CN113903192B - Centralized command control system and method for unmanned aerial vehicle - Google Patents
Centralized command control system and method for unmanned aerial vehicle Download PDFInfo
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- CN113903192B CN113903192B CN202110988831.4A CN202110988831A CN113903192B CN 113903192 B CN113903192 B CN 113903192B CN 202110988831 A CN202110988831 A CN 202110988831A CN 113903192 B CN113903192 B CN 113903192B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/06—Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
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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
- H04B7/18508—Communications with or from aircraft, i.e. aeronautical mobile service with satellite system used as relay, i.e. aeronautical mobile satellite service
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application relates to a centralized command control system and method of unmanned aerial vehicle, the system includes more than one flight control seat equipment, ground satellite link equipment and switch, more than one flight control seat equipment and ground satellite link equipment respectively with the switch is connected: the more than one flight control seat devices are used for sending remote control information to the switch; the ground satellite link device is used for sending the remote control information to a corresponding unmanned aerial vehicle and receiving first telemetry information from the unmanned aerial vehicle; and the switch is used for forwarding the remote control information to the ground satellite link equipment and forwarding the first remote measurement information to the corresponding flight control seat equipment. According to the method, the taking-off and landing and the aerial flying of the multiple unmanned aerial vehicles are managed in real time through the mobile communication network and the satellite relay communication, so that the taking-off and landing control and the management of the multiple unmanned aerial vehicles are centralized in a command control hall, and the operation and the management of the multiple unmanned aerial vehicles are facilitated.
Description
Technical Field
The application relates to the field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle centralized command control system and method.
Background
At present, the large-scale logistics unmanned aerial vehicle is used as a special application of the unmanned aerial vehicle in the field of logistics, and has the advantages of convenience, rapidness, space-time exceeding, lower cost, capacity coordination and the like.
The branch distance of the large load and the medium and long distance branch unmanned plane is generally about 100 km-1000 km, and the ton load and the duration reach several hours, and the method is mainly applied to the transportation of goods and materials such as transregional freight, frontier sentry posts, islands and the like, the allocation of freight between the gravity centers of logistics and the like.
The operation mode of the large unmanned aerial vehicle is mostly taking off and landing at two fixed airports, taking off and landing stations are required to be equipped at the taking off and landing airports, and professional personnel are arranged to perform operation control. However, the landing station can only control the landing of the airplane at the airport, as logistics transportation routes are more and more, the landing station and professionals needing to be equipped are more and more, the cost is higher, and the unmanned aerial vehicle operation and management become more and more complex and difficult.
Disclosure of Invention
Based on this, this application provides an unmanned aerial vehicle centralized command control scheme, change large-scale commodity circulation unmanned aerial vehicle off-site take off and land and management mode, with the take off and land management unit integration at many airports change the airport in large-scale commodity circulation, remove the stadia data chain equipment in the unmanned aerial vehicle, change to mobile communication network equipment, equip the satellite relay communication equipment of unified small-bore again, set up ground in large-scale commodity circulation transfer airport and defend logical relay communication center, through mobile communication network and satellite relay communication, take off and land and aerial flight of real-time management many unmanned aerial vehicle, thereby take off and land control and management with many unmanned aerial vehicle are concentrated in a command control hall, make things convenient for many unmanned aerial vehicle's operation and management.
According to one aspect of the present application, there is provided a centralized command and control system for a drone, comprising one or more flight control seat devices, a ground satellite link device, and a switch, the one or more flight control seat devices and the ground satellite link device being respectively connected to the switch, wherein,
the more than one flight control seat devices are used for sending remote control information to the switch;
the ground satellite link device is used for sending the remote control information to a corresponding unmanned aerial vehicle and receiving first telemetry information from the unmanned aerial vehicle; and
the switch is used for forwarding the remote control information to the ground satellite link equipment and forwarding the first remote measurement information to the corresponding flight control seat equipment.
According to another aspect of the present application, there is provided a centralized command control method for a drone, including:
the remote control information is sent to the exchange through the flight control seat equipment;
forwarding the remote control information to a ground satellite link device through the switch; and
and transmitting the remote control information to the unmanned aerial vehicle through the satellite link equipment.
According to the unmanned aerial vehicle centralized command control system and method, taking-off and landing stations scattered on all places are canceled, taking-off and landing, flying and management of unmanned aerial vehicles on all places are controlled by the unmanned aerial vehicle centralized command control system, on one hand, the construction and operation costs of the taking-off and landing stations are reduced, and on the other hand, the operation and management of the unmanned aerial vehicles are simplified.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained by those skilled in the art from these drawings without departing from the scope of protection of the present application.
Fig. 1 is a reference scenario diagram of a centralized command control system for a drone according to an embodiment of the present application.
Fig. 2 is a composition diagram of a centralized command control system of an unmanned aerial vehicle according to an embodiment of the present application.
Fig. 3 is a schematic device connection diagram of the centralized command control system of the unmanned aerial vehicle according to an embodiment of the application.
Fig. 4 is a schematic connection diagram of a ground mobile communication network device, a ground satellite link device, a ground differential station, a flight control seat device, a link monitoring seat device and a voice call device of the unmanned aerial vehicle centralized command control system according to an embodiment of the present application.
Fig. 5 is a flowchart of a centralized command control method for a drone according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
Fig. 1 is a reference scenario diagram of a centralized command control system for a drone according to an embodiment of the present application. As shown in fig. 1, there are a plurality of local airports and hub centers, each airport available for the unmanned aerial vehicle to take off and land, and the take off and land and flight control of the unmanned aerial vehicle at the plurality of airports is controlled by a command control system. In one embodiment, data is transferred between the command control system and the unmanned aerial vehicle through satellite communication, the unmanned aerial vehicle obtains remote control information of the command control system through a communication satellite, and the command control system receives telemetry information through the communication satellite and a satellite antenna. In another embodiment, the command control system and the unmanned aerial vehicle communicate through a mobile communication network, the unmanned aerial vehicle obtains remote control information of the command control system through the mobile communication network, and the unmanned aerial vehicle also sends telemetry data to the command control system through the mobile communication network. In the embodiment shown in fig. 1, the mobile communication network is a 5G network, and data is transmitted and received between the unmanned aerial vehicle and the command control system through a 5G base station. It should be noted that the mobile communication network may also be other networks, such as a 4G network, which the present application does not limit.
In the embodiment shown in fig. 1, the communication between the drone and the command and control system may be via communication satellites only, in which case satellite communication links established via communication satellites are communicated during various phases of the drone's flight. In addition, the unmanned aerial vehicle and the command control system can also communicate with a mobile communication network through a communication satellite, in this case, the mobile communication network is mainly responsible for data transmission in the take-off and landing stage of the unmanned aerial vehicle, and satellite communication is responsible for data transmission in other stages of the unmanned aerial vehicle.
Fig. 2 is a composition diagram of a centralized command control system of an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 2, according to one embodiment, the command control system includes a ground power distribution device, a ground satellite link device, and a command control device, wherein the ground satellite link device includes a satellite antenna, a satellite power amplifier, and one or more modems, and the command control device includes a link monitor seat device and one or more flight control seat devices. According to another embodiment, the command control system further comprises a ground mobile communication device and a ground differential station, wherein the ground mobile communication device comprises a mobile communication antenna, a power amplifier and more than one mobile communication device. In the embodiment illustrated in fig. 2, the surface mobile communication device is a 5G surface device. The ground mobile communication device may be any mobile communication device. The ground power distribution equipment supplies power for the ground satellite link equipment, the command control equipment, the ground mobile communication equipment and the ground differential station. The ground power distribution equipment is designed according to the power supply and distribution requirements of the equipment and the seats, and the number of power distribution circuits can be increased according to the increase of the equipment or the seats. The ground differential station sends differential signals to the airborne end of the unmanned aerial vehicle through a mobile communication link, and the unmanned aerial vehicle obtains current position information through the differential signals, so that the unmanned aerial vehicle is positioned more accurately.
In the embodiment shown in fig. 2, the configuration of more than one flight control seat device is the same, and the link monitor seat device is used to monitor the devices of the satellite link and the mobile communication link and to monitor remote control data, channel switching, and power switching. Wherein each flight control seat device is equipped with a voice call device, and the specific number of modems, mobile communication devices and flight control seat devices is determined according to the body quantity of the unmanned aerial vehicle command control system. Specifically, a flight control seat device transmits remote control data to a drone through a modem or a mobile communication device, and receives telemetry data from the drone through a modem or a mobile communication device.
Fig. 3 is a schematic device connection diagram of the centralized command control system of the unmanned aerial vehicle according to an embodiment of the application. As shown in fig. 3, the command control system includes one or more flight control seat devices, a link monitoring seat device, a ground satellite link device, one or more ground mobile communication network devices, a ground differential station, and a switch, wherein the one or more flight control seat devices, the link monitoring seat device, the ground satellite link device, the one or more ground mobile communication network devices, and the ground differential station are respectively connected with the switch. In the embodiment shown in fig. 3, the terrestrial mobile communication network device is specifically a 5G terrestrial device, and it should be noted that the terrestrial mobile communication network device may also be other mobile communication network devices, for example, a 4G terrestrial device, which is not limited in this application.
The flight control seat equipment can monitor the whole flight process of the unmanned aerial vehicle and can control the unmanned aerial vehicle to fly through a planned route or a re-planned route. In the embodiment shown in fig. 3, one or more flight control seat devices transmit first remote control information to the switch; the switch forwards the first remote control information to the ground satellite link equipment, and the ground satellite link equipment sends the first remote control information to the corresponding unmanned aerial vehicle and receives the first telemetry information from the unmanned aerial vehicle; the switch forwards the first telemetry information to the corresponding flight control seat device.
In the presence of a mobile communication network, the command and control system may also communicate with the drone through the mobile communication network. In this case, the one or more ground mobile communication network devices transmit and receive second remote control information to and from the drone. Specifically, the more than one flight control seat devices send second remote control information to the switch, the switch forwards the second remote control information to the ground mobile communication network device, and the ground mobile communication network device sends the second remote control information to the corresponding unmanned aerial vehicle and receives second telemetry information from the unmanned aerial vehicle; the switch forwards the second telemetry information to the corresponding flight control seat device.
In the embodiment shown in fig. 3, the remote control information includes various control information for commanding the control system to the unmanned aerial vehicle, and the telemetry information includes positioning information, attitude information, device status information, and the like of the unmanned aerial vehicle.
In the embodiment shown in fig. 3, the first remote control information and the second remote control information sent by the flight control seat device to the same unmanned aerial vehicle may be the same, and for the unmanned aerial vehicle, under the condition that both the mobile communication link and the satellite communication link can normally send and receive information, it may be determined which communication link is preferred to select the information received, and the information of the other link is ignored. In general, in the take-off and landing stage of the unmanned aerial vehicle, the strength of the mobile communication signal is good, the time delay is smaller than that of satellite communication, and the mobile communication link can be used as a preferable communication link in the take-off and landing stage of the unmanned aerial vehicle.
The ground differential station includes a differential antenna and a differential ground device, the differential ground device is connected with more than one ground mobile communication network device, the differential antenna receives differential signals from GNSS (Global navigation satellite System ) and transmits the differential signals to the differential ground device, the differential ground device transmits the differential signals to more than one ground mobile communication network device, and the more than one ground mobile communication network device transmits the differential signals to corresponding unmanned aerial vehicle. And the unmanned aerial vehicle calculates the current positioning of the unmanned aerial vehicle according to the received differential signals to obtain positioning information.
In the take-off and landing stage of the unmanned aerial vehicle, under the condition that a mobile communication network exists (namely, the mobile communication network meets the communication requirement), the unmanned aerial vehicle obtains differential signals of a ground differential station through ground mobile communication network equipment, and positioning information of the unmanned aerial vehicle is calculated according to the differential signals. Because the time delay of the mobile communication network is low, the positioning information obtained by the method is more accurate than the positioning information obtained by the positioning device of the unmanned aerial vehicle.
As shown in fig. 3, the centralized command control system further includes more than one voice call device, where the more than one voice call device is connected with the more than one flight control seat device in a one-to-one correspondence manner, and the more than one voice call device restores the empty pipe voice signal received by the satellite link device and sends the empty pipe voice signal to the corresponding flight control seat device, and a command center operator controls the unmanned aerial vehicle to fly according to the voice instruction of the empty pipe.
Fig. 4 is a schematic connection diagram of a ground mobile communication network device, a ground satellite link device, a ground differential station, a flight control seat device, a link monitoring seat device and a voice call device of the unmanned aerial vehicle centralized command control system according to an embodiment of the present application. Fig. 4 illustrates the correspondence between ground mobile communication network devices, ground satellite link devices, ground differential stations, flight control seat devices, link monitoring seat devices, and voice call devices. In the embodiment shown in fig. 4, the terrestrial mobile communication network device is specifically a 5G terrestrial device, and it should be noted that the terrestrial mobile communication network device may also be other mobile communication network devices, for example, a 4G terrestrial device, which is not limited in this application.
As shown in fig. 4, the ground differential station is connected to more than one ground mobile communication network device, and the link monitoring seat device monitors the devices of the satellite link and the mobile communication link and monitors remote control data, channel switching, and power switching. An unmanned aerial vehicle receives a flight control seat device control, and a flight control seat device corresponds to a ground mobile communication network device, a modem in ground satellite link equipment and voice call equipment. Each unmanned aerial vehicle has different operating frequencies, and the command control system sets different frequencies according to the modem and communicates with the corresponding unmanned aerial vehicle on the operating frequency corresponding to the unmanned aerial vehicle.
As the flight control seat equipment is in one-to-one correspondence with the ground mobile communication network equipment and one modem in the ground satellite link equipment, along with the development of the logistics unmanned aerial vehicle, when more and more unmanned aerial vehicles are arranged on the air route, the management problem of the logistics unmanned aerial vehicle can be easily solved only by adding the corresponding ground mobile communication network equipment, the modem and the flight control seat equipment, and when the logistics unmanned aerial vehicle for executing the flight task is less, the spare ground mobile communication network equipment, the modem and the flight control seat can be used as the backup of the flight, so that the situation that the problem occurs to the command hall equipment is solved, and the reliability of the unmanned aerial vehicle system is greatly improved.
Regarding a satellite link formed by a flight control seat device and a ground satellite link device and a mobile communication link formed by a flight control seat device and a ground mobile communication network device, for coordination between the two links, the following three situations can be included for the same unmanned aerial vehicle:
case one: the flight control seat equipment sends the same remote control information to the ground satellite link equipment and the ground mobile communication network equipment, the ground satellite link equipment and the ground mobile communication network equipment send the remote control information to the unmanned aerial vehicle, and the unmanned aerial vehicle selects which link to send the remote control information.
And a second case: under the condition that the mobile communication network signal is bad, for example, the unmanned aerial vehicle is in a high-altitude flight stage, the flight control seat equipment only sends remote control information to the ground satellite link equipment, and the ground satellite link equipment sends the remote control information to the unmanned aerial vehicle. According to one embodiment, the unmanned aerial vehicle may send a detection result of the presence or absence of the movement signal or the flying height to the command control system according to the presence or absence of the detected movement signal (e.g., the movement signal is lower than a threshold value) or the flying height (e.g., the flying height is higher than a threshold value), and the flight control seat device selects to send the remote control information only to the ground satellite link device according to the detection result.
Case three: in the take-off and landing stage of the unmanned aerial vehicle, the flight control seat equipment only sends remote control information to the ground mobile communication network equipment, and the ground mobile communication network equipment sends the remote control information to the unmanned aerial vehicle. According to one embodiment, the unmanned aerial vehicle may send a detection result of the presence or absence of the movement signal or the flying height to the command control system according to the presence or absence of the detected movement signal (for example, the movement signal is higher than a threshold value) or the flying height (for example, the flying height is lower than a threshold value), and the flying control seat device selects to send the remote control information only to the ground mobile communication network device according to the detection result.
Fig. 5 is a flowchart of a centralized command control method for a drone according to an embodiment of the present application. As shown in fig. 5, the method includes the following steps.
Step S501, the remote control information is sent to the exchange through the flight control seat device.
The centralized command control system of the unmanned aerial vehicle comprises more than one flight control seat device, ground satellite link devices and a switch, wherein the more than one flight control seat device and the ground satellite link devices are respectively connected with the switch. When the centralized command control system needs to control the unmanned aerial vehicle, the remote control information is sent to the exchange through the flight control seat equipment.
Step S502, the remote control information is forwarded to the ground satellite link equipment through the switch.
After receiving the remote control information sent by the flight control seat equipment, the switch forwards the remote control information to the ground satellite link equipment. Specifically, the ground satellite link device comprises more than one modem, each unmanned aerial vehicle has different working frequencies, the command control system sets different frequencies according to the modems, and the switch forwards remote control information to the modems corresponding to the unmanned aerial vehicles and communicates with the corresponding unmanned aerial vehicles on the working frequencies corresponding to the unmanned aerial vehicles.
In step S503, the remote control information is sent to the unmanned aerial vehicle via the satellite communication antenna through the ground satellite link device.
And a satellite communication antenna is arranged near the command control system, and the ground satellite link equipment transmits the remote control information to the corresponding unmanned aerial vehicle through the satellite communication antenna.
Step S504, first telemetry information of the unmanned aerial vehicle is received through a satellite link device.
The telemetry information sent by the unmanned aerial vehicle is received by the satellite link equipment, and the satellite link equipment forwards the received telemetry information to the corresponding flight control seat equipment through the switch.
In the case where the unmanned aerial vehicle has coverage of the mobile communication network, for example, the signal of the mobile communication network is strong enough or the unmanned aerial vehicle is in a low-altitude stage, the unmanned aerial vehicle can receive the remote control information sent by the command control system through the ground mobile communication network.
Step S505, the remote control information is forwarded to the ground mobile communication network device through the switch.
In the case where the command control system is equipped with a terrestrial mobile communication network device, the exchange transmits the remote control information to the terrestrial satellite link device, and at the same time, transmits the remote control information to the terrestrial mobile communication network device.
And step S506, the remote control information is sent to the unmanned aerial vehicle through the ground mobile communication network equipment.
After receiving the remote control information forwarded by the switch, the ground mobile communication network equipment sends the remote control information to the corresponding unmanned aerial vehicle.
Step S507, receiving, by the ground mobile communication network device, second telemetry information from the corresponding drone.
The telemetry information sent by the unmanned aerial vehicle can be received by the ground mobile communication network equipment, and the ground mobile communication network equipment forwards the received telemetry information to the corresponding flight control seat equipment through the switch.
The above steps describe that at any stage of the drone, the flight control seat device transmits remote control information to the ground satellite link device and the ground mobile communication network device, which also receive telemetry information from the drone. According to another embodiment, the flight control seat device only transmits remote control information to the ground satellite link device and receives telemetry information of the unmanned aerial vehicle through the ground satellite link device in the case of not being equipped with the ground mobile communication network device or the mobile communication network signal is bad or in the high-altitude flight phase of the unmanned aerial vehicle. According to a further embodiment, in case the mobile communication network signal is good or in the take-off and landing phases of the aircraft, the flight control seat device only sends the remote control information to the ground mobile communication network device and receives the telemetry information of the unmanned aerial vehicle through the ground mobile communication network device.
In step S508, the differential signal is received by the ground differential station.
In order to obtain more accurate positioning information of the unmanned aerial vehicle, the command control system is provided with a ground mobile communication network device and receives the differential signals of the GNSS through a ground differential station.
Step S509, transmitting the differential signal to the corresponding unmanned aerial vehicle through the ground mobile communication network device.
After receiving the differential signals, the ground differential station transmits the differential signals to ground mobile communication network equipment, and the ground mobile communication network equipment transmits the differential signals to corresponding unmanned aerial vehicles.
Step S510, the blank pipe voice signal received by the satellite link equipment is restored through the voice communication equipment, and the blank pipe voice signal is sent to the corresponding flight control seat equipment.
The centralized command control system further comprises more than one voice communication device, the more than one voice communication device is respectively connected with the more than one flight control seat device in a one-to-one correspondence mode, the more than one voice communication device restores the empty pipe voice signals received by the satellite link device and sends the empty pipe voice signals to the corresponding flight control seat device, and a command center operator controls the unmanned aerial vehicle to fly according to voice instructions of the empty pipe.
According to the method and the device, the centralized supervision and control of off-site take-off and landing of the multi-frame unmanned aerial vehicle are realized by utilizing the mobile communication technology and the satellite relay communication technology, the take-off and landing station configuration of an off-site airport is canceled, a large number of operators are saved, and the equipment and personnel cost is saved. In addition, a set of differential ground stations are used in a centralized way, and the function of voice communication with the empty pipe is added. With the development of unmanned aerial vehicles, more and more routes are provided, when unmanned aerial vehicles are increased, the management problem of unmanned aerial vehicles can be solved by only adding corresponding ground mobile communication network equipment, modems and flight control seat equipment, and when the unmanned aerial vehicles for executing flight tasks are less, the spare ground mobile communication network equipment, modems and flight control seat equipment can be used as the backup for flight, so that the situation that problems occur to command hall equipment is solved, and the reliability of an unmanned aerial vehicle system is greatly improved.
The foregoing has outlined rather broadly the more detailed description of embodiments of the present application, wherein specific examples have been provided herein to illustrate the principles and embodiments of the present application, and wherein the above examples are provided to assist in the understanding of the methods and concepts of the present application. Meanwhile, based on the ideas of the present application, those skilled in the art can make changes or modifications on the specific embodiments and application scope of the present application, which belong to the scope of the protection of the present application. In view of the foregoing, this description should not be construed as limiting the application.
Claims (8)
1. An integrated command control system of an unmanned aerial vehicle comprises a plurality of flight control seat devices, ground satellite link devices, a plurality of ground mobile communication network devices and a switch, wherein the flight control seat devices, the ground satellite link devices and the ground mobile communication network devices are respectively connected with the switch,
the plurality of flight control seat devices are used for sending remote control information to the switch;
in a high-altitude flight phase of the unmanned aerial vehicle, the ground satellite link device is used for sending the remote control information to the corresponding unmanned aerial vehicle and receiving first telemetry information from the unmanned aerial vehicle;
in the take-off and landing stage of the unmanned aerial vehicle, the plurality of ground mobile communication network devices are used for sending the remote control information to the corresponding unmanned aerial vehicle and receiving second telemetry information from the unmanned aerial vehicle;
the switch is used for forwarding the remote control information to the ground satellite link equipment and the plurality of ground mobile communication network equipment and forwarding the first telemetry information and the second telemetry information to corresponding flight control seat equipment;
the unmanned aerial vehicle, the flight control seat device and the modem of the ground satellite link device are in one-to-one correspondence with the ground mobile communication network device in number.
2. The system of claim 1, further comprising a ground differential station coupled to the plurality of ground mobile communication network devices for receiving differential signals and transmitting the differential signals to the plurality of ground mobile communication network devices.
3. The system of claim 2, the ground differential station comprising a differential antenna and a differential ground device, the differential ground device being connected to the plurality of ground mobile communication network devices, the differential antenna receiving the differential signal and transmitting the differential signal to the differential ground device, the differential ground device transmitting the differential signal to the plurality of ground mobile communication network devices, the plurality of ground mobile communication network devices transmitting the differential signal to corresponding drones.
4. The system of claim 1, further comprising a link monitor seat device connected to the switch for monitoring satellite communication links and mobile communication links.
5. The system of claim 1, further comprising a plurality of voice call devices, each of the plurality of voice call devices being connected to one of the plurality of flight control seat devices, the plurality of voice call devices recovering the empty pipe voice signals received by the satellite link device and transmitting the empty pipe voice signals to the corresponding flight control seat devices.
6. A centralized command control method of an unmanned aerial vehicle, comprising:
the remote control information is sent to the exchange through the flight control seat equipment;
in the high-altitude flight stage of the unmanned aerial vehicle, forwarding the remote control information to ground satellite link equipment through the switch;
transmitting the remote control information to an unmanned aerial vehicle through a satellite communication antenna through the ground satellite link equipment;
receiving first telemetry information of the unmanned aerial vehicle through the ground satellite link device;
in the take-off and landing stage of the unmanned aerial vehicle, forwarding the remote control information to ground mobile communication network equipment through the switch;
transmitting the remote control information to the unmanned aerial vehicle through the ground mobile communication network equipment; and
receiving second telemetry information of the unmanned aerial vehicle through the ground mobile communication network device;
the unmanned aerial vehicle, the flight control seat device and the modem of the ground satellite link device are in one-to-one correspondence with the ground mobile communication network device in number.
7. The method of claim 6, further comprising:
receiving a differential signal through a ground differential station; and
and sending the differential signals to the corresponding unmanned aerial vehicle through the ground mobile communication network equipment.
8. The method of claim 6, further comprising:
and restoring the blank pipe voice signal received by the satellite link equipment through voice communication equipment, and sending the blank pipe voice signal to corresponding flight control seat equipment.
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| CN112180963A (en) * | 2020-10-10 | 2021-01-05 | 中电科芜湖通用航空产业技术研究院有限公司 | Fixed-wing unmanned aerial vehicle, ground command control station and data interaction method thereof |
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