CN113220026A - Method, control method, system and terminal for removing duplicate of multilink instructions of unmanned aerial vehicle cluster - Google Patents
Method, control method, system and terminal for removing duplicate of multilink instructions of unmanned aerial vehicle cluster Download PDFInfo
- Publication number
- CN113220026A CN113220026A CN202110498916.4A CN202110498916A CN113220026A CN 113220026 A CN113220026 A CN 113220026A CN 202110498916 A CN202110498916 A CN 202110498916A CN 113220026 A CN113220026 A CN 113220026A
- Authority
- CN
- China
- Prior art keywords
- instruction
- flight
- time
- instructions
- command
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 59
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 31
- 238000012216 screening Methods 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 12
- 230000000875 corresponding effect Effects 0.000 claims description 26
- 238000001914 filtration Methods 0.000 claims description 8
- 230000006870 function Effects 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 claims description 5
- 238000004806 packaging method and process Methods 0.000 claims description 5
- 230000008030 elimination Effects 0.000 claims description 3
- 238000003379 elimination reaction Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 8
- 230000015572 biosynthetic process Effects 0.000 abstract description 5
- 230000008569 process Effects 0.000 description 4
- 238000003491 array Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Abstract
The invention belongs to the technical field of unmanned aerial vehicle control, and discloses a method, a control method, a system and a terminal for removing the duplicate of a multilink instruction of an unmanned aerial vehicle cluster, wherein the method for removing the duplicate of the multilink instruction of the unmanned aerial vehicle cluster comprises the following steps: the individual airplanes in the airplane group receive flight control instructions containing flight instructions and utc time, and the flight instructions and the time stamps are sequentially put into a message queue; and extracting the instruction message and the corresponding timestamp from the message queue once, comparing the time with the latest timestamp of the previously backed-up instruction to judge whether the instruction is a redundant instruction, and screening the instruction based on the judgment result. According to the method for receiving, transmitting and screening the three-link redundant instruction, the single-link data transmission instability and the dependence on the unstable environment factors are greatly reduced, the reliability of formation flight field execution is improved, and the risk brought by single-link communication is reduced.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to a method, a control method, a system and a terminal for removing duplicate of a multilink instruction of an unmanned aerial vehicle cluster.
Background
At present, in the process of formation and multi-machine flight performance of unmanned aerial vehicles, the control of an unmanned aerial vehicle cluster relates to the process of receiving flight instructions, the aircraft is controlled by receiving flight instructions such as take-off, landing and return, and all the aircraft in the cluster execute corresponding instructions.
At present, in the whole flight control process of an unmanned aerial vehicle cluster, in order to ensure that all aircrafts in the cluster can normally respond to flight control commands, one command is sent for multiple times in the industry until all aircrafts respond to the flight control commands, and the aircrafts are controlled. The control method has high requirement on the concurrency performance of the whole communication data transmission link, the communication server can be crashed due to carelessness, the instruction sending pressure rises along with the number index form of the cluster airplanes, the control risk is high, and the cluster airplanes are difficult to control neatly. The patent aims to design a method for controlling cluster by simultaneously transmitting multiple links of flight instructions, and solves the problems of server processing risk and small probability of non-response of part of airplanes caused by multiple transmissions of one instruction.
The most serious problem in the prior art is that the problem of abnormal 4g signals caused by too many field audiences and too many mobile phones during formation flight performance seriously affects the sending and receiving of flight control instructions; secondly, when using single link sending instructions such as wifi, radio station, can't improve the stability that flight instruction received, have some aircraft fractional probability can't receive the problem of flight control.
Through the above analysis, the problems and defects of the prior art are as follows: the existing single-link unmanned aerial vehicle control method is unstable in data transmission, high in dependence on unstable environmental factors and unreliable in unmanned aerial vehicle control.
The significance of solving the problems and the defects is as follows:
the problem that single-link data transmission can not be controlled reliably by an instruction is solved; aiming at the adverse effect of repeated control caused by repeated instructions when multilink transmission data and instructions is carried out, stable and reliable data link transmission is realized by realizing multilink instructions and data filtering.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method, a control method, a system and a terminal for removing the duplicate of a multilink instruction of an unmanned aerial vehicle cluster.
The invention is realized in this way, a method for removing duplicate of multilink instructions of an unmanned aerial vehicle cluster, the method for removing duplicate of multilink instructions of the unmanned aerial vehicle cluster comprises:
and filtering and screening the flight instructions by the individual airplanes in the airplane group based on the ground station by using the timestamps contained in the flight instructions sent by the multilink communication, and removing the duplication of the multilink instructions.
Further, the multilink communication includes: 4g link, wifi link, radio station.
Further, the method for removing the duplicate of the multilink instruction of the unmanned aerial vehicle cluster comprises the following steps:
(1) the individual airplanes in the airplane group receive flight control instructions containing flight instructions and utc time, and the flight instructions and the time stamps are sequentially put into a message queue;
(2) and extracting the instruction message and the corresponding timestamp from the message queue once, comparing the time with the latest timestamp of the previously backed-up instruction to judge whether the instruction is a redundant instruction, and screening the instruction based on the judgment result.
Further, the judging whether the instruction is a redundant instruction by comparing the time with the latest timestamp of the instruction backed up before, and the screening the instruction based on the judgment result comprises:
comparing the time with a latest timestamp of a previously backed up instruction:
if the obtained utc time is longer than the previously obtained utc time, the command is judged not to be a redundant command, a flight command corresponding to the utc time is executed, and the airplane is switched according to the command;
if the obtained utc time is smaller than the previous utc time, the command is judged to be a redundant command, and the current command and the utc time thereof are deleted.
Another objective of the present invention is to provide a flight control method based on the instruction deduplication of a drone swarm, which implements the instruction deduplication method of the drone swarm, where the flight control method based on the instruction deduplication of the drone swarm includes:
and filtering and screening the multilink instructions of the unmanned aerial vehicle cluster by using the multilink instruction duplication elimination method of the unmanned aerial vehicle cluster, and controlling the unmanned aerial vehicle to execute corresponding actions by taking the instruction with the latest time, namely utc time as an actual control instruction.
Further, the flight control method based on the instruction deduplication of the unmanned aerial vehicle cluster multilink comprises the following steps:
step one, when a ground station sends a flight instruction to an airplane cluster, obtaining the current latest utc time, packaging the instruction to be sent and utc time, and simultaneously sending the instruction with the same timestamp to an airplane by using three links of 4g, wifi and radio stations;
step two, when the airplane receives a flight control instruction, sequentially putting the flight instruction and the timestamp into a message queue;
step three, extracting the instruction message and the corresponding time stamp from the message queue once, comparing the time with the latest time stamp of the instruction backed up before, and if the obtained utc time is longer than the obtained utc time before, executing step four; otherwise, executing the step five;
fourthly, executing utc flight instructions corresponding to time, and switching the state of the airplane according to the instructions;
and step five, deleting the current instruction and utc time thereof.
Further, the state switching includes: taking off, landing, returning and locking.
Another objective of the present invention is to provide a flight control system based on multiple link commands for removing duplication in an unmanned aerial vehicle fleet, comprising:
the timestamp instruction sending module is used for acquiring the current latest utc time when the ground station sends a flight instruction to the airplane cluster, packaging the instruction to be sent and utc time, and sending the instruction with the same timestamp to the airplane by utilizing three links of 4g, wifi and radio station;
the airplane command and timestamp message queue processing module is used for sequentially putting the flight command and the timestamps into a message queue when the airplane receives the flight control command;
the latest timestamp comparison module is used for extracting the instruction message and the corresponding timestamp from the message queue once, comparing the time with the latest timestamp of the instruction backed up before, and executing the function of the airplane instruction state switching module if the obtained utc time is longer than the previously obtained utc time; otherwise, executing the function of the current instruction deleting module;
the airplane instruction state switching module is used for executing a flight instruction corresponding to utc time, and the airplane performs state switching according to the instruction;
and the current instruction deleting module is used for deleting the current instruction and utc time thereof.
It is another object of the present invention to provide a computer readable storage medium storing a computer program, which when executed by a processor, causes the processor to execute the method for deduplication of the drone swarm multilink instructions.
Another object of the present invention is to provide an information data processing terminal, which includes a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to execute the method for removing duplicate commands from multiple links of the drone swarm.
By combining all the technical schemes, the invention has the advantages and positive effects that: the invention uses the method of multilink flight command control sending and screening response to realize the function of stable control of large-scale unmanned aerial vehicle group. The problem that when the control command 4g is sent, the flight control command control cluster fails due to the fact that the field audience has too many 4g, the message receiving and sending speed is low, and the quality is poor is solved, and the technical effects that the cluster control is neat and uniform, and the command control receiving and sending are more stable and reliable are achieved.
According to the method for receiving, transmitting and screening the three-link redundant instruction, the single-link data transmission instability and the dependence on the unstable environment factors are greatly reduced, the reliability of formation flight field execution is improved, and the risk brought by single-link communication is reduced.
In the process of using multilink communication to carry out formation flight control of the unmanned aerial vehicle cluster, the invention screens the timestamps of (multilink) redundant flight control instructions to realize the method that after a single instruction of a control party (cluster ground station) is received for multiple times, only single control is carried out.
According to the invention, the 4G, the wifi and the radio station simultaneously send flight control instructions, and then the instructions are screened, so that the problem of poor stability of the single-link wifi, the radio station and the 4G sending instructions is solved.
Drawings
Fig. 1 is a schematic diagram of a method for removing duplicate commands from multiple links of a drone swarm according to an embodiment of the present invention.
Fig. 2 is a flowchart of a method for removing duplicate commands from multiple links of a drone swarm according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a method for removing the duplicate of the multilink instruction of the unmanned aerial vehicle cluster, and the invention is described in detail below with reference to the attached drawings.
As shown in fig. 1, a method for removing duplicate of a multilink instruction of an unmanned aerial vehicle cluster according to an embodiment of the present invention includes:
and filtering and screening the flight instructions by the individual airplanes in the airplane group based on the ground station by using the timestamps contained in the flight instructions sent by the multilink communication, and removing the duplication of the multilink instructions.
The multilink communication provided by the embodiment of the invention comprises the following steps: 4g link, wifi link, radio station.
As shown in fig. 2, a method for removing duplicate commands of a drone swarm multilink according to an embodiment of the present invention includes the following steps:
s101, receiving flight control instructions including flight instructions and utc time by the individual airplanes in the cluster, and sequentially putting the flight instructions and the time stamps into a message queue;
s102, extracting the instruction message and the corresponding timestamp from the message queue once, comparing the time with the latest timestamp of the instruction backed up before to judge whether the instruction is a redundant instruction, and screening the instruction based on the judgment result.
The embodiment of the invention provides a method for judging whether an instruction is a redundant instruction by comparing the time with the latest timestamp of the instruction backed up before, and screening the instruction based on the judgment result, which comprises the following steps:
comparing the time with a latest timestamp of a previously backed up instruction:
if the obtained utc time is longer than the previously obtained utc time, the command is judged not to be a redundant command, a flight command corresponding to the utc time is executed, and the airplane is switched according to the command;
if the obtained utc time is smaller than the previous utc time, the command is judged to be a redundant command, and the current command and the utc time thereof are deleted.
The flight control method based on the instruction deduplication of the unmanned aerial vehicle cluster multilink comprises the following steps:
and filtering and screening the multilink instructions of the unmanned aerial vehicle cluster by using the multilink instruction duplication elimination method of the unmanned aerial vehicle cluster, and controlling the unmanned aerial vehicle to execute corresponding actions by taking the instruction with the latest time, namely utc time as an actual control instruction.
The flight control method based on the instruction deduplication of the unmanned aerial vehicle cluster multilink comprises the following steps:
(1) when the ground station sends a flight instruction to the airplane cluster, the latest utc current time is obtained, the instruction to be sent and utc time are packaged, and the instruction with the same timestamp is sent to the airplane by using three links of 4g, wifi and radio stations;
(2) when the airplane receives the flight control instruction, sequentially putting the flight instruction and the timestamp into a message queue;
(3) extracting the command message and the corresponding timestamp from the message queue once, comparing the time with the latest timestamp of the command backed up before, if the obtained utc time is larger than the obtained utc time, executing a flight command corresponding to the utc time, and switching the state of the airplane according to the command; otherwise, the current instruction and its utc time are deleted.
The state switching provided by the embodiment of the invention comprises the following steps: taking off, landing, returning and locking.
Another objective of the present invention is to provide a flight control system based on multiple link commands for removing duplication in an unmanned aerial vehicle fleet, comprising:
the timestamp instruction sending module is used for acquiring the current latest utc time when the ground station sends a flight instruction to the airplane cluster, packaging the instruction to be sent and utc time, and sending the instruction with the same timestamp to the airplane by utilizing three links of 4g, wifi and radio station;
the airplane command and timestamp message queue processing module is used for sequentially putting the flight command and the timestamps into a message queue when the airplane receives the flight control command;
the latest timestamp comparison module is used for extracting the instruction message and the corresponding timestamp from the message queue once, comparing the time with the latest timestamp of the instruction backed up before, and executing the function of the airplane instruction state switching module if the obtained utc time is longer than the previously obtained utc time; otherwise, executing the function of the current instruction deleting module;
the airplane instruction state switching module is used for executing a flight instruction corresponding to utc time, and the airplane performs state switching according to the instruction;
and the current instruction deleting module is used for deleting the current instruction and utc time thereof.
The technical solution of the present invention is further illustrated by the following specific examples.
Example 1:
when the cluster ground station is used for controlling the cluster, multilink communication (4g link, wifi link and radio station) is used, flight control instructions (take-off, landing, returning, locking and the like) are sent at the same time, individual airplanes in the cluster filter and screen the instructions through timestamps contained in the flight instructions, and then the instruction with the latest time (utc time is the largest) is used as an actual control instruction to execute corresponding actions.
The specific screening method comprises the following steps:
<1> transmitting port: when the ground station sends a flight instruction to the airplane cluster, firstly, the latest utc time is obtained, then the instruction to be sent and utc time are packaged and sent, and 4g, wifi and radio station links send the instruction with the same timestamp to the airplane at the same time;
<2> receiving port: when the airplane receives the flight control command, the flight command and the time stamp are sequentially put into a message queue (first-in first-out).
<3> message filtering: extracting the command message and the corresponding timestamp from the message queue once, comparing the time with the latest timestamp of the command backed up before, if the obtained utc time is longer than the obtained utc time, executing the flight command corresponding to the utc time, and switching the state of the airplane (taking off, landing, returning, locking and the like) according to the command; if the obtained utc time is smaller than the previous utc time, the current command and the utc time of the current command are deleted, the command is considered as a redundant command in a redundant link, corresponding operation is not correspondingly carried out, and the command received by the multilink is ensured to be executed only once.
2. The flight instruction content comprises the following information, and the structure is as follows:
when the single link receives and sends the flight command, the single airplane is subjected to multiple flight command sending, the execution time of the control command is set to be relatively later, and the ground station and the operators have sufficient time to carry out multiple operations and control on a small part of airplanes (consuming time and labor).
Example 2
When a transmitting source uses three (or more) links 4G, wifi and a radio station to transmit data, the data load is real-time + load data, the data of the three links respectively reach a receiving end, the receiving end compares the timestamp of a new instruction with the timestamp of the previous instruction after receiving the data, and selects whether to abandon the received instruction for non-execution according to the comparison result.
The method is characterized in that a ground station end (transmitting end) transmits a 'takeoff instruction' to a cluster airplane individual through three links, the airplane individual also receives the 'takeoff instruction' through the three links, and the ground stations with the three instructions have the same initiating time, so that the airplane can execute the earliest received instruction in a certain link, and then the same received instruction is directly discarded through a timestamp.
When the ground station sends a plurality of instructions, the multilink sending time stamps of the same instruction are consistent, the time stamps of different instructions have a sequence, and the airplane can execute different instructions and filter the same instructions.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
It should be noted that the embodiments of the present invention can be realized by hardware, software, or a combination of software and hardware. The hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or specially designed hardware. Those skilled in the art will appreciate that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, such code being provided on a carrier medium such as a disk, CD-or DVD-ROM, programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier, for example. The apparatus and its modules of the present invention may be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., or by software executed by various types of processors, or by a combination of hardware circuits and software, e.g., firmware.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A method for removing duplicate of multilink instructions of an unmanned aerial vehicle cluster is characterized in that the method for removing duplicate of multilink instructions of the unmanned aerial vehicle cluster comprises the following steps:
and filtering and screening the flight instructions by the individual airplanes in the airplane group based on the ground station by using the timestamps contained in the flight instructions sent by the multilink communication, and removing the duplication of the multilink instructions.
2. The method as claimed in claim 1, wherein the multilink communication includes: 4g link, wifi link, radio station.
3. The method of claim 1, wherein the method for removing duplicate commands from a drone swarm multilink command comprises the steps of:
(1) the individual airplanes in the airplane group receive flight control instructions containing flight instructions and utc time, and the flight instructions and the time stamps are sequentially put into a message queue;
(2) and extracting the instruction message and the corresponding timestamp from the message queue once, comparing the time with the latest timestamp of the previously backed-up instruction to judge whether the instruction is a redundant instruction, and screening the instruction based on the judgment result.
4. The method as claimed in claim 3, wherein the determining whether the command is a redundant command by comparing the time with a latest timestamp of a previously backed up command, and the screening the command based on the determination comprises:
comparing the time with a latest timestamp of a previously backed up instruction:
if the obtained utc time is longer than the previously obtained utc time, the command is judged not to be a redundant command, a flight command corresponding to the utc time is executed, and the airplane is switched according to the command;
if the obtained utc time is smaller than the previous utc time, the command is judged to be a redundant command, and the current command and the utc time thereof are deleted.
5. A flight control method based on the instruction deduplication of the drone swarm according to any one of claims 1 to 4, for implementing the instruction deduplication method of the drone swarm, wherein the flight control method based on the instruction deduplication of the drone swarm comprises:
and filtering and screening the multilink instructions of the unmanned aerial vehicle cluster by using the multilink instruction duplication elimination method of the unmanned aerial vehicle cluster, and controlling the unmanned aerial vehicle to execute corresponding actions by taking the instruction with the latest time, namely utc time as an actual control instruction.
6. The method as claimed in claim 5, wherein the method comprises the following steps:
step one, when a ground station sends a flight instruction to an airplane cluster, obtaining the current latest utc time, packaging the instruction to be sent and utc time, and simultaneously sending the instruction with the same timestamp to an airplane by using three links of 4g, wifi and radio stations;
step two, when the airplane receives a flight control instruction, sequentially putting the flight instruction and the timestamp into a message queue;
step three, extracting the instruction message and the corresponding time stamp from the message queue once, comparing the time with the latest time stamp of the instruction backed up before, and if the obtained utc time is longer than the obtained utc time before, executing step four; otherwise, executing the step five;
fourthly, executing utc flight instructions corresponding to time, and switching the state of the airplane according to the instructions;
and step five, deleting the current instruction and utc time thereof.
7. The method of claim 6, wherein the state switching comprises: taking off, landing, returning and locking.
8. A flight control system based on instruction deduplication of an unmanned aerial vehicle cluster multilink is characterized by comprising:
the timestamp instruction sending module is used for acquiring the current latest utc time when the ground station sends a flight instruction to the airplane cluster, packaging the instruction to be sent and utc time, and sending the instruction with the same timestamp to the airplane by utilizing three links of 4g, wifi and radio station;
the airplane command and timestamp message queue processing module is used for sequentially putting the flight command and the timestamps into a message queue when the airplane receives the flight control command;
the latest timestamp comparison module is used for extracting the instruction message and the corresponding timestamp from the message queue once, comparing the time with the latest timestamp of the instruction backed up before, and executing the function of the airplane instruction state switching module if the obtained utc time is longer than the previously obtained utc time; otherwise, executing the function of the current instruction deleting module;
the airplane instruction state switching module is used for executing a flight instruction corresponding to utc time, and the airplane performs state switching according to the instruction;
and the current instruction deleting module is used for deleting the current instruction and utc time thereof.
9. A computer readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the method for deduplicating drone swarm multilink instructions of any of claims 1-4.
10. An information data processing terminal, comprising a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to execute the method for removing duplicate commands of a drone swarm according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110498916.4A CN113220026A (en) | 2021-05-08 | 2021-05-08 | Method, control method, system and terminal for removing duplicate of multilink instructions of unmanned aerial vehicle cluster |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110498916.4A CN113220026A (en) | 2021-05-08 | 2021-05-08 | Method, control method, system and terminal for removing duplicate of multilink instructions of unmanned aerial vehicle cluster |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113220026A true CN113220026A (en) | 2021-08-06 |
Family
ID=77091870
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110498916.4A Pending CN113220026A (en) | 2021-05-08 | 2021-05-08 | Method, control method, system and terminal for removing duplicate of multilink instructions of unmanned aerial vehicle cluster |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113220026A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110392117A (en) * | 2019-08-06 | 2019-10-29 | 重庆大学 | A kind of method of multi-source AIS data deduplication fusion |
| CN110457148A (en) * | 2019-06-27 | 2019-11-15 | 苏州浪潮智能科技有限公司 | A kind of storage method, device and the readable medium of monitor supervision platform fault message |
| CN111555827A (en) * | 2020-05-06 | 2020-08-18 | 中国商用飞机有限责任公司 | Method and apparatus for detecting air-to-ground links |
| CN112073288A (en) * | 2020-08-19 | 2020-12-11 | 北京博特数通技术有限公司 | Multilink data transmission method and device |
| CN112255956A (en) * | 2020-12-23 | 2021-01-22 | 中航金城无人系统有限公司 | Multi-mode communication control system and method for unmanned aerial vehicle |
| CN112673283A (en) * | 2020-03-31 | 2021-04-16 | 深圳市大疆创新科技有限公司 | Positioning method, control terminal and movable platform |
-
2021
- 2021-05-08 CN CN202110498916.4A patent/CN113220026A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110457148A (en) * | 2019-06-27 | 2019-11-15 | 苏州浪潮智能科技有限公司 | A kind of storage method, device and the readable medium of monitor supervision platform fault message |
| CN110392117A (en) * | 2019-08-06 | 2019-10-29 | 重庆大学 | A kind of method of multi-source AIS data deduplication fusion |
| CN112673283A (en) * | 2020-03-31 | 2021-04-16 | 深圳市大疆创新科技有限公司 | Positioning method, control terminal and movable platform |
| CN111555827A (en) * | 2020-05-06 | 2020-08-18 | 中国商用飞机有限责任公司 | Method and apparatus for detecting air-to-ground links |
| CN112073288A (en) * | 2020-08-19 | 2020-12-11 | 北京博特数通技术有限公司 | Multilink data transmission method and device |
| CN112255956A (en) * | 2020-12-23 | 2021-01-22 | 中航金城无人系统有限公司 | Multi-mode communication control system and method for unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200174466A1 (en) | Drone communication system and communication system of drone server | |
| US20070140152A1 (en) | Multi-network aircraft communication systems and methods | |
| US20200402326A1 (en) | Automated Logging of Aircraft OOOI Times Using Mobile Device | |
| CN110460971B (en) | Mobile Internet of things access method based on edge calculation | |
| CN110912655A (en) | Data redundancy backup method, device, equipment and medium | |
| CN106788892B (en) | Multi-source heterogeneous test flight data processing method and multi-source heterogeneous test flight data processing system | |
| US20160052640A1 (en) | Health management unit and method for monitoring health information and method of reporting critical failure information | |
| US20240005706A1 (en) | Systems and methods for reconfigurable on-vehicle data routing | |
| CN112199266A (en) | Log transmission method and system for vehicle-mounted machine system, vehicle and storage medium | |
| CN111290430A (en) | Unmanned aerial vehicle formation dance step uploading transmission control system and method and intelligent terminal | |
| CN113256843B (en) | Integrated flight recording device and method | |
| US20190028420A1 (en) | Message sending method and terminal device | |
| CN113220026A (en) | Method, control method, system and terminal for removing duplicate of multilink instructions of unmanned aerial vehicle cluster | |
| US20190110176A1 (en) | Articulated vehicle communication extension | |
| CN116647490A (en) | Aviation AFDX network data detection system | |
| US20220400518A1 (en) | Method and device for transmitting data in a wireless network | |
| CN111628919B (en) | Method for realizing Arinc485 protocol state machine | |
| CN113835728A (en) | Data updating method and device, electronic equipment and storage medium | |
| CN113485412B (en) | Method and system for distinguishing return by using multilink data signal source by unmanned aerial vehicle | |
| CN112506459A (en) | Data synchronization method and system for avionics system comprehensive display control unit | |
| US8619792B1 (en) | Selective multi-modal transmission alteration | |
| CN111769866B (en) | Aircraft synchronous broadcasting method, system and device | |
| CN112181850B (en) | Comprehensive monitoring system software test platform | |
| CN114422590A (en) | Communication system and communication method for migrating GPU cloud server to local | |
| CN115174710B (en) | Cross-platform layered modularized airborne data link application management system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210806 |