CN113433871A - Method, control system and terminal for strong interaction control of airplane group flying instructions - Google Patents
Method, control system and terminal for strong interaction control of airplane group flying instructions Download PDFInfo
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- CN113433871A CN113433871A CN202110816311.5A CN202110816311A CN113433871A CN 113433871 A CN113433871 A CN 113433871A CN 202110816311 A CN202110816311 A CN 202110816311A CN 113433871 A CN113433871 A CN 113433871A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000003993 interaction Effects 0.000 title claims description 24
- 230000004044 response Effects 0.000 claims abstract description 46
- 230000002452 interceptive effect Effects 0.000 claims abstract description 14
- 238000004590 computer program Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 10
- 230000007246 mechanism Effects 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 5
- 230000015572 biosynthetic process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000013500 data storage Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and discloses a method, a control system and a terminal for strong interactive control of a cluster takeoff instruction, wherein the method for strong interactive control of the cluster takeoff instruction comprises the following steps: before a large number of airplane performances, a takeoff instruction is issued to the airplane through the ground station, the airplane end sends ack response to the ground station, after standing and waiting for 1s, the takeoff instruction is issued again to the airplane which does not reply the ack response message until ack responses of all selected airplanes are received. The invention realizes the function of the whole take-off of the cluster aircraft by designing the take-off instruction sending and answering mechanism of the individual cluster aircraft and the control end (ground station) and forcibly waiting for each individual cluster aircraft to receive the take-off instruction, thereby being practical and reliable, solving the problem that the take-off failure of a few aircraft in cluster performance causes the influence on the flight performance effect because the take-off instruction is not received, and obtaining the technical effect of realizing the normal take-off of all the aircraft in the cluster self-checking state.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a method, a control system and a terminal for strong interactive control of a cluster flight instruction.
Background
At present, in the field of formation flying dance performance, few airplanes flying in a cluster can not receive a takeoff instruction due to the problem of a communication link, so that takeoff failure is caused. The problems that pattern holes exist during formation performance and the performance effect is poor are caused, and the problem to be solved is to design a method for enabling all airplanes to quickly receive take-off instructions.
In the prior art, a take-off instruction is sent only once, when a cluster performs, the problem of take-off failure caused by the fact that an airplane has a small probability of not receiving the take-off instruction is inevitable, when the fact that the airplane does not take off is found, the cluster starts to perform normally, the problem of field abnormality cannot be solved, and only the loss of performance patterns can be seen. Therefore, a new method for controlling the strong interaction of the takeoff instruction of the fleet is needed to overcome the defects in the prior art.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) in the field of formation flying dance performance, the problem that few airplanes flying in a cluster do not receive a takeoff instruction due to the problem of a communication link, so that takeoff failure is caused, pattern holes exist during formation performance, and performance effect is poor exists.
(2) In the prior art, a take-off instruction is sent only once, when a cluster performs, the problem of take-off failure caused by the fact that an airplane has a small probability of not receiving the take-off instruction is inevitable, when the fact that the airplane does not take off is found, the cluster starts to perform normally, the problem of field abnormality cannot be solved, and only the loss of performance patterns can be seen.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method, a control system and a terminal for controlling strong interaction of a group flight instruction.
The invention is realized in such a way that a method for controlling the strong interaction of the takeoff instruction of a cluster comprises the following steps:
before a large number of airplane performances, a takeoff instruction is issued to the airplane through the ground station, the airplane end sends ack response to the ground station, after standing and waiting for 1s, the takeoff instruction is issued again to the airplane which does not reply the ack response message until ack responses of all selected airplanes are received.
Further, the takeoff instruction message structure comprises:
flight message array, whether ack was received and whether message was resent.
Further, the method for controlling the strong interaction of the cluster takeoff instruction further comprises the following steps:
filling the takeoff instruction message into a flight message array, then sending the takeoff instruction message for 1s, checking whether an ack response is received, and if the ack response is received and the instruction is successfully sent, not resending the message; and if the ack response is not received, setting a resending message mark, skipping to take-off instruction sending, and resending the take-off instruction message until the aircraft ack response is retrieved.
Another objective of the present invention is to provide a system for cluster takeoff instruction strong interactive control, which applies the method for cluster takeoff instruction strong interactive control, wherein the system for cluster takeoff instruction strong interactive control comprises:
the take-off instruction issuing module is used for issuing a take-off instruction to the airplane through the ground station before the airplane performs for a large number of times;
the ack retrieval module is used for filling the takeoff instruction message into the flight message array, then sending the takeoff instruction message for 1s, and checking whether an ack response is received;
and the resending module is used for sending the takeoff instruction again to the airplane which does not reply the ack response message until the ack responses of all the selected airplanes are received.
It is a further object of the invention to provide a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of:
before a large number of airplane performances, a takeoff instruction is issued to the airplane through the ground station, the airplane end sends ack response to the ground station, after standing and waiting for 1s, the takeoff instruction is issued again to the airplane which does not reply the ack response message until ack responses of all selected airplanes are received.
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 perform the steps of:
before a large number of airplane performances, a takeoff instruction is issued to the airplane through the ground station, the airplane end sends ack response to the ground station, after standing and waiting for 1s, the takeoff instruction is issued again to the airplane which does not reply the ack response message until ack responses of all selected airplanes are received.
It is another object of the present invention to provide a computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface for applying the system for robust interactive control of fleet takeoff instructions when executed on an electronic device.
The invention also aims to provide an information data processing terminal, which is used for realizing the system for the strong interactive control of the cluster takeoff instruction.
Another object of the present invention is to provide an unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with the system for the fleet takeoff instruction strong interactive control.
By combining all the technical schemes, the invention has the advantages and positive effects that: the method for controlling the strong interaction of the cluster take-off instruction provided by the invention realizes the function of sending and receiving the strong interaction of the cluster take-off instruction by designing a data structure and sending confirmation logic. The invention realizes that all the planes of the cluster can receive the takeoff instruction and realize the flight by the proposal that the control end (ground station) sends the takeoff control instruction to carry out the instruction control strong interaction with each individual in the cluster planes.
The invention realizes the function of the whole take-off of the cluster aircraft by designing the take-off instruction sending and answering mechanism of the individual cluster aircraft and the control end (ground station) and forcibly waiting for each individual cluster aircraft to receive the take-off instruction, thereby being practical and reliable, solving the problem that the take-off failure of a few aircraft in cluster performance causes the influence on the flight performance effect because the take-off instruction is not received, and obtaining the technical effect of realizing the normal take-off of all the aircraft in the cluster self-checking state.
The invention can solve the operation effect influence caused by takeoff failure because the airplane does not receive takeoff instruction.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for controlling cluster takeoff instruction interaction according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a method for controlling cluster takeoff instruction interaction according to an embodiment of the present invention.
FIG. 3 is a block diagram of a system architecture for controlling the strong interaction of the takeoff instruction of the fleet according to an embodiment of the present invention;
in the figure: 1. a take-off instruction issuing module; 2. an ack retrieval module; 3. and a module is sent again.
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.
In view of the problems in the prior art, the present invention provides a method and a system for controlling strong interaction of a group flight instruction, which are described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the method for controlling strong interaction of a cluster takeoff instruction provided in the embodiment of the present invention includes the following steps:
s101, before a large number of airplane performances, sending a takeoff instruction to an airplane through a ground station;
s102, the airplane end sends ack response to reply to the ground station, and stands for 1S;
s103, issuing the take-off instruction again to the airplane which does not reply the ack response message until the ack responses of all the selected airplanes are received.
A schematic diagram of a method for controlling cluster takeoff instruction interaction is shown in fig. 2.
As shown in fig. 3, the system for controlling cluster takeoff instruction interaction includes:
the take-off instruction issuing module 1 issues a take-off instruction to the airplane through the ground station before the airplane performs for a large number of times;
the ack retrieval module 2 is used for filling the takeoff instruction message into the flight message array, then sending the takeoff instruction message for 1s, and checking whether an ack response is received;
and the resending module 3 is used for sending the takeoff instruction again to the airplane which does not reply the ack response message until the ack responses of all the selected airplanes are received.
The technical solution of the present invention will be further described with reference to the following examples.
The invention realizes that all the planes of the cluster can receive the takeoff instruction and realize the flying by the proposal that the takeoff control instruction is sent by the control terminal (the ground station) and is strongly interacted with the instruction control of each individual in the cluster planes.
The method for the cluster take-off instruction strong interaction control realizes the function of sending and receiving the cluster take-off instruction strong interaction by designing a data structure and sending confirmation logic, solves the problem that the flight performance effect is influenced by the take-off failure caused by that a few airplanes do not receive the take-off instruction in cluster performance, and obtains the technical effect of realizing the normal take-off of all self-checking state normal airplanes of the cluster.
Before a large number of airplane performances, a takeoff instruction is issued to the airplane through the ground station, the airplane end sends ack response to the ground station, after standing and waiting for 1s, the takeoff instruction is issued again to the airplane which does not reply the ack response message until ack responses of all selected airplanes are received.
And (3) message structure: {
A flight message array;
whether an ack is received;
whether to resend the message;
}
firstly, filling a takeoff instruction message into a flight message array, then sending the takeoff instruction message for 1s, and checking whether an ack response is received: if the response is received, the message is not sent again; if the answer is not received, setting a resending message mark, sending a jump takeoff instruction, continuously sending the message, and knowing that the ack answer of the airplane is retrieved.
The flow chart of the method for the cluster takeoff instruction strong interaction control is shown in FIG. 2.
The invention designs the take-off instruction sending and answering mechanism by the individual aircraft cluster and the control end (ground station), and forcibly waits for each individual aircraft cluster to receive the take-off instruction, thereby realizing the function of taking off all the aircraft cluster, and being practical and reliable.
The following are some source programs for implementing the embodiment of the present invention, and the operation effect is good.
And sending the takeoff instruction, then sending again, then receiving the takeoff instruction ack, and switching to a takeoff waiting stage.
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.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
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 (9)
1. A method for controlling the strong interaction of a cluster takeoff instruction is characterized by comprising the following steps:
before a large number of airplane performances, a takeoff instruction is issued to the airplane through the ground station, the airplane end sends ack response to reply to the ground station, after standing and waiting, the takeoff instruction is issued again to the airplane which does not reply to the ack response message until ack responses of all selected airplanes are received.
2. The method for fleet takeoff instruction strong interaction control as set forth in claim 1, wherein said takeoff instruction message structure comprises:
flight message array, whether ack was received and whether message was resent.
3. The method for fleet takeoff instruction strong interaction control as claimed in claim 1, wherein the method for fleet takeoff instruction strong interaction control further comprises:
filling the takeoff instruction message into a flight message array, then sending the takeoff instruction message for 1s, checking whether an ack response is received, and if the ack response is received and the instruction is successfully sent, not resending the message; and if the ack response is not received, setting a resending message mark, skipping to take-off instruction sending, and resending the take-off instruction message until the aircraft ack response is retrieved.
4. A system for cluster takeoff instruction strong interactive control by applying the method for cluster takeoff instruction strong interactive control according to any one of claims 1 to 3, wherein the system for cluster takeoff instruction strong interactive control comprises:
the take-off instruction issuing module is used for issuing a take-off instruction to the airplane through the ground station before the airplane performs for a large number of times;
the ack retrieval module is used for filling the takeoff instruction message into the flight message array, then sending the takeoff instruction message for 1s, and checking whether an ack response is received;
and the resending module is used for sending the takeoff instruction again to the airplane which does not reply the ack response message until the ack responses of all the selected airplanes are received.
5. A computer device, characterized in that the computer device comprises a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the steps of:
before a large number of airplane performances, a takeoff instruction is issued to the airplane through the ground station, the airplane end sends ack response to the ground station, after standing and waiting for 1s, the takeoff instruction is issued again to the airplane which does not reply the ack response message until ack responses of all selected airplanes are received.
6. A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
before a large number of airplane performances, a takeoff instruction is issued to the airplane through the ground station, the airplane end sends ack response to the ground station, after standing and waiting for 1s, the takeoff instruction is issued again to the airplane which does not reply the ack response message until ack responses of all selected airplanes are received.
7. A computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface for a system for applying said fleet takeoff instruction strong interactive control when executed on an electronic device.
8. An information data processing terminal, characterized in that the information data processing terminal is used for implementing a system for cluster takeoff instruction strong interaction control as claimed in claim 4.
9. An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle is equipped with a system for the fleet takeoff command strong interactive control as claimed in claim 4.
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| CN202110816311.5A CN113433871A (en) | 2021-07-20 | 2021-07-20 | Method, control system and terminal for strong interaction control of airplane group flying instructions |
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| CN202110816311.5A CN113433871A (en) | 2021-07-20 | 2021-07-20 | Method, control system and terminal for strong interaction control of airplane group flying instructions |
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Cited By (1)
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| CN114115033A (en) * | 2021-11-25 | 2022-03-01 | 深圳市鑫飞创电力科技有限公司 | Pulse emission control method and control system |
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