CN113296123A - GNSS differential data sending method based on unmanned aerial vehicle ground station - Google Patents
GNSS differential data sending method based on unmanned aerial vehicle ground station Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000012544 monitoring process Methods 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims description 5
- 238000004806 packaging method and process Methods 0.000 claims description 5
- 230000007547 defect Effects 0.000 abstract description 3
- 108091026890 Coding region Proteins 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
- G01S19/071—DGPS corrections
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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
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Abstract
The invention provides a GNSS differential data transmitting method based on an unmanned aerial vehicle ground station, which comprises the following steps: the directional antenna transmits the received GNSS differential data to the GNSS receiver; the GNSS receiver sends the received GNSS differential data to the flight monitoring computer and the differential radio station periodically respectively; and the airborne terminal selectively receives the GNSS differential data sent by the flight monitoring computer or the differential radio station according to the data stability. Wherein, the difference radio station is the selection. According to the method, the GNSS differential data are transmitted through the flight management computer or the differential radio station according to the data stability, so that the defect that the frequency band of the differential radio station and the U-band of a data chain interfere with each other is overcome, the airborne end of the unmanned aerial vehicle can receive stable and accurate differential data, and the cost is greatly reduced.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to a GNSS differential data transmitting method based on an unmanned aerial vehicle ground station.
Background
The GNSS differential data has wide application to functions of high-precision flight, take-off, landing and the like of the unmanned aerial vehicle. Current drones are mostly located in flight by receiving data from a ground terminal station. Because the working frequency band of difference radio station and the frequency band of the data chain U wave band of most unmanned aerial vehicle ground satellite stations are relatively close, two stations are easy to interfere with each other, and the difference data that unmanned aerial vehicle received may be inaccurate, this will bring very big potential safety hazard. How to stably and accurately receive the GNSS differential data and completely transmit the data to the mobile phone is extremely important.
Disclosure of Invention
The invention aims to provide a method for sending GNSS differential data based on an unmanned aerial vehicle ground station, so as to solve the problem that the GNSS differential data received by a differential radio station may be inaccurate at present.
The method for sending the GNSS differential data based on the ground station of the unmanned aerial vehicle comprises the following steps:
the directional antenna transmits the received GNSS differential data to the GNSS receiver;
the GNSS receiver periodically sends the received GNSS differential data to a flight monitoring computer;
and the airborne terminal receives the GNSS differential data sent by the flight monitoring computer.
In one embodiment, the GNSS differential data sent by the flight monitoring computer to the onboard end is sent by unpacking; and the airborne terminal carries out sequential package splicing on the GNSS differential data sent by unpacking, and restores the GNSS differential data.
In one embodiment, before the unpacking is sent, the number of the sent GNSS differential data stars needs to be determined:
when the number of the satellites of the sent GNSS differential data is less than or equal to a set threshold T, the sent GNSS differential data is unpacked and sent directly;
and when the number of the satellites of the sent GNSS differential data is greater than a set threshold value T, reducing the number of the satellites of the sent GNSS differential data to T, and unpacking and sending the data.
In one embodiment, T-20 is preferred.
In one embodiment, the unpacking rule for unpacking transmission includes:
carrying out whole packet inspection and type identification on GNSS differential data to be unpacked and sent;
unpacking the GNSS differential data to be unpacked and sent according to the fixed length data of 32 bytes of each small packet, and packaging the GNSS differential data segment content in each GNSS differential data according to the GNSS differential data segment definition requirement;
and remotely uploading the unpacked and packaged GNSS differential data.
In another embodiment of the present invention, a method for transmitting GNSS differential data based on an unmanned aerial vehicle ground station includes the following steps:
the directional antenna transmits the received GNSS differential data to the GNSS receiver;
the GNSS receiver periodically sends the received GNSS differential data to the flight monitoring computer and the differential radio station respectively;
and the airborne terminal selectively receives the GNSS differential data sent by the flight monitoring computer or the differential radio station according to the data stability.
In another embodiment, the GNSS differential data sent by the flight monitoring computer to the onboard terminal is sent by unpacking; and the airborne terminal carries out sequential package splicing on the GNSS differential data sent by unpacking, and restores the GNSS differential data.
In another embodiment, before unpacking and sending, the number of GNSS differential data stars to be sent needs to be determined:
when the number of the satellites of the sent GNSS differential data is less than or equal to a set threshold T, the sent GNSS differential data is unpacked and sent directly;
and when the number of the satellites of the sent GNSS differential data is greater than a set threshold value T, reducing the number of the satellites of the sent GNSS differential data to T, and unpacking and sending the data.
In another embodiment, T-20 is preferred.
In another embodiment, the unpacking rule for unpacking transmission includes:
carrying out whole packet inspection and type identification on GNSS differential data to be unpacked and sent;
unpacking the GNSS differential data to be unpacked and sent according to the fixed length data of 32 bytes of each small packet, and packaging the GNSS differential data segment content in each GNSS differential data according to the GNSS differential data segment definition requirement;
and remotely uploading the unpacked and packaged GNSS differential data.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. according to the method for sending the GNSS differential data based on the ground station of the unmanned aerial vehicle, the GNSS differential data are transmitted through the flight management computer or the differential radio station according to the stability of the data, so that the defect that the frequency band of the differential radio station and the U-band of a data chain interfere with each other is overcome, and the condition that the airborne end of the unmanned aerial vehicle can receive the stable and accurate differential data is guaranteed.
2. The method and the device can ensure that the airborne end of the unmanned aerial vehicle can receive stable and accurate differential data, and greatly reduce the cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic diagram of the GNSS differential data transmission method based on the ground station of the unmanned aerial vehicle according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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 invention.
Example 1
As shown in fig. 1, the present embodiment provides a GNSS differential data transmission method based on an unmanned aerial vehicle ground station, including the following steps:
the directional antenna transmits the received GNSS differential data to the GNSS receiver;
in order to ensure the stability of data, the GNSS receiver periodically sends the received GNSS differential data to the flight monitoring computer and the differential radio station respectively;
and the airborne terminal selectively receives the GNSS differential data sent by the flight monitoring computer or the differential radio station according to the data stability.
For GNSS differential data, the RTCM1075/RTCM1125GPS/BD differential message with the same message format is taken as an example. The RTCM1075 GPS differential message is shown in table 1.
Table 1:
table 1 shows that:
(1) GPS satellite flag set:
the highest bit (1 st bit of the code sequence) corresponds to the satellite ID of 1, the 2 nd bit corresponds to the satellite ID of 2, and so on, the lowest bit (the last 1 st bit of the code sequence) corresponds to the satellite ID of 64.
If the satellite data with the satellite number ID ═ n is valid, the value of the corresponding bit (the nth bit of the code sequence) is 1, otherwise, the value is 0.
(2) GPS signal flag set:
the highest bit (1 st bit of the code sequence) corresponds to the GNSS signal type ID equal to 1, the 2 nd bit corresponds to the GNSS signal type ID equal to 2, and so on, and the lowest bit (the last 1 st bit of the code sequence) corresponds to the GNSS signal type ID equal to 32.
If the GNSS signal type ID is m, the value of the corresponding bit (m-th bit of the code sequence) is 1, otherwise the value is 0.
(3) GPS Cell marker set:
if the satellite number is n and the signal type number is m, namely the Cell marker set sequence is Nsig (n-1) + m, the corresponding signal data is valid, the bit value is 1, and the data content (corresponding signals of the corresponding satellite) of the following MSM signal data area is provided; otherwise, the bit value is 0, while the following MSM signal data field has no data content (therefore, the length of the signal data field is 63 × Ncell, where Ncell is the number of bits with a value of 1 in the Cell flag set).
The highest bit (1 st bit of the coding sequence) corresponds to the sign state of the No. 1 satellite No. 1 signal, the 2 nd bit corresponds to the sign state of the No. 1 satellite No. 2 signal, and so on, the lowest bit (the last 1 st bit of the coding sequence) corresponds to the sign state of the No. n satellite No. m signal.
Because the remote control bandwidth is limited, the flight monitoring computer cannot directly send the whole packet of GNSS differential data to the airborne terminal through the remote control link after receiving the GNSS differential data, and therefore in the embodiment, the GNSS differential data sent to the airborne terminal by the flight monitoring computer is sent by unpacking; and the airborne terminal carries out sequential package splicing on the GNSS differential data which are sent by unpacking, and the GNSS differential data are restored. Theoretically, the GNSS differential data can be very accurately positioned by 20 satellites (which may be adjusted according to practical applications), but the number of the satellites of the GNSS differential data is greater than 20, so that the GNSS differential data needs to be reduced to less than 20 satellites before being unpacked and sent. Specifically, the method comprises the following steps:
when the number of the satellites of the sent GNSS differential data is less than or equal to 20, the sent GNSS differential data is unpacked and sent directly;
and when the number of the satellites of the sent GNSS differential data is more than 20, reducing the number of the satellites of the sent GNSS differential data to T, and then unpacking and sending. According to the RTCM1075/RTCM1125 differential message content, if the GNSS differential data star number is M (M > 20), M bits of 64 bits of the GPS satellite flag group must be 1, only the first 20 bits are required to be reserved, and the remaining M-20 bits are directly 0. Meanwhile, data of more than 20 stars is deleted from the data area (194+ X), that is, only the data before X20 is reserved, that is, the data from X21 to XM is deleted.
The GNSS differential data transmitted by the remote control link is transmitted in a semi-transparent mode, namely, the unpacking rule sent by unpacking comprises the following steps:
carrying out whole packet inspection and type identification on GNSS differential data to be unpacked and sent;
unpacking the GNSS differential data to be unpacked and sent according to the fixed length (maximum) data of 32 bytes of each packet, and packaging the GNSS differential data segment content in each GNSS differential data according to the definition requirement of the GNSS differential data segment (37 bytes);
and remotely uploading the unpacked and packaged GNSS differential data.
This embodiment provides a definition requirement of the GNSS differential data segment, as shown in table 2.
Table 2:
as can be seen from table 2, when the onboard end sequentially splices the GNSS differential data sent by unpacking, the onboard end may sequentially splice the GNSS differential data according to the "large packet number", the "small packet number", and the "small packet number". And the GNSS differential data transmitted by the differential station can be directly received.
The embodiment provides a method for sending GNSS differential data based on an unmanned aerial vehicle ground station, which is characterized in that the GNSS differential data are transmitted through a flight management computer or a differential radio station according to the data stability, so that the defect of mutual interference between the frequency band of the differential radio station and the U-band of a data chain is avoided, and the condition that an airborne end of the unmanned aerial vehicle can receive stable and accurate differential data is ensured.
Example 2
On the basis of embodiment 1, for an occasion with low GNSS differential data transmission accuracy requirement, a differential station (a differential station between an airborne terminal of an unmanned aerial vehicle and a ground station) may be eliminated. Namely, the method for sending the GNSS differential data based on the ground station of the unmanned aerial vehicle according to the embodiment includes the following steps:
the directional antenna transmits the received GNSS differential data to the GNSS receiver;
the GNSS receiver periodically sends the received GNSS differential data to a flight monitoring computer;
and the airborne terminal receives the GNSS differential data sent by the flight monitoring computer.
Relevant contents (such as unpacking and sending) in the method for sending the GNSS differential data based on the ground station of the unmanned aerial vehicle are consistent with the embodiment and are not described herein again. This embodiment has guaranteed not only that unmanned aerial vehicle machine carries the end and can receive stable accurate difference data from this, still greatly reduced the cost.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A GNSS differential data sending method based on an unmanned aerial vehicle ground station is characterized by comprising the following steps:
the directional antenna transmits the received GNSS differential data to the GNSS receiver;
the GNSS receiver periodically sends the received GNSS differential data to a flight monitoring computer;
and the airborne terminal receives the GNSS differential data sent by the flight monitoring computer.
2. The method for sending the GNSS differential data based on the ground station of the unmanned aerial vehicle as claimed in claim 1, wherein the GNSS differential data sent to the airborne terminal by the flight monitoring computer is sent by unpacking; and the airborne terminal carries out sequential package splicing on the GNSS differential data sent by unpacking, and restores the GNSS differential data.
3. The method for sending GNSS differential data based on the ground station of the unmanned aerial vehicle as claimed in claim 1, wherein before unpacking and sending, the number of GNSS differential data stars to be sent needs to be judged:
when the number of the satellites of the sent GNSS differential data is less than or equal to a set threshold T, the sent GNSS differential data is unpacked and sent directly;
and when the number of the satellites of the sent GNSS differential data is greater than a set threshold value T, reducing the number of the satellites of the sent GNSS differential data to T, and unpacking and sending the data.
4. The GNSS differential data transmission method based on an unmanned aerial vehicle ground station according to claim 3, wherein T is 20.
5. The GNSS differential data transmission method based on UAV ground station according to any of claims 2-4, wherein the unpacking rule for unpacking and transmitting comprises:
carrying out whole packet inspection and type identification on GNSS differential data to be unpacked and sent;
unpacking the GNSS differential data to be unpacked and sent according to the fixed length data of 32 bytes of each small packet, and packaging the GNSS differential data segment content in each GNSS differential data according to the GNSS differential data segment definition requirement;
and remotely uploading the unpacked and packaged GNSS differential data.
6. A GNSS differential data sending method based on an unmanned aerial vehicle ground station is characterized by comprising the following steps:
the directional antenna transmits the received GNSS differential data to the GNSS receiver;
the GNSS receiver periodically sends the received GNSS differential data to the flight monitoring computer and the differential radio station respectively;
and the airborne terminal selectively receives the GNSS differential data sent by the flight monitoring computer or the differential radio station according to the data stability.
7. The method for sending the GNSS differential data based on the ground station of the unmanned aerial vehicle as claimed in claim 6, wherein the GNSS differential data sent to the airborne terminal by the flight monitoring computer is sent by unpacking; and the airborne terminal carries out sequential package splicing on the GNSS differential data sent by unpacking, and restores the GNSS differential data.
8. The method for sending GNSS differential data based on the ground station of the unmanned aerial vehicle as claimed in claim 6, wherein before unpacking and sending, the number of GNSS differential data stars to be sent needs to be judged:
when the number of the satellites of the sent GNSS differential data is less than or equal to a set threshold T, the sent GNSS differential data is unpacked and sent directly;
and when the number of the satellites of the sent GNSS differential data is greater than a set threshold value T, reducing the number of the satellites of the sent GNSS differential data to T, and unpacking and sending the data.
9. The GNSS differential data transmission method based on an unmanned aerial vehicle ground station according to claim 8, wherein T is 20.
10. The method for sending GNSS differential data based on ground stations of unmanned aerial vehicles according to any of claims 7-9, wherein the unpacking rule for unpacking and sending comprises:
carrying out whole packet inspection and type identification on GNSS differential data to be unpacked and sent;
unpacking the GNSS differential data to be unpacked and sent according to the fixed length data of 32 bytes of each small packet, and packaging the GNSS differential data segment content in each GNSS differential data according to the GNSS differential data segment definition requirement;
and remotely uploading the unpacked and packaged GNSS differential data.
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Application publication date: 20210824 |