CN112821933A - Unmanned aerial vehicle communication method, system and storage medium - Google Patents
Unmanned aerial vehicle communication method, system and storage medium Download PDFInfo
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- CN112821933A CN112821933A CN202011508361.9A CN202011508361A CN112821933A CN 112821933 A CN112821933 A CN 112821933A CN 202011508361 A CN202011508361 A CN 202011508361A CN 112821933 A CN112821933 A CN 112821933A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
Abstract
The embodiment of the application provides an unmanned aerial vehicle communication method, an unmanned aerial vehicle communication system and a storage medium, wherein the method comprises the following steps: establishing a first communication link between the ground station of the unmanned aerial vehicle and the real-time dynamic RTK base station and a second communication link between the ground station of the unmanned aerial vehicle and the flight controller; the RTK base station sends RTK data to the unmanned aerial vehicle ground station through the first communication link; the drone ground station receiving the RTK differential data from the RTK base station over the first communication link; the unmanned aerial vehicle ground station sends the RTK differential data to the flight controller through the second communication link; the flight controller sends the RTK differential data to an RTK rover station; the RTK rover station estimates a position of the flight controller from the RTK differential data. This scheme can improve the time of endurance that shortens unmanned aerial vehicle.
Description
Technical Field
The application relates to the technical field of flight control, in particular to an unmanned aerial vehicle communication method, an unmanned aerial vehicle communication system and a storage medium.
Background
Real Time Kinematic (RTK) is a differential measurement technique that uses a carrier phase observation value to realize a fast and high-precision positioning function by synchronous observation of a base station and a rover station. RTK techniques are commonly used to improve the accuracy of the positioning by differentially removing most of the errors in the rover observation data by exploiting the spatial correlation of the observation errors between the base station and the rover station. Specifically, an RTK system consists of a base station, a number of rover stations and a radio communication system. During operation, a receiver is arranged on a known point to serve as a reference station, continuous observation is carried out on a GPS satellite, observation data and station measurement information are sent to a rover station in real time through a radio transmission device, the rover station receiver receives GPS satellite signals and collected satellite data, simultaneously receives a data chain from the reference station through a radio receiving device, carrier phase difference processing is carried out on the two sets of collected and received data in the system, and the three-dimensional coordinate and the precision of the rover station are calculated in real time.
However, the RTK rover and the base station must therefore be connected via a radio communication system to enable differential solution. At present, independent wireless communication links are mainly adopted to connect the mobile station and the reference station, if network base stations such as a multi-searching system are adopted, network communication is needed, when the network base stations are applied to an unmanned aerial vehicle system, the complexity of the unmanned aerial vehicle system can be increased, meanwhile, the weight of an airborne end system is also increased through wireless or network communication equipment, and the endurance time of the unmanned aerial vehicle is further shortened.
Disclosure of Invention
The embodiment of the application provides an unmanned aerial vehicle communication method, an unmanned aerial vehicle communication system and a storage medium, and the endurance time of a flight controller in the prior art can be shortened.
In a first aspect, an embodiment of the present application provides an unmanned aerial vehicle communication method, where the method includes:
establishing a first communication link between a real-time dynamic RTK base station and an unmanned aerial vehicle ground station, and establishing a second communication link between the unmanned aerial vehicle ground station and a flight controller;
the RTK base station sends RTK data to the unmanned aerial vehicle ground station through the first communication link;
the drone ground station receiving the RTK differential data from the RTK base station over the first communication link;
the unmanned aerial vehicle ground station sends the RTK differential data to the flight controller through the second communication link;
the flight controller sends the RTK differential data to an RTK rover station;
the RTK rover station estimates a position of the flight controller from the RTK differential data.
In some embodiments, when the RTK base station is an RTK network base station, the establishing a first communication link between the RTK base station and an unmanned aerial vehicle ground station, and the transmitting RTK data to the unmanned aerial vehicle ground station by the RTK base station through the first communication link includes:
establishing a third communication link between the RTK network base station and the unmanned aerial vehicle ground station;
and the RTK network base station sends the RTK data to the unmanned aerial vehicle ground station through the first communication link.
In some embodiments, when the RTK base station is an RTK ground base station, the establishing a first communication link between the RTK base station and an unmanned aerial vehicle ground station, and the transmitting RTK data to the unmanned aerial vehicle ground station by the RTK base station through the first communication link includes:
establishing a fourth communication link between the RTK ground base station and the unmanned aerial vehicle ground station;
and the RTK ground base station sends the RTK data to the unmanned aerial vehicle ground station through the first communication link.
In some embodiments, before the RTK base station sends RTK data to the drone ground station over the first communication link, the method further comprises:
judging whether a link abnormality exists in the third communication link or the fourth communication link;
if not, either the RTK network base station or the RTK bottom ground base station sends the RTK differential data to the unmanned aerial vehicle ground station;
and if one link is abnormal, the RTK base station with the normal link sends the RTK differential data to the ground station of the unmanned aerial vehicle.
In a second aspect, an embodiment of the present application further provides an unmanned aerial vehicle communication system, where the unmanned aerial vehicle communication system includes an unmanned aerial vehicle ground station, a real-time dynamic RTK base station, a flight controller, and an RTK rover station:
the unmanned aerial vehicle ground station is used for establishing a first communication link with the RTK base station and a second communication link with the flight controller;
the RTK base station is used for sending RTK data to the unmanned aerial vehicle ground station through the first communication link;
the drone ground station is further to receive the RTK differential data from the RTK base station over the first communication link; transmitting the RTK differential data to the flight controller over the second communication link;
the flight controller is used for sending the RTK differential data to the RTK rover station;
the RTK rover station is configured to estimate the position of the flight controller from the RTK differential data.
In some embodiments, when the RTK base station is an RTK network base station, the drone ground station is specifically configured to:
establishing a third communication link between the RTK network base station and the unmanned aerial vehicle ground station;
and the RTK network base station sends the RTK data to the unmanned aerial vehicle ground station through the first communication link.
In some embodiments, when the RTK base station is an RTK ground base station, the unmanned aerial vehicle ground station is specifically configured to:
establishing a fourth communication link between the RTK ground base station and the unmanned aerial vehicle ground station;
and the RTK ground base station sends the RTK data to the unmanned aerial vehicle ground station through the first communication link.
In some embodiments, before the RTK base station sends RTK data to the drone ground station over the first communication link, the RTK base station is further configured to:
judging whether a link abnormality exists in the third communication link or the fourth communication link;
if not, either the RTK network base station or the RTK bottom ground base station sends the RTK differential data to the unmanned aerial vehicle ground station;
and if one link is abnormal, the RTK base station with the normal link sends the RTK differential data to the ground station of the unmanned aerial vehicle.
In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, where multiple instructions are stored in the computer-readable storage medium, and the instructions are suitable for being loaded by a processor to perform steps in any one of the unmanned aerial vehicle communication methods provided in the embodiment of the present application.
From the above, the present application has the following advantageous effects:
the communication between the RTK rover and the reference station is carried out by utilizing an original flight data transmission link of the unmanned aerial vehicle, namely, a mode that the RTK network base station or the RTK ground base station is connected to the ground station of the unmanned aerial vehicle is adopted, the flight data communication link between the ground station of the unmanned aerial vehicle and the flight controller is utilized to forward RTK differential data, namely, the ground station of the unmanned aerial vehicle receives the differential data from the RTK network base station or the RTK ground base station and sends the differential data to the airborne terminal flight controller through the flight data communication link, and the flight controller forwards the differential data to the RTK rover to realize high-precision differential positioning. Therefore, the dedicated wireless communication link of RTK need not be disposed alone at unmanned aerial vehicle machine carries the end in this application, reduces the complexity of system, reduces unmanned aerial vehicle machine and carries end equipment quantity, alleviates unmanned aerial vehicle machine simultaneously and carries end weight.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic diagram of a communication link involved in the communication method of the unmanned aerial vehicle in the present application;
fig. 2 is a schematic flow chart of the communication method of the unmanned aerial vehicle according to the present application;
FIG. 3 is a schematic diagram of an embodiment of the unmanned aerial vehicle and control system of the present application;
fig. 4 is a schematic diagram of an architecture of the unmanned aerial vehicle and control system of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description that follows, specific embodiments of the present application will be described with reference to steps and symbols executed by one or more computers, unless otherwise indicated. Accordingly, these steps and operations will be referred to, several times, as being performed by a computer, the computer performing operations involving a processing unit of the computer in electronic signals representing data in a structured form. This operation transforms the data or maintains it at locations in the computer's memory system, which may be reconfigured or otherwise altered in a manner well known to those skilled in the art. The data maintains a data structure that is a physical location of the memory that has particular characteristics defined by the data format. However, while the principles of the application have been described in language specific to above, it is not intended to be limited to the specific form set forth herein, and it will be recognized by those of ordinary skill in the art that various of the steps and operations described below may be implemented in hardware.
The principles of the present application may be employed in numerous other general-purpose or special-purpose computing, communication environments or configurations. Examples of well known computing systems, environments, and configurations that may be suitable for use with the application include, but are not limited to, hand-held telephones, personal computers, servers, multiprocessor systems, microcomputer-based systems, mainframe-based computers, and distributed computing environments that include any of the above systems or devices.
The terms "first", "second", and "third", etc. in this application are used to distinguish between different objects and not to describe a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions.
First, before the embodiments of the present application are described, the relevant contents of the present application about the application background will be described.
The unmanned aerial vehicle ground station can be realized in a hardware or software mode, and the unmanned aerial vehicle ground station can be terminal equipment such as a smart phone, a tablet computer, a notebook computer, a palm computer, a desktop computer or a Personal Digital Assistant (PDA).
Next, the unmanned aerial vehicle communication method provided by the present application is introduced.
Referring to fig. 1 and fig. 2, fig. 1 shows a schematic view of a communication link involved in an unmanned aerial vehicle communication method, and fig. 2 shows a schematic view of a flow of the unmanned aerial vehicle communication method according to the present application, where the method provided by the present application may specifically include the following steps:
101. the method comprises the steps of establishing a first communication link between a real-time dynamic RTK base station and an unmanned aerial vehicle ground station, and establishing a second communication link between the unmanned aerial vehicle ground station and a flight controller.
The RTK base station can be internally provided with a GNSS antenna, an RTK board card, a data transmission radio, 4G, wi-fi and Bluetooth, and supports storage and a display screen. The RTK base station is an RTK network base station and an RTK ground base station.
102. And the RTK base station sends RTK data to the unmanned aerial vehicle ground station through the first communication link.
103. The drone ground station receives the RTK differential data from the RTK base station over the first communication link.
104. And the unmanned aerial vehicle ground station sends the RTK differential data to the flight controller through the second communication link.
105. The flight controller sends the RTK differential data to an RTK rover station.
106. The RTK rover station estimates a position of the flight controller from the RTK differential data.
Specifically, the carrier phase acquired by the reference station is sent to the user station for difference calculation to obtain coordinates, so as to position the position of the flight controller in real time.
In some embodiments, when the RTK base station is an RTK network base station, the establishing a first communication link between the RTK base station and an unmanned aerial vehicle ground station, and the transmitting RTK data to the unmanned aerial vehicle ground station by the RTK base station through the first communication link includes:
establishing a third communication link between the RTK network base station and the unmanned aerial vehicle ground station;
and the RTK network base station sends the RTK data to the unmanned aerial vehicle ground station through the first communication link.
In some embodiments, when the RTK base station is an RTK ground base station, the establishing a first communication link between the RTK base station and an unmanned aerial vehicle ground station, and the transmitting RTK data to the unmanned aerial vehicle ground station by the RTK base station through the first communication link includes:
establishing a fourth communication link between the RTK ground base station and the unmanned aerial vehicle ground station;
and the RTK ground base station sends the RTK data to the unmanned aerial vehicle ground station through the first communication link.
In some embodiments, before the RTK base station sends RTK data to the drone ground station over the first communication link, the method further comprises:
judging whether a link abnormality exists in the third communication link or the fourth communication link;
if not, either the RTK network base station or the RTK bottom ground base station sends the RTK differential data to the unmanned aerial vehicle ground station;
and if one link is abnormal, the RTK base station with the normal link sends the RTK differential data to the ground station of the unmanned aerial vehicle.
In the embodiment of the application, the original flight data transmission link of the unmanned aerial vehicle is used for communication between the RTK rover station and the reference station, namely, the RTK network base station or the RTK ground base station is connected to the ground station of the unmanned aerial vehicle, the flight data communication link between the ground station of the unmanned aerial vehicle and the flight controller is used for forwarding RTK differential data, namely, the ground station of the unmanned aerial vehicle receives the differential data from the RTK network base station or the RTK ground base station, the differential data are sent to the airborne terminal flight controller through the flight data communication link, and the flight controller forwards the differential data to the RTK rover station to realize high-precision differential positioning. Therefore, the dedicated wireless communication link of RTK need not be disposed alone at unmanned aerial vehicle machine carries the end in this application, reduces the complexity of system, reduces unmanned aerial vehicle machine and carries end equipment quantity, alleviates unmanned aerial vehicle machine simultaneously and carries end weight.
In order to better implement the method of the present application, an unmanned aerial vehicle communication system 20 is further provided in the embodiments of the present application.
Referring to fig. 3 and 4, fig. 3 and 4 are schematic structural diagrams of the flight control system 20 of the present application, wherein the unmanned aerial vehicle communication system 20 may specifically include the following structure:
real-time kinematic RTK base 201, unmanned aerial vehicle ground station 202, flight controller 203, and RTK rover 204:
the unmanned aerial vehicle ground station 202 is used for establishing a first communication link with the RTK base station 201 and a second communication link with the flight controller 203;
the RTK base station 201 is configured to send RTK data to the drone ground station 202 through the first communication link;
the drone ground station 202 is further configured to receive the RTK differential data from the RTK base station 201 over the first communication link; sending the RTK differential data to the flight controller 203 over the second communication link;
the flight controller 203 is configured to send the RTK differential data to the RTK rover station 204;
the RTK rover station 204 is configured to estimate the position of the flight controller 203 based on the RTK differential data.
In an embodiment, when the RTK base station 201 is an RTK network base station, the drone ground station 202 is specifically configured to:
establishing a third communication link between the RTK network base station 2011 and the drone ground station;
the RTK network base station 2011 sends the RTK data to the drone ground station 202 through the first communication link.
In an embodiment, when the RTK base station 201 is an RTK ground base station 2012, the drone ground station 202 is specifically configured to:
establishing a fourth communication link between the RTK ground base station 2012 and the drone ground station 202;
the RTK ground base station 2012 sends the RTK data to the drone ground station 202 over the first communication link.
In one embodiment, before the RTK base station 201 sends RTK data to the drone ground station 202 through the first communication link, it is further configured to:
judging whether a link abnormality exists in the third communication link or the fourth communication link;
if not, any one of the RTK network base station 2011 or the RTK ground base station 2012 sends the RTK differential data to the unmanned aerial vehicle ground station 202;
if one link is abnormal, the RTK base station with the normal link sends the RTK differential data to the unmanned aerial vehicle ground station 202.
In this embodiment, the original flight data transmission link of the unmanned aerial vehicle is used for communication between the RTK rover station 204 and the reference station, that is, the RTK network base station 2011 or the RTK ground base station 2012 is connected to the unmanned aerial vehicle ground station 202, the flight data communication link between the unmanned aerial vehicle ground station 202 and the flight controller 203 is used for forwarding RTK differential data, that is, the unmanned aerial vehicle ground station 202 receives differential data from the RTK network base station 2011 or the RTK ground base station 2012 and sends the differential data to the airborne terminal flight controller 203 through the flight data communication link, and the flight controller 203 forwards the differential data to the RTK rover station 204 to realize high-precision differential positioning. Therefore, the dedicated wireless communication link of RTK need not be disposed alone at unmanned aerial vehicle machine carries the end in this application, reduces the complexity of system, reduces unmanned aerial vehicle machine and carries end equipment quantity, alleviates unmanned aerial vehicle machine simultaneously and carries end weight.
Illustratively, a computer program may be partitioned into one or more modules/units, which are stored in a memory and executed by a processor to accomplish the present application. One or more modules/units may be a series of computer program instruction segments capable of performing certain functions, the instruction segments being used to describe the execution of a computer program in a computer device.
As can be clearly understood by those skilled in the art, for convenience and brevity of description, the specific working processes of the apparatus, the processing device and the corresponding modules described above may refer to the descriptions of the unmanned aerial vehicle communication method corresponding to any embodiment in fig. 1 to 4, and are not described herein again in detail.
It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.
For this reason, an embodiment of the present application provides a computer-readable storage medium, where a plurality of instructions are stored, where the instructions can be loaded by a processor to execute steps in the unmanned aerial vehicle communication method according to any embodiment of the present application as shown in fig. 1 to fig. 4, and specific operations may refer to descriptions of the unmanned aerial vehicle communication method according to any embodiment of fig. 1 to fig. 4, which are not described herein again.
Wherein the computer-readable storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
Because the instructions stored in the computer-readable storage medium can execute the steps in the unmanned aerial vehicle communication method according to any embodiment of the present application corresponding to fig. 1 to fig. 4, the beneficial effects that can be achieved by the unmanned aerial vehicle communication method according to any embodiment of the present application corresponding to fig. 1 to fig. 4 can be achieved, for details, see the foregoing description, and are not repeated herein.
The unmanned aerial vehicle communication method, the unmanned aerial vehicle communication system and the readable storage medium provided by the application are introduced in detail, specific examples are applied in the description to explain the principle and the implementation manner of the application, and the description of the embodiments is only used for helping to understand the method and the core idea of the application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. A method of drone communication, the method comprising:
establishing a first communication link between the ground station of the unmanned aerial vehicle and the real-time dynamic RTK base station and a second communication link between the ground station of the unmanned aerial vehicle and the flight controller;
the RTK base station sends RTK data to the unmanned aerial vehicle ground station through the first communication link;
the drone ground station receiving the RTK differential data from the RTK base station over the first communication link;
the unmanned aerial vehicle ground station sends the RTK differential data to the flight controller through the second communication link;
the flight controller sends the RTK differential data to an RTK rover station;
the RTK rover station estimates a position of the flight controller from the RTK differential data.
2. The method of claim 1, wherein when the RTK base station is an RTK network base station, the establishing a first communication link between the RTK base station and a drone ground station, the RTK base station transmitting RTK data to the drone ground station over the first communication link, comprises:
establishing a third communication link between the RTK network base station and the unmanned aerial vehicle ground station;
and the RTK network base station sends the RTK data to the unmanned aerial vehicle ground station through the first communication link.
3. The method of claim 1, wherein when the RTK base station is an RTK ground base station, the establishing a first communication link between the RTK base station and an unmanned aerial vehicle ground station, the RTK base station transmitting RTK data to the unmanned aerial vehicle ground station via the first communication link, comprises:
establishing a fourth communication link between the RTK ground base station and the unmanned aerial vehicle ground station;
and the RTK ground base station sends the RTK data to the unmanned aerial vehicle ground station through the first communication link.
4. The method of claim 2 or 3, wherein before the RTK base station sends RTK data to the drone ground station over the first communication link, the method further comprises:
judging whether a link abnormality exists in the third communication link or the fourth communication link;
if not, either the RTK network base station or the RTK bottom ground base station sends the RTK differential data to the unmanned aerial vehicle ground station;
and if one link is abnormal, the RTK base station with the normal link sends the RTK differential data to the ground station of the unmanned aerial vehicle.
5. An unmanned aerial vehicle communication system, characterized in that, unmanned aerial vehicle communication system includes unmanned aerial vehicle ground satellite station, real-time kinematic RTK basic station, flight controller and RTK rover:
the unmanned aerial vehicle ground station is used for establishing a first communication link with the RTK base station and a second communication link with the flight controller;
the RTK base station is used for sending RTK data to the unmanned aerial vehicle ground station through the first communication link;
the drone ground station is further to receive the RTK differential data from the RTK base station over the first communication link; transmitting the RTK differential data to the flight controller over the second communication link;
the flight controller is used for sending the RTK differential data to the RTK rover station;
the RTK rover station is configured to estimate the position of the flight controller from the RTK differential data.
6. The drone communication system of claim 5, wherein when the RTK base station is an RTK network base station, the drone ground station is specifically configured to:
establishing a third communication link between the RTK network base station and the unmanned aerial vehicle ground station;
and the RTK network base station sends the RTK data to the unmanned aerial vehicle ground station through the first communication link.
7. The unmanned aerial vehicle communication system of claim 5, wherein when the RTK base station is an RTK ground base station, the unmanned aerial vehicle ground station is specifically configured to:
establishing a fourth communication link between the RTK ground base station and the unmanned aerial vehicle ground station;
and the RTK ground base station sends the RTK data to the unmanned aerial vehicle ground station through the first communication link.
8. The drone communication system of claim 6 or 7, wherein before the RTK base station sends RTK data to the drone ground station over the first communication link, further to:
judging whether a link abnormality exists in the third communication link or the fourth communication link;
if not, either the RTK network base station or the RTK bottom ground base station sends the RTK differential data to the unmanned aerial vehicle ground station;
and if one link is abnormal, the RTK base station with the normal link sends the RTK differential data to the ground station of the unmanned aerial vehicle.
9. A processing device comprising a processor and a memory, a computer program being stored in the memory, the processor performing the method according to any of claims 1 to 6 when calling the computer program in the memory.
10. A computer-readable storage medium storing a plurality of instructions adapted to be loaded by a processor to perform the method of any of claims 1 to 6.
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| 李庭威等: "基于高精度差分定位的无人机系统研究", 《电脑知识与技术》 * |
| 袁正午等: "一种高精度的GPS-RTK定位技术设计与实现", 《电子技术应用》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113552594A (en) * | 2021-07-13 | 2021-10-26 | 广东汇天航空航天科技有限公司 | Differential data transmission method and system, ground station, airborne terminal and storage medium |
| CN115047916A (en) * | 2022-07-25 | 2022-09-13 | 南方电网电力科技股份有限公司 | Unmanned aerial vehicle control method, airborne terminal, electronic equipment and storage medium |
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