CN113485435A - Heterogeneous multi-unmanned aerial vehicle monitoring system and method - Google Patents
Heterogeneous multi-unmanned aerial vehicle monitoring system and method Download PDFInfo
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Abstract
The invention discloses a heterogeneous multi-unmanned aerial vehicle monitoring system which comprises a monitoring center host, data acquisition equipment, communication hardware equipment, a monitoring computer and multi-unmanned aerial vehicle monitoring software, wherein the monitoring center host is in data connection with a plurality of unmanned aerial vehicle monitoring groups through a switch, each unmanned aerial vehicle monitoring group comprises the data acquisition equipment, the communication hardware equipment and the monitoring computer, and the monitoring computer runs the multi-unmanned aerial vehicle monitoring software and is connected with an unmanned aerial vehicle ground control station. The method comprises three steps of system networking, monitoring system setting, unmanned aerial vehicle monitoring operation and the like. The invention can realize information communication and interaction among unmanned aerial vehicle systems and between the multi-unmanned aerial vehicle system and the command center, and realize state monitoring and task planning of heterogeneous multi-unmanned aerial vehicle systems with different evacuation configurations and different model performances, thereby optimizing airspace resource allocation and management and control of the heterogeneous multi-unmanned aerial vehicle systems in complex environments and realizing safe and efficient monitoring of the multi-unmanned aerial vehicles.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle mission planning, in particular to a heterogeneous multi-unmanned aerial vehicle monitoring system and method.
Background
When tasks such as field emergency rescue, military exercise drill, environmental monitoring are carried out, single unmanned aerial vehicle platform receives performance limitations such as action radius, duration, practical lifting limit and task load, often is difficult to satisfy actual task demand, and this just needs concentrated application evacuation configuration in different bases or position, model and the different sets of unmanned aerial vehicle system of performance. In order to realize safe and efficient cooperative application of complex heterogeneous multi-unmanned aerial vehicles with different evacuation configurations, different model performances and the like of the unmanned aerial vehicles, temporary construction of multi-unmanned aerial vehicle air management stations is urgently needed, airspace dynamic information of the multi-unmanned aerial vehicles is mastered in time, and task allocation and flight path planning of the multi-unmanned aerial vehicles are dynamically coordinated.
The current single unmanned aerial vehicle ground station can only realize stand-alone or double-machine control usually, and the unmanned aerial vehicle operation is mainly with single unmanned aerial vehicle system application, and sparse configuration, the model performance inequality such as many heterogeneous unmanned aerial vehicle's centralized state control lacks the means. In the process of executing tasks such as special emergency rescue, drill exercise, environmental monitoring and the like, airspace resources are very crowded, a single unmanned aerial vehicle ground station can only monitor the state of a single set of unmanned aerial vehicle in real time generally, voice telephone communication information is relied on between unmanned aerial vehicle systems and between the unmanned aerial vehicle systems and a command center, and a heterogeneous multi-unmanned aerial vehicle information monitoring platform and equipment are lacked.
Therefore, in view of the current situation, research and development of a heterogeneous multi-unmanned aerial vehicle monitoring system and method are needed to meet application requirements.
Disclosure of Invention
The invention discloses a method for task allocation and track planning of a multi-base unmanned aerial vehicle in stages, which aims to solve the problems in the prior art.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides a heterogeneous many unmanned aerial vehicle monitored control system, includes surveillance center host computer, data acquisition equipment, communication hardware equipment, supervisory control computer and many unmanned aerial vehicle monitoring software, the data connection is established through switch and a plurality of unmanned aerial vehicle monitoring group to the surveillance center host computer, and unmanned aerial vehicle monitoring group all includes communication hardware equipment, data acquisition equipment and supervisory control computer, and supervisory control computer operation many unmanned aerial vehicle monitoring software, and the communication hardware equipment of unmanned aerial vehicle monitoring group establishes data connection with at least one supervisory control computer respectively, supervisory control computer passes through data acquisition equipment and establishes data connection with unmanned aerial vehicle ground control station.
Preferably, the data acquisition device comprises an image acquisition hardware sub-module and a telemetry data acquisition hardware sub-module, wherein the image acquisition hardware sub-module comprises an image acquisition card, an interface conversion device and a connecting cable, and the connecting cable is electrically connected with the image acquisition card and the interface conversion device respectively; the telemetry data acquisition hardware sub-module comprises a switch, a character recognition device and a connecting cable.
Preferably, the communication hardware device includes any one or more of twisted pair communication, optical fiber communication, ethernet remote transmission + coated wire communication, microwave relay and satellite communication.
A method for constructing a heterogeneous multi-unmanned aerial vehicle monitoring system comprises the following steps:
s1, system networking, firstly, according to the number, types, flight tasks and task area environmental conditions of unmanned aerial vehicles participating in tasks, a star network communication architecture is formed by taking a multi-unmanned aerial vehicle command center as a monitoring network center and all unmanned aerial vehicle monitoring groups as nodes, a communication network among the multi-unmanned aerial vehicle system, the command center and the unmanned aerial vehicle systems is constructed, the monitoring center is connected with the unmanned aerial vehicle monitoring groups through a switch, each unmanned aerial vehicle monitoring group is matched with at least one unmanned aerial vehicle system, then, data acquisition equipment, communication hardware equipment, a monitoring computer and an unmanned aerial vehicle ground control station are connected to form corresponding unmanned aerial vehicle monitoring groups, each unmanned aerial vehicle monitoring group is in data connection with the monitoring center, and system connection networking is completed;
s2, setting a monitoring system, wherein after the step S1 is completed, the monitoring host and each monitoring computer run multiple unmanned aerial vehicle monitoring software, the data acquisition, communication network, multiple unmanned aerial vehicle management and other settings of the monitoring software are completed, and the online running of the software system is completed;
s3, monitoring operation by an unmanned aerial vehicle; in the process of preparing the unmanned aerial vehicle for flying, a monitoring host machine realizes the pre-mission planning of multiple unmanned aerial vehicles by utilizing multi-unmanned aerial vehicle monitoring software, and pushes the unmanned aerial vehicle flying mission planning schemes to corresponding unmanned aerial vehicle monitoring groups respectively, and a monitoring computer of the unmanned aerial vehicle monitoring group further accurately plans the received flying mission planning schemes, clearly determines the mission allocation and flight path planning plans of the unmanned aerial vehicles in the monitoring groups, and sends the plans to corresponding unmanned aerial vehicle ground control stations; in the process of executing tasks by the unmanned aerial vehicles, each unmanned aerial vehicle monitoring group acquires and shares real-time state data of the unmanned aerial vehicles, each unmanned aerial vehicle and the monitoring center can monitor the flight states of the multiple unmanned aerial vehicles in the area in real time and master the air condition information of the unmanned aerial vehicles in the area, the monitoring center and each monitoring computer communicate in time according to the dynamic change situation and perform task re-planning, the monitoring center is responsible for coarse task planning of the multiple unmanned aerial vehicles, each monitoring computer is responsible for fine task planning of the corresponding unmanned aerial vehicle, and the flight routes and task allocation targets of the unmanned aerial vehicles are updated in time.
Further, in the step S2, the multiple-drone monitoring software system includes a multiple-drone management sub-module, a map operation sub-module, a multiple-drone task allocation sub-module, a multiple-drone flight path planning sub-module, a drone status display sub-module, and a data reporting sub-module.
Further, in the step S2, the data acquisition device includes an image acquisition hardware sub-module and a telemetry data acquisition hardware sub-module.
Furthermore, the image acquisition hardware sub-module comprises an image acquisition card and interface conversion equipment, and the interface conversion equipment is any one or more of VGA, VGA-to-HDMI + VGA, BNC-to-AV interface conversion equipment and the like; the telemetry data acquisition hardware module comprises a network cable, a switch and a character recognition device.
The invention can effectively realize information communication and interaction among unmanned aerial vehicle systems and between the multi-unmanned aerial vehicle system and the command center, realize the requirements of state monitoring operation of heterogeneous multi-unmanned aerial vehicle systems with different evacuation configurations and different model performances, simultaneously realize data acquisition of unmanned aerial vehicles with different models, construct means of network transmission and monitoring of images and telemetering data of heterogeneous multi-unmanned aerial vehicles, and realize task planning of heterogeneous multi-unmanned aerial vehicles, thereby achieving the purposes of optimizing the space domain resource allocation and control of the heterogeneous multi-unmanned aerial vehicle systems under complex environments and realizing safe and efficient monitoring of the multi-unmanned aerial vehicles.
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FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a system architecture of the present invention;
FIG. 3 is a diagram of the system hardware components of the present invention;
FIG. 4 is a system software component of the present invention;
FIG. 5 is a system software flow of the present invention;
FIG. 6 is a state monitoring interface according to the present invention;
FIG. 7 is a task assignment interface of the present invention;
FIG. 8 is a track planning interface according to the present invention.
Detailed Description
The invention will be better understood from the following examples. However, those skilled in the art will readily appreciate that the description of the embodiments is only for illustrating the present invention and should not be taken as limiting the invention as detailed in the claims.
As shown in fig. 1 to 8, a heterogeneous multi-unmanned aerial vehicle monitoring system comprises a monitoring center host, data acquisition devices, communication hardware devices, a monitoring computer and multi-unmanned aerial vehicle monitoring software, wherein the monitoring center host is in data connection with a plurality of unmanned aerial vehicle monitoring groups through a switch, each unmanned aerial vehicle monitoring group comprises a communication hardware device, a data acquisition device and a monitoring computer, the monitoring computer runs the multi-unmanned aerial vehicle monitoring software, the communication hardware devices of the unmanned aerial vehicle monitoring groups are in data connection with at least one monitoring computer, and the monitoring computers are in data connection with an unmanned aerial vehicle ground control station through the data acquisition devices.
Preferably, the data acquisition device comprises an image acquisition hardware sub-module and a telemetry data acquisition hardware sub-module, wherein the image acquisition hardware sub-module comprises an image acquisition card, an interface conversion device and a connecting cable, and the connecting cable is electrically connected with the image acquisition card and the interface conversion device respectively; the telemetry data acquisition hardware sub-module comprises a switch, a character recognition device and a connecting cable.
Preferably, the communication hardware device includes any one or more of twisted pair communication, optical fiber communication, ethernet remote transmission + coated wire communication, microwave relay and satellite communication.
A method for constructing a heterogeneous multi-unmanned aerial vehicle monitoring system comprises the following steps:
s1, system networking, firstly, according to the number, types, flight tasks and task area environmental conditions of unmanned aerial vehicles participating in tasks, a star network communication architecture is formed by taking a multi-unmanned aerial vehicle command center as a monitoring network center and all unmanned aerial vehicle monitoring groups as nodes, a communication network among the multi-unmanned aerial vehicle system, the command center and the unmanned aerial vehicle systems is constructed, the monitoring center is connected with the unmanned aerial vehicle monitoring groups through a switch, each unmanned aerial vehicle monitoring group is matched with at least one unmanned aerial vehicle system, then, data acquisition equipment, communication hardware equipment, a monitoring computer and an unmanned aerial vehicle ground control station are connected to form corresponding unmanned aerial vehicle monitoring groups, each unmanned aerial vehicle monitoring group is in data connection with the monitoring center, and system connection networking is completed;
s2, setting a monitoring system, wherein after the step S1 is completed, the monitoring host and each monitoring computer run multiple unmanned aerial vehicle monitoring software, the data acquisition, communication network, multiple unmanned aerial vehicle management and other settings of the monitoring software are completed, and the online running of the software system is completed;
s3, monitoring operation by an unmanned aerial vehicle; in the process of preparing the unmanned aerial vehicle for flying, a monitoring host machine realizes the pre-mission planning of multiple unmanned aerial vehicles by utilizing multi-unmanned aerial vehicle monitoring software, and pushes the unmanned aerial vehicle flying mission planning schemes to corresponding unmanned aerial vehicle monitoring groups respectively, and a monitoring computer of the unmanned aerial vehicle monitoring group further accurately plans the received flying mission planning schemes, clearly determines the mission allocation and flight path planning plans of the unmanned aerial vehicles in the monitoring groups, and sends the plans to corresponding unmanned aerial vehicle ground control stations; in the process of executing tasks by the unmanned aerial vehicles, each unmanned aerial vehicle monitoring group acquires and shares real-time state data of the unmanned aerial vehicles, each unmanned aerial vehicle and the monitoring center can monitor the flight states of the multiple unmanned aerial vehicles in the area in real time and master the air condition information of the unmanned aerial vehicles in the area, the monitoring center and each monitoring computer communicate in time according to the dynamic change situation and perform task re-planning, the monitoring center is responsible for coarse task planning of the multiple unmanned aerial vehicles, each monitoring computer is responsible for fine task planning of the corresponding unmanned aerial vehicle, and the flight routes and task allocation targets of the unmanned aerial vehicles are updated in time.
In this embodiment, in the step S2, the multiple-drone monitoring software system includes a multiple-drone management sub-module, a map operation sub-module, a multiple-drone task allocation sub-module, a multiple-drone flight path planning sub-module, a drone status display sub-module, and a data reporting sub-module.
The multi-unmanned aerial vehicle monitoring software realizes functions of multi-unmanned aerial vehicle management, track planning, task allocation, unmanned aerial vehicle state monitoring and the like, and realizes situation perception and command control of the unmanned aerial vehicle in the whole task area.
The working process of the multi-unmanned-aerial-vehicle monitoring software mainly comprises the steps of initial setting, network communication, data acquisition, state monitoring, task allocation, flight path planning, achievement reporting and the like. The method comprises the following steps of initial setting, namely realizing multi-unmanned aerial vehicle management parameter setting, threat parameter setting, task planning parameter setting and the like; network communication, which is to realize network setting and data interactive transmission among the monitoring computers, between the monitoring computers and the corresponding ground stations of the unmanned aerial vehicles; data acquisition, namely acquiring and transmitting images and telemetering data of each unmanned aerial vehicle ground station to a monitoring center; state monitoring, namely, each monitoring computer realizes real-time state monitoring on the multiple unmanned aerial vehicle systems; task allocation, namely, the monitoring center performs task allocation on each unmanned aerial vehicle, wherein the task allocation comprises pre-allocation of a task before flight and dynamic allocation of a task in flight; the flight path planning refers to that a monitoring center or each monitoring computer avoids a threat area according to distributed tasks and determines an optimal flight path, wherein the flight path planning comprises pre-planning of the flight path before flight and dynamic planning of the flight path in flight; and the achievement report is used for generating a report of the important flight state and reporting the achievement. The specific process is as follows:
the unmanned aerial vehicle management submodule is arranged. The module functions mainly comprise an interface function and a management function, the interface function mainly comprises communication link maintenance, information receiving, information forwarding and the like, and the management function mainly comprises task management, resource management, member management and the like. And the multi-unmanned aerial vehicle management sub-module inputs task information, resource information, member information and the like to the flight path planning and task distribution sub-module.
And the map operation submodule. The module functions are mainly to realize the visualization of the digital map and construct two-dimensional and three-dimensional map scenes of the mission planning. The map operation module is developed based on an open source software library OSG/OSGERath, so that the loading of elevation data and image data is realized, and a digital earth with reality sense is established. The geographic information system component can dynamically load map data in a multi-level hierarchical manner, supports functions of marking, measuring, map roaming and the like, has rich two-dimensional and three-dimensional map display elements, provides geographic information for multi-unmanned aerial vehicle monitoring, and constructs a visual display platform.
And thirdly, a state monitoring submodule. The module function mainly is the demonstration of unmanned aerial vehicle state parameter, realizes the visual real-time supervision of many unmanned aerial vehicles. In the software status display area, the drone position, attitude, speed, images, etc. are displayed and the trajectory is plotted on a digital map. As shown in fig. 6, the main operation steps of the state monitoring include: and selecting the unmanned aerial vehicle ID, connecting the network, and displaying the regional display parameters and images.
Task allocation submodule. The module functions mainly include unmanned aerial vehicle task model construction and task allocation functions, pre-allocation of tasks before flight and dynamic allocation of tasks in flight are achieved, and a high-efficiency and reasonable task allocation scheme is obtained. The task allocation module supports automatic generation of task allocation results and has a manual operation function of task adjustment. As shown in fig. 7, the task assignment software interface includes the following main operation steps: and clicking a task distribution menu, loading a data file in a task distribution sub-window, clicking a selected task distribution algorithm, and displaying a distribution result in a display area in a graphic form.
Fifth, the flight path planning submodule. The module functions mainly include unmanned aerial vehicle track model construction, track planning and other functions, and the pre-planning of the flight track before flight and the dynamic planning of the flight track during flight are realized, so that the safe and effective flight track is obtained. The flight path planning module supports automatic flight path generation and has manual operation functions of flight path point insertion, deletion, adjustment, query and the like. As shown in fig. 8, a track planning software interface is provided, and the main operation steps of the track planning include: and clicking a track planning menu, sequentially clicking unmanned aerial vehicle selection, target selection, threat plotting, flight range estimation, task allocation, track searching, track adjustment, track smoothing and the like on a track planning sub-window, and drawing a task planning result on a digital map.
Results report submodule. The module function is mainly used for saving and outputting the state monitoring result. Generating key data results of state monitoring and task planning in a chart form, and storing and outputting the results.
Meanwhile, in the step S2, the data acquisition device includes an image acquisition hardware sub-module and a telemetry data acquisition hardware sub-module.
The principle structure and the operation steps are expressed as follows: acquiring images and telemetering data of ground control stations of unmanned aerial vehicles of different models through data acquisition equipment, and inputting the images and the telemetering data into a terminal monitoring computer; each terminal monitoring computer and a monitoring center computing mechanism establish a communication network, and information distribution of multiple unmanned aerial vehicles and monitoring centers is realized by adopting networking of switches, remote transmission, optical transceivers, wireless communication equipment and the like.
The data acquisition equipment is mainly used for acquiring data of a multi-unmanned-aerial-vehicle system, acquiring images and telemetering data of the multi-unmanned-aerial-vehicle system from unmanned-aerial-vehicle ground control stations of different models, transmitting the images and the telemetering data to a monitoring computer and monitoring software through a data transmission network, and providing a required data information source for state monitoring and mission planning of the multi-unmanned-aerial-vehicle system.
The data acquisition hardware module mainly comprises an image acquisition hardware submodule, a telemetry data acquisition hardware submodule and the like, the universality and the expandability of a data interface are mainly considered in the design of the data acquisition hardware module, and the data acquisition hardware module can adapt to the data acquisition modes of different unmanned aerial vehicle systems.
Further, the image acquisition hardware sub-module includes an image acquisition card, an interface conversion device, a connection cable, and the like. The image acquisition card is used for acquiring video images received by the ground station of the unmanned aerial vehicle, and a high-definition acquisition card supporting various data input interfaces such as HDMI, SDI, DVI, AV, VGA and the like is selected to adapt to unmanned aerial vehicle systems of different models; interface conversion equipment mainly converts the special interface of unmanned aerial vehicle ground control station into the general interface that can gather, if the special interface of aviation changes interface conversion equipment such as general VGA, VGA changes HDMI + VGA, BNC changes AV, the output interface of different unmanned aerial vehicle ground control stations is different, what part model unmanned aerial vehicle adopted is special interface, need carry out interface conversion. It should be noted that if a video image output interface is reserved in the ground station of the unmanned aerial vehicle, image acquisition can be performed through the output interface; if no interface is reserved in the ground station of the unmanned aerial vehicle, a video cable in the ground control station can be led out through a one-to-two converter to output a video.
The telemetering data acquisition hardware module mainly comprises a network cable, a switch, a character recognition device and the like, and can select modes such as telemetering data protocol analysis, network file sharing, telemetering parameter screen character automatic recognition, manual input, single receiving station receiving and the like. The telemetering data needing to be collected mainly comprises parameters such as airplane attitude angle, position information, height and speed, and the specific collection method is flexibly selected by combining actual configurations of ground control stations of different types of unmanned aerial vehicles. The telemetering data protocol analysis mode is based on protocol analysis and receiving telemetering data flow under the condition that a telemetering data communication protocol is known, the method requires that a communication protocol can be obtained from an unmanned aerial vehicle manufacturer, and the type, the number, the sign, the reference coordinate system and the like of a telemetering data packet need to be noticed during data analysis. The network file sharing mode is that the remote measuring data files stored by the ground control station of the unmanned aerial vehicle are shared through the network, the ground control station of the unmanned aerial vehicle usually stores the remote measuring data in real time or regularly, the monitoring computer and the ground control station of the unmanned aerial vehicle are networked, the data files are monitored and read in a sharing mode, and when the remote measuring data files update data, the updated remote measuring data of the unmanned aerial vehicle are collected in time. The automatic identification mode of telemetering parameter screen characters is that a monitoring screen of a ground control station is collected through an image collection card, airplane parameter data on the screen is detected and identified through a digital identification technology, if the ground control station of the unmanned aerial vehicle comprises a plurality of monitoring screens, one monitoring screen cannot contain complete telemetering data, a plurality of screens can be collected through a plurality of collection channels, digital identification is carried out on a plurality of interfaces, and complete telemetering data are obtained; the manual input mode is that data is manually input through an unmanned aerial vehicle monitoring computer, and the data is forwarded; the receiving mode of the single receiving station is that the wireless data receiving single receiving station is erected, and data are output to the monitoring computer through the single receiving station, and the method does not need to output the data through the ground control station of the unmanned aerial vehicle.
In addition, when the communication hardware equipment runs, the ground control stations and the monitoring center of the multiple unmanned aerial vehicles are provided with monitoring computers for building a hardware platform for running monitoring software of the multiple unmanned aerial vehicles, and the monitoring computers adopt portable industrial personal computers. A communication network is constructed among all the monitoring computers to realize information sharing, and remote transmission equipment, a switch, an optical transceiver, wireless transmission equipment and other equipment are adopted for networking, so that the information transmission between a multi-unmanned aerial vehicle system and a monitoring center is met.
The data transmission of the short-distance network is completed by adopting a switch and a twisted pair network wire connection, but the twisted pair generates serious network signal attenuation and distortion when the transmission distance exceeds 100 meters, and the stability and the effectiveness of the data transmission are greatly reduced. Optical fiber transmission can be considered in long-distance transmission, the optical fiber communication distance is long, the capacity is large, the attenuation is reduced, and the interference of electromagnetic noise is avoided, but the problems that the optical fiber is complicated in arrangement step, complex in maintenance work, more in supporting equipment, higher in use cost and the like when being used in a field environment are solved. The remote transmission can also consider a remote network transmission scheme of Ethernet remote transmission plus a coated wire, and the scheme has the advantages of less required equipment, convenience in circuit layout, simplicity in equipment connection, higher economic benefit and the like. The remote transmission can also consider the wireless transmission modes such as access microwave relay, satellite communication and the like. In practical application, the communication transmission mode is determined according to the arrangement condition and the distance of the unmanned aerial vehicle control station.
The invention can effectively realize information communication and interaction among unmanned aerial vehicle systems and between the multi-unmanned aerial vehicle system and the command center, realize the requirements of state monitoring operation of heterogeneous multi-unmanned aerial vehicle systems with different evacuation configurations and different model performances, simultaneously realize data acquisition of unmanned aerial vehicles with different models, construct means of network transmission and monitoring of images and telemetering data of heterogeneous multi-unmanned aerial vehicles, and realize task planning of heterogeneous multi-unmanned aerial vehicles, thereby achieving the purposes of optimizing the space domain resource allocation and control of the heterogeneous multi-unmanned aerial vehicle systems under complex environments and realizing safe and efficient monitoring of the multi-unmanned aerial vehicles.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The utility model provides a heterogeneous many unmanned aerial vehicle monitored control system, its characterized in that, heterogeneous many unmanned aerial vehicle monitored control system includes surveillance center host computer, data acquisition equipment, communication hardware equipment, supervisory control computer and many unmanned aerial vehicle monitoring software, the surveillance center host computer passes through the switch and establishes data connection with a plurality of unmanned aerial vehicle control groups, and unmanned aerial vehicle control group all includes communication hardware equipment, data acquisition equipment and supervisory control computer, and supervisory control computer operation many unmanned aerial vehicle monitoring software, and the communication hardware equipment of unmanned aerial vehicle control group respectively with at least one supervisory control computer establish data connection, supervisory control computer passes through data acquisition equipment and unmanned aerial vehicle ground control station and establishes data connection.
2. The heterogeneous multi-unmanned aerial vehicle monitoring system of claim 1, wherein the data acquisition device comprises an image acquisition hardware sub-module and a telemetry data acquisition hardware sub-module, wherein the image acquisition hardware sub-module comprises an image acquisition card, an interface conversion device and a connection cable, wherein the connection cable is electrically connected with the image acquisition card and the interface conversion device respectively; the telemetry data acquisition hardware sub-module comprises a switch, a character recognition device and a connecting cable.
3. The system according to claim 1, wherein the communication hardware device includes any one or more of twisted pair communication, optical fiber communication, ethernet remote transmission + duplex communication, microwave relay and satellite communication.
4. A method for constructing a heterogeneous multi-unmanned aerial vehicle monitoring system is characterized by comprising the following steps:
s1, system networking, firstly, according to the number, types, flight tasks and task area environmental conditions of unmanned aerial vehicles participating in tasks, a star network communication architecture is formed by taking a multi-unmanned aerial vehicle command center as a network monitoring center and all unmanned aerial vehicle monitoring groups as nodes, a communication network among the multi-unmanned aerial vehicle system, the command center and the unmanned aerial vehicle systems is constructed, the monitoring center is connected with the unmanned aerial vehicle monitoring groups through a switch, each unmanned aerial vehicle monitoring group is matched with at least one unmanned aerial vehicle system, then, data acquisition equipment, communication hardware equipment, a monitoring computer and an unmanned aerial vehicle ground control station are connected to form corresponding unmanned aerial vehicle monitoring groups, each unmanned aerial vehicle monitoring group is in data connection with the monitoring center, and system connection networking is completed;
s2, setting a monitoring system, wherein after the step S1 is completed, the monitoring host and each monitoring computer run multiple unmanned aerial vehicle monitoring software, the data acquisition, communication network, multiple unmanned aerial vehicle management and other settings of the monitoring software are completed, and the online running of the software system is completed;
s3, monitoring operation by an unmanned aerial vehicle; in the process of preparing the unmanned aerial vehicle for flying, a monitoring host machine realizes the pre-mission planning of multiple unmanned aerial vehicles by utilizing multi-unmanned aerial vehicle monitoring software, and pushes the unmanned aerial vehicle flying mission planning schemes to corresponding unmanned aerial vehicle monitoring groups respectively, and a monitoring computer of the unmanned aerial vehicle monitoring group further accurately plans the received flying mission planning schemes, clearly determines the mission allocation and flight path planning plans of the unmanned aerial vehicles in the monitoring groups, and sends the plans to corresponding unmanned aerial vehicle ground control stations; in the process of executing tasks by the unmanned aerial vehicles, each unmanned aerial vehicle monitoring group acquires and shares real-time state data of the unmanned aerial vehicles, each unmanned aerial vehicle and the monitoring center can monitor the flight states of the multiple unmanned aerial vehicles in the area in real time and master the air condition information of the unmanned aerial vehicles in the area, the monitoring center and each monitoring computer communicate in time according to the dynamic change situation and perform task re-planning, the monitoring center is responsible for coarse task planning of the multiple unmanned aerial vehicles, each monitoring computer is responsible for fine task planning of the corresponding unmanned aerial vehicle, and the flight routes and task allocation targets of the unmanned aerial vehicles are updated in time.
5. The method according to claim 4, wherein in the step S2, the multi-UAV monitoring software system includes a multi-UAV management sub-module, a map operation sub-module, a multi-UAV task allocation sub-module, a multi-UAV track planning sub-module, an UAV status display sub-module, and a data reporting sub-module.
6. The method for split-phase multi-base unmanned aerial vehicle task allocation and flight path planning of claim 4, wherein in the step S2, the data acquisition device comprises an image acquisition hardware sub-module and a telemetry data acquisition hardware sub-module.
7. The method for multi-stage and multi-ground unmanned aerial vehicle task allocation and track planning according to claim 6, wherein the image acquisition hardware sub-module comprises an image acquisition card and interface conversion equipment, and the interface conversion equipment is any one or more of VGA, VGA-to-HDMI + VGA, BNC-to-AV interface conversion equipment and the like; the telemetry data acquisition hardware module comprises a network cable, a switch and a character recognition device.
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