a public network link module signal transmission protocol;
the micro unmanned aerial vehicle cluster node provides registration information for the safety module according to the unique electronic identification code in the public network link module, the safety module reads state information such as the GPS position, the accelerator, the steering, the height, the attitude, the speed, the electric quantity, the voltage and the like of the unmanned aerial vehicle, and sends a take-off sending permission instruction to the unmanned aerial vehicle platform according to the supervision permission condition of an aircraft management department;
the public network base station transmits unmanned aerial vehicle state task information such as the GPS position, the accelerator, the steering, the height, the posture, the speed, the electric quantity, the voltage, the real-time image, the monitoring data and the like of the unmanned aerial vehicle uploaded by the public network link module to a server through the Internet;
the server sends the attitude information and the video data serving as downlink signals to the ground terminal equipment through the public network base station and the ground station end public network link module;
the ground terminal equipment analyzes the received data information returned by each unmanned aerial vehicle node, confirms the number of the started unmanned aerial vehicles and carries out numbering networking according to the unique electronic identification code of the micro unmanned aerial vehicle;
the ground terminal equipment comprehensively processes the state information of each micro unmanned aerial vehicle node, integrates the instruction of a control operator, and performs unified management judgment on the tasks being executed and not being executed in the unmanned aerial vehicle cluster after filtering according to a preset cluster control rule and considering time delay and errors;
after various information instructions are optimized and processed by comprehensively considering the problems of collision avoidance, group motion consistency and the like, the cluster control ground station generates various micro unmanned aerial vehicle node control instructions, feeds the control instructions back to the human-computer interaction interface and outputs the control instructions to the public network base station through the public network link;
the public network base station transmits the control instruction uploaded by the public network link to a server through the Internet;
the server analyzes the micro unmanned aerial vehicle corresponding to the control command and sends the micro unmanned aerial vehicle as an uplink signal to the micro unmanned aerial vehicle through the public network base station and the unmanned aerial vehicle end public network link module;
the information processing module analyzes the attitude according to the return signals of the assembled sensors, receives a control command issued by the ground terminal equipment, and outputs a rotating command of the driving motor after processing;
meanwhile, the cluster control ground station carries out real-time optimization correction on the track of each unmanned aerial vehicle in the cluster according to information such as the space position, the speed and the acceleration transmitted back by each unmanned aerial vehicle in the cluster and the detected obstacles, so that the unmanned aerial vehicles in the cluster are prevented from colliding with each other, and the cluster nodes of the rotor unmanned aerial vehicles continuously carry out autonomous collision avoidance in the task execution process; therefore, the cluster control of the micro unmanned aerial vehicles based on the public wireless communication network is realized, and the collision avoidance method adopts an artificial potential energy field method.
The invention is not limited to the foregoing embodiments. The invention extends to any novel feature or any novel combination of features disclosed in this specification, and to any novel method or process steps or any novel combination of steps disclosed. Those skilled in the art to which the invention pertains will appreciate that insubstantial changes or modifications can be made without departing from the spirit of the invention as defined by the appended claims.
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
Claims (9)
1. An unmanned aerial vehicle cluster communication transmission system based on a public wireless communication network is characterized by comprising a micro unmanned aerial vehicle cluster, a public network wireless transmission system and ground terminal equipment, wherein the micro unmanned aerial vehicle cluster is communicated with the ground terminal equipment through the public network transmission system;
the micro unmanned aerial vehicle cluster consists of a plurality of micro unmanned aerial vehicle nodes of the same type or different types; each micro unmanned aerial vehicle node collects state information, transmits the state information to ground terminal equipment and receives a control instruction issued by the ground terminal equipment;
the public network wireless transmission system comprises a terminal side public network data link, a terminal side public network base station, a server, an unmanned aerial vehicle side public network base station and an unmanned aerial vehicle side public network data link, and the ground terminal equipment is communicated with the terminal side public network base station through the terminal side public network data link; the unmanned aerial vehicle cluster node is communicated with the unmanned aerial vehicle side public network base station through an unmanned aerial vehicle side public network data link; the server is respectively communicated with the terminal side public network base station and the unmanned aerial vehicle side public network base station through the Internet;
the ground terminal equipment is used for receiving unmanned aerial vehicle node state information transmitted by the unmanned aerial vehicle cluster and issuing a control command to each unmanned aerial vehicle node;
the working process of the unmanned aerial vehicle cluster communication transmission system is as follows: after the micro unmanned aerial vehicle node is powered on, the intelligent decision unit collects the state information of the unmanned aerial vehicle platform and the information collected by the collection module to form unmanned aerial vehicle information, and the signal is sent to the unmanned aerial vehicle side public network base station through a public network link module signal transmission protocol; then the data is transmitted to a server to be sent to a terminal side public network base station and is sent to ground terminal equipment through a terminal side public network data link;
the ground terminal equipment analyzes the received information of each unmanned aerial vehicle node, confirms the number of started unmanned aerial vehicles, and performs numbering networking according to the registration information of the unmanned aerial vehicles; the ground terminal equipment comprehensively processes the state information of each micro unmanned aerial vehicle node, generates a control instruction of each micro unmanned aerial vehicle node, transmits the control instruction to the server through the public network wireless transmission system, and the server analyzes the control instruction and sends the corresponding control instruction to the corresponding micro unmanned aerial vehicle; and an intelligent decision unit of the unmanned aerial vehicle node receives and analyzes the control command, and outputs a driving motor rotating command to the unmanned aerial vehicle platform to control the unmanned aerial vehicle.
2. The public wireless communication network-based unmanned aerial vehicle cluster communication transmission system of claim 1, wherein the unmanned aerial vehicle nodes comprise an unmanned aerial vehicle platform, an intelligent decision unit, an information processing module, a security module, a GPS positioning module, a public network link module and an information acquisition module, and the intelligent decision unit is used for state information perception and analysis decision of the unmanned aerial vehicle cluster nodes; the safety module stores the unique unmanned aerial vehicle registration information of the micro unmanned aerial vehicle cluster node; the GPS positioning module is used for acquiring the position information of the micro unmanned aerial vehicle cluster node; the information acquisition module is respectively used for acquiring height information, motion state information, distance information between the nodes and the obstacles and video images of the unmanned aerial vehicle cluster nodes; the public network link module is used for accessing a public network data link.
3. The public wireless communication network-based unmanned aerial vehicle cluster communication transmission system of claim 2, wherein the information acquisition module comprises a barometer, a nine-axis sensor module, an ultrasonic sensor, an optical flow sensor, and an optical camera.
4. The trunked communication transmission system of unmanned aerial vehicles based on public wireless communication network as claimed in claim 1, wherein the unmanned aerial vehicle obtains original video data through the optical camera, then uses hardware compression coding, adds an RTP protocol header to each coded frame data to form an RTP data packet, then transmits the data packet to the server through the public network transmission protocol, and then transmits to the ground terminal device.
5. The system of claim 1, wherein the ground terminal device further performs real-time optimization and correction on the trajectory of each unmanned aerial vehicle in the cluster according to the spatial position, speed, acceleration and detected obstacle information returned by each unmanned aerial vehicle, so as to avoid collision between unmanned aerial vehicles in the cluster, and the cluster nodes of the unmanned aerial vehicles continuously perform autonomous collision avoidance during task execution.
6. The public wireless communication network based drone cluster communication transmission system according to claim 1, characterized by the fact that the internet includes but is not limited to the internet, local area networks.
7. The public wireless communication network-based cluster communication system for unmanned aerial vehicles according to claim 2, wherein the public network link module supports five different communication modes of TD-LTE, FDD-LTE, TD-SCDMA, WCDMA and GSM, covering 5-mode 13-frequency.
8. The public wireless communication network-based unmanned aerial vehicle cluster communication transmission system of claim 7, wherein the public network link module supports RNDIS remote network driver interface and transmits registration packet/heartbeat packet data, the ground terminal and the micro unmanned aerial vehicle cluster can be connected to the internet through the public network link module, the user can set module parameters and remotely update through remote commands, and simultaneously, the serial port parameters of the module can be dynamically modified from the network.
9. The public wireless communication network-based unmanned aerial vehicle cluster communication transmission system as claimed in claim 1, wherein data transmitted and communicated between the unmanned aerial vehicle cluster and the ground terminal device are encrypted by using 256-bit AES encryption technology.
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| WO2022204997A1 (en) * | 2021-03-30 | 2022-10-06 | 深圳市大疆创新科技有限公司 | Wireless communication method, movable platform, system, and computer readable storage medium |
| CN113158116A (en) * | 2021-04-20 | 2021-07-23 | 联通(广东)产业互联网有限公司 | Unmanned aerial vehicle control platform based on mobile internet |
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| CN114978431A (en) * | 2022-06-09 | 2022-08-30 | 北京青云智创科技有限公司 | Digital image wireless transmission method for micro unmanned aerial vehicle |
| CN115827185B (en) * | 2022-10-31 | 2023-12-01 | 中电信数智科技有限公司 | Method, storage medium and equipment for combining 6G air base station with Beidou air obstacle avoidance |
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