CN114786153A - Multilink fusion method, flight controller and storage medium - Google Patents
Multilink fusion method, flight controller and storage medium Download PDFInfo
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- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
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- H04L69/14—Multichannel or multilink protocols
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
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Abstract
The application discloses a multilink fusion method, a flight controller and a storage medium, which are applied to the technical field of data transmission. The multilink fusion method comprises the following steps: receiving first UDP (user Datagram protocol) data packets of flight controllers transmitted through different data chains; determining a first target data packet and a corresponding target ground control station according to the first UDP data packet; and sending the first target data packet to the target ground control station, and enabling the unmanned aerial vehicle and the ground control station to normally communicate through the technical scheme of the application.
Description
Technical Field
The present application relates to the field of data transmission technologies, and in particular, to a multilink fusion method, a flight controller, and a storage medium.
Background
Drones are unmanned aircraft that operate with radio remote control devices or self-contained program control devices. The unmanned aerial vehicle data link is an important component of an unmanned aerial vehicle system and is a link for the connection between the unmanned aerial vehicle and a ground system. With the development of wireless communication, satellite communication and wireless network technologies, the performance of the data link of the unmanned aerial vehicle is also greatly improved. Traditional unmanned aerial vehicle link transmission is point-to-point transmission, and the coexistence condition of multilink takes place occasionally, causes the ground end design degree of difficulty to increase, and is unfavorable for the modularization realization.
At present, the invention patent with application publication number CN112469002A provides an unmanned aerial vehicle 4G fusion link transmission system, which integrates multiple transmission links on the machine into one 4G transmission module. The 4G module is installed inside unmanned aerial vehicle, and unmanned aerial vehicle passes through 4G transmission module and unmanned aerial vehicle ground satellite station communication, improves unmanned aerial vehicle flight security. This patent is unified through the 4G transmission module in the unmanned aerial vehicle with different transmission frequency's data and is transmitted to the ground station after same frequency, what unmanned aerial vehicle and ground control station realized is the single chain transmission. However, during single-chain transmission between unmanned aerial vehicle and the ground control station, if break down in the flight process, can make unmanned aerial vehicle and ground control station unable normal communication.
Disclosure of Invention
The embodiment of the application aims to solve the problem that when a link fails, single-chain transmission causes abnormal communication between an unmanned aerial vehicle and a ground system.
The embodiment of the application provides a multilink fusion method, which comprises the following steps:
receiving first UDP data packets of flight controllers transmitted by different data chains;
determining a first target data packet and a corresponding target ground control station according to the first UDP data packet;
and sending the first target data packet to the target ground control station.
In an embodiment, the step of determining a first target data packet and a corresponding target ground control station according to the first UDP data packet includes:
identifying the first UDP packet to obtain a first device identification for sending the first UDP packet;
determining the number of flight controllers according to the first equipment identification;
when the number of the flight controllers is smaller than or equal to a preset threshold value, determining a first target data packet from all the first UDP data packets;
and when the number of the flight controllers is larger than a preset threshold value, determining a first target data packet from all the first UDP data packets according to the number of the flight controllers.
In one embodiment, the step of determining the number of flight controllers from the first device identification comprises:
when the first device identification and the time scale are the same, determining that the number of the flight controllers is smaller than or equal to a preset threshold value;
and when the first device identification and the time scale are different, determining that the number of the flight controllers is greater than a preset threshold value.
In one embodiment, the step of sending the first target data packet to the target ground control station includes:
determining a far-end address and a port number of the data chain and a local address and a port number of a target ground control station;
and sending the first target data packet to a local address and a port number of the target ground control station through a far-end address and a port number of the data chain.
In one embodiment, the aircraft multilink fusion method further includes:
receiving a second UDP data packet of the ground control station;
determining a second target data packet and a corresponding target flight controller according to the second UDP data packet;
and sending the second target data packet to a corresponding target flight controller through different data chains so as to control the target flight controller through remote control data in the second target data packet.
In one embodiment, the second UDP packet is determined based on telemetry data in the first UDP packet; or when a pole instruction and/or a remote control instruction are received, determining a second UDP data packet of the ground control station according to remote control data corresponding to the pole instruction and/or the remote control instruction.
In one embodiment, the step of determining a second destination packet and a corresponding destination flight controller from the second UDP packet comprises:
identifying a second UDP data packet of the ground control station to obtain a second device identification for sending the second UDP data packet;
determining the number of ground control stations according to the second equipment identification;
when the number of the ground control stations is equal to a preset threshold value, determining a second target data packet from all the second UDP data packets according to the number of the ground control stations;
and when the number of the ground control stations is larger than a preset threshold value, determining a second target data packet from all the second UDP data packets based on a preset screening mode.
In an embodiment, after the step of sending the second target data packet to the corresponding target flight controller through different data chains to control the target flight controller through the remote control data in the second target data packet, the method further includes:
and forwarding the telemetry data in the first target data packet and the remote control data in the second target data packet to a public network or a private network based on any one communication mode of a wireless communication network, a wired communication network or a mobile cellular network.
In addition, to achieve the above object, the present application also provides a flight controller including: the system comprises a memory, a processor and an aircraft multilink fusion program stored on the memory and operable on the processor, wherein the aircraft multilink fusion program implements the steps of the multilink fusion method described above when executed by the processor.
In addition, to achieve the above object, the present application also provides a computer readable storage medium storing an aircraft multilink fusion program, which when executed by a processor implements the steps of the multilink fusion method described above.
According to the technical scheme of the multilink fusion method, the flight controller and the storage medium, the first UDP data packets transmitted through different data chains are received, the target data packet and the corresponding target ground control station are determined from all the first UDP data packets transmitted through the different data chains, and then the target data packet is sent to the target ground control station.
Drawings
Fig. 1 is a schematic structural diagram of a flight controller according to an embodiment of the present application;
FIG. 2 is a flowchart illustrating a first embodiment of a multilink fusion method according to the present application;
FIG. 3 is a flowchart illustrating a second embodiment of a multilink fusion method according to the present application;
FIG. 4 is a flowchart illustrating a third embodiment of a multilink fusion method according to the present application;
FIG. 5 is a schematic diagram of a system architecture of the multilink fusion method of the present application;
fig. 6 is a schematic diagram of link fusion according to the multilink fusion method of the present application.
The objects, features, and advantages of the present application are further described in connection with the embodiments, with reference to the accompanying drawings, which are a single embodiment and are not intended to be a complete description of the invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The main solution of the embodiment of the application is as follows: receiving first UDP data packets of flight controllers transmitted by different data chains; determining a first target data packet and a corresponding target ground control station according to the first UDP data packet; and sending the first target data packet to the target ground control station.
Because when being single chain transmission between current unmanned aerial vehicle and the ground control station, if break down in the flight process, can make unmanned aerial vehicle and ground control station can't carry out normal communication, for example, set up 4G transmission module on the aircraft, transmit to the ground station after the same frequency with different transmission frequency's data. When adopting this scheme, when the link between ground station and the unmanned aerial vehicle broke down, the problem of unable realization normal communication. And this application sets up the link station on ground system, can receive the data package that unmanned aerial vehicle sent through different links, handles in the link station, and data transmission after will handling again is to ground control station to realize flight control ware and ground control station's normal communication.
In order to better understand the above technical solution, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a hardware operating environment according to an embodiment of the present application.
Fig. 1 is a schematic structural diagram of a hardware operating environment of a flight controller.
As shown in fig. 1, the flight controller may include: a processor 1001, such as a CPU, a memory 1005, a user interface 1003, a network interface 1004, a communication bus 1002. The communication bus 1002 is used to implement connection communication among these components. The user interface 1003 may include a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.
Those skilled in the art will appreciate that the flight controller architecture shown in FIG. 1 does not constitute a limitation on the flight controller, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and an aircraft multilink convergence program. Among these, the operating system is a program that manages and controls flight controller hardware and software resources, the operation of the aircraft multilink fusion program, and other software or programs.
In the flight controller shown in fig. 1, the user interface 1003 is mainly used for connecting a terminal and performing data communication with the terminal; the network interface 1004 is mainly used for the background server and performs data communication with the background server; processor 1001 may be used to invoke an aircraft multilink fusion program stored in memory 1005.
In the present embodiment, the flight controller includes: a memory 1005, a processor 1001, and an aircraft multi-link fusion program stored on the memory and executable on the processor, wherein:
when the processor 1001 calls the aircraft multilink fusion program stored in the memory 1005, the following operations are performed:
receiving first UDP data packets of flight controllers transmitted by different data chains;
determining a first target data packet and a corresponding target ground control station according to the first UDP data packet;
and sending the first target data packet to the target ground control station.
When the processor 1001 calls the aircraft multilink fusion program stored in the memory 1005, the following operations are also performed:
identifying the first UDP packet to obtain a first device identification for sending the first UDP packet;
determining the number of flight controllers according to the first equipment identification;
when the number of the flight controllers is smaller than or equal to a preset threshold value, determining a first target data packet from all the first UDP data packets;
and when the number of the flight controllers is larger than a preset threshold value, determining a first target data packet from all the first UDP data packets according to the number of the flight controllers.
When the processor 1001 calls the aircraft multilink fusion program stored in the memory 1005, the following operations are also performed:
when the first device identification and the time scale are the same, determining that the number of the flight controllers is smaller than or equal to a preset threshold value;
and when the first device identification and the time scale are different, determining that the number of the flight controllers is greater than a preset threshold value.
When the processor 1001 calls the aircraft multilink fusion program stored in the memory 1005, the following operations are also performed:
determining a far-end address and a port number of the data chain and a local address and a port number of a target ground control station;
and sending the first target data packet to a local address and a port number of the target ground control station through a far-end address and a port number of the data chain.
When the processor 1001 calls the aircraft multilink fusion program stored in the memory 1005, the following operations are also performed:
receiving a second UDP data packet of the ground control station;
determining a second target data packet and a corresponding target flight controller according to the second UDP data packet;
and sending the second target data packet to a corresponding target flight controller through different data chains so as to control the target flight controller through remote control data in the second target data packet.
When the processor 1001 calls the aircraft multilink fusion program stored in the memory 1005, the following operations are also performed:
the second UDP packet is determined according to the telemetry data in the first UDP packet; or when a pole instruction and/or a remote control instruction are received, determining a second UDP data packet of the ground control station according to remote control data corresponding to the pole instruction and/or the remote control instruction.
When the processor 1001 calls the aircraft multilink fusion program stored in the memory 1005, the following operations are also performed:
identifying a second UDP data packet of the ground control station to obtain a second device identifier for sending the second UDP data packet;
determining the number of ground control stations according to the second equipment identifier;
when the number of the ground control stations is equal to a preset threshold value, determining a second target data packet from all the second UDP data packets according to the number of the ground control stations;
and when the number of the flight controllers is larger than a preset threshold value, determining a second target data packet from all the second UDP data packets based on a preset screening mode.
When the processor 1001 calls the aircraft multilink fusion program stored in the memory 1005, the following operations are also performed:
and forwarding the telemetry data in the first target data packet and the remote control data in the second target data packet to a public network or a private network based on any one communication mode of a wireless communication network, a wired communication network or a mobile cellular.
The technical solution of the present application will be described below by way of examples.
The first embodiment:
as shown in fig. 2, in a first embodiment of the present application, a multilink fusion method of the present application includes the following steps:
step S110, receiving a first UDP packet of the flight controller transmitted via a different data chain.
In this embodiment, in order to solve when the link between ground station and the unmanned aerial vehicle breaks down, can't realize the problem of normal communication. And this application sets up the link station on ground system, can receive the data packet that unmanned aerial vehicle sent through different links, handles in the link station, and the data transmission after will handling again is to the control seat that ground control station corresponds to realize flight controller and ground control station's normal communication.
This application sets up a link station for the normal communication of ground control station and flight controller, this application at ground control station, can acquire different data link frequency channel data through different data link transmission path. Fig. 5 is a schematic system structure diagram of the multilink fusion method of the present application. Due to the adoption of a multi-link redundancy design, in order to simplify the design of the ground control station and facilitate modularization, data needs to be processed by the link station and then forwarded into the ground control station. Optionally, after the ground control station performs data fusion on the data of different data link frequency bands through software, the data is sent to the monitoring seats corresponding to the ground control station. Similarly, the data sent to the flight controller by the ground station software is processed by the link station and then forwarded to the uplink multilink.
Specifically, the flight controller is a core system of the whole flight process of the unmanned aerial vehicle, such as take-off, air flight, task execution, return recovery and the like, and the flight controller is equivalent to a driver to have a human-computer effect on the unmanned aerial vehicle. The flight controller generally comprises three parts, namely a sensor, an onboard computer and servo action equipment, and the realized functions mainly comprise three main types, namely unmanned aerial vehicle attitude stabilization and control, unmanned aerial vehicle task equipment management and emergency control. The flight controller mainly comprises a gyroscope (flight attitude sensing), an accelerometer, geomagnetic induction, a barometric sensor (hovering height rough control), an ultrasonic sensor (low altitude height precise control or obstacle avoidance), a light stream sensor (hovering horizontal position precise determination), a GPS module (horizontal position height rough positioning) and a control circuit, and the main function is to automatically keep the normal flight attitude of the unmanned aerial vehicle. According to the method and the device, the state information acquired by each sensor is acquired, and the sensor information is sent to the link station in a telemetering data mode to be fused.
The link station is an intermediate medium for connecting the airborne end and the ground end and is responsible for building an interaction channel of airborne data and ground data. The present application sets multilinks for the purpose of: first, there may be the trouble in the flight process, in order to improve the security, sets up many data chains on the aircraft, if a data chain loses the connection, other data chains can normally work, guarantee that flight controller and ground control station carry out normal communication. Second, when multiple aircraft are present, each data link may be in communication with a different aircraft.
The first UDP packet includes telemetry data of the flight controller, such as attitude data, position data, sensor status data, and operation mode of the aircraft. The application is not limited to the first UDP packet, but may be other types of packets. The first UDP packet may be a packet transmitted from the same flight controller via different data chains. Or may be packets from different flight controllers transmitted via different data chains, etc.
In an embodiment, when there are multiple flight controllers, the priority of the flight controllers may be preset, and the first UDP packets of different flight controllers may be received sequentially according to the priority.
In an embodiment, a time interval for each flight controller to send the first UDP packet may also be preset, and the first UDP packet of the flight controller is sent to the link station based on the time interval.
And step S120, determining a first target data packet and a corresponding target ground control station according to the first UDP data packet.
In this embodiment, the first destination packet is a first UDP packet, and the first destination packet is determined from first UDP packets obtained by different data link transmission. The target ground control station is used for controlling the flight controller. The target control station has at least one ground monitoring seat, and each ground monitoring seat is pre-connected with the link station based on the corresponding port number and address, so that the first target data packet can be sent to the monitoring seat corresponding to each target ground control station. Referring to fig. 6, when the DLS module is started, configuration information is obtained through an XML file, telemetry data is exchanged with the flight controller through the data links link0, 1ink1, link2 and link3 according to the configuration information, data of different links are fused, and the data are forwarded to a monitoring seat corresponding to a target ground control station through a GCS port, so that the target ground control station displays corresponding telemetry data.
In an embodiment, the determining a first target data packet and a corresponding target ground control station according to the first UDP data packet specifically includes the following steps:
step S121, identifying the first UDP packet to obtain a first device identifier for sending the first UDP packet;
and step S122, determining the number of flight controllers according to the first equipment identifier.
In this embodiment, the first UDP packet of the flight controller is parsed by software. Since the first device identification of the flight controller is present in the first UDP packet. The number of flight controllers can be determined by the first device identification.
In an embodiment, determining the number of flight controllers according to the first device identifier specifically includes the following steps:
step S1221, when the first device identifier is the same as the time scale, determining that the number of the flight controllers is smaller than or equal to a preset threshold;
step S1222, when the first device identifier and the time scale are different, determining that the number of flight controllers is greater than a preset threshold.
In this embodiment, the header is used to distinguish between airplanes, and the timestamp is used to compare the repeatability of the data. And identifying whether the first device identification and the time stamp of the first UDP packet of each flight controller transmitted through different data chains are the same. And when the first device identification of the first UDP data packet of the flight controllers is the same as the time mark, determining that the number of the flight controllers is less than or equal to a preset threshold value. When the first device identifier of the first UDP data packet is different from the time stamp, it indicates that there may be a plurality of flight controllers currently, and the number of the flight controllers is greater than the preset threshold.
Step S123, when the number of the ground control stations is smaller than or equal to a preset threshold value, determining a first target data packet from all UDP data packets of the flight controller;
in this embodiment, the preset threshold may be set according to actual conditions, for example, when the preset threshold is 1, it indicates that there is a flight controller currently sending telemetry data to the ground control station. At this time, the flight controller may transmit the first UDP packet through a plurality of data chains. The data link is a downlink data link, that is, the flight controller transmits the first UDP data packet to the target ground control station through a different downlink data link. During transmission of the first UDP packet to the target ground control station, a link station may be traversed where the first UDP packets of each flight controller transmitted via a different data link are identified. Determining the number of flight controllers according to the first device identification, and determining a first target data packet from all the first UDP data packets when the number of flight controllers is smaller than or equal to a preset threshold value. Optionally, the first UDP packets transmitted over different data chains are identical, but the frequency bands are different. Therefore, the first UDP packet transmitted by one of the data chains may be retained by the software as the target packet. Specifically, the first UDP packet received by the link station for the first time may be determined as the first target packet. The received first UDP data packet may also be analyzed, the integrity of each data in each first UDP data packet is determined, and the first target data packet is determined based on the integrity.
Step S124, when the number of the flight controllers is greater than a preset threshold, determining a first target data packet from all the first UDP data packets according to the number of the flight controllers.
In this embodiment, when the number of device identifiers is greater than a preset threshold value, and the preset threshold value is 1, when the number of flight controllers is 2. Multiple flight controllers transmit over different links. Wherein, which flight controller can be preset to configure through which downlink transmission, and which monitoring seat transmitted to the target control station can also be preset to configure. When the flight data of a plurality of airplanes are issued, the first UDP data packets of different flight controllers are transmitted to the target ground control station through the corresponding data links. In the link station, the link station is required to analyze the first UDP packets obtained through transmission of different data chains, and after the number of the flight controllers is obtained through analysis, all the first UDP packets of the flight controllers are sent to corresponding monitoring seats according to corresponding monitoring seat addresses for monitoring.
In the technical solution of this embodiment, identifying the first UDP packet is adopted to obtain a first device identifier for sending the first UDP packet; determining the number of flight controllers according to the first equipment identification; when the number of the ground control stations is equal to a preset threshold value, determining a first target data packet from all UDP data packets of the flight controller; when the number of the flight controllers is larger than a preset threshold value, determining a first target data packet from all the first UDP data packets according to the number of the flight controllers, so that the link station can determine a corresponding data processing mode according to the number of the equipment identifiers, and the flight controllers and the ground control station can normally communicate.
Step S130, sending the first target data packet to the target ground control station.
In this embodiment, the flight controller collects data to form a first UDP data packet, writes the first UDP data packet to the data link through the data port, and implements modulation and demodulation of data inside the data link to convert the first UDP data packet into a digital signal, and then loads the digital signal onto a transmission frequency band for transmission through the antenna. After receiving the digital signals of the corresponding frequency band, the ground receiving end demodulates the data and restores the data into the first UDP data packet again through ground software. After the first UDP data packet is obtained, the first UDP data packet may be sent to the monitoring seat corresponding to the target ground control station.
In an embodiment, the first target data packet may be further analyzed at the link station to obtain different telemetry data, and the monitoring seats corresponding to the target ground control station may extract corresponding telemetry data as needed according to functions of the monitoring seats. For example, assume that the first target control packet includes attitude data and environment data. The first monitoring seat is used for monitoring attitude data, and the second monitoring seat is used for monitoring environment data. The attitude data may be sent to a first monitoring seat and the environmental data to a second monitoring seat.
In an embodiment, after the first UDP packet is sent to the monitoring seats corresponding to the target ground control station, each monitoring seat corresponding to the target ground control station may obtain telemetry data according to the first target packet, and display the telemetry data. The telemetry data may be displayed in categories. The telemetry data can also be mapped into a graphical curve to achieve the effect of visual display.
In an embodiment, the sending the first target data packet to the target ground control station specifically includes the following steps:
step S131, determining the far-end address and port number of the data chain and the local address and port number of the target ground control station.
Step S132, sending the first target data packet to the local address and port number of the target ground control station through the remote address and port number of the data link.
In this embodiment, when the DLS module is started, configuration information is acquired through an XML file, and according to the configuration information, telemetry data is exchanged with the flight controller through the data links 0, 1ink1, link2, and link 3. The configuration information is used for configuring different transmission channels, and the transmission channel determined based on the configuration information can send the first target data packet to the corresponding target ground control. The configuration information includes uplink and downlink data link bandwidth, local address and port number of the data link, remote address and port number of the data link, local address and port number of the target ground control station, and remote address and port number of the target ground control station. For example, a first destination packet is sent to a far end address and port number of a data chain via the local address and port number of the data chain. And then the first target data packet is sent to the local address and the port number of the target ground control station through the remote address and the port number of the data chain. And then the first target data packet can be sent to the far-end address and the port number of the target ground control station, so that the first target data packet can be sent to different monitoring seats.
In the technical scheme of this embodiment, the corresponding transmission channels are configured by the addresses and port numbers of the flight controller, the link station, and the target ground control station, so that the first UDP data packet generated by the flight controller can be transmitted based on the corresponding transmission channels, thereby implementing communication between the flight controller and the ground control station. In the technical scheme of the first embodiment, because the first UDP data packets transmitted through different data chains are received, the target data packet and the corresponding target ground control station are determined from all the first UDP data packets transmitted through different data chains, and then the target data packet is sent to the target ground control station, because a plurality of data chains are used in the application and the data packets are transmitted through the data chains, when one data chain fails, the data packets transmitted by other data chains can still be received, so that normal communication between the flight controller and the ground control station is realized.
The second embodiment:
as shown in fig. 3, in the second embodiment of the present application, before or after the first embodiment, a method for multi-link fusion is further included, which includes the following steps:
and step S210, receiving a second UDP data packet of the ground control station.
In this embodiment, the ground control station has at least one monitoring seat, and the monitoring seat sends a second UDP packet to the link station according to the corresponding monitoring seat address, but the remote control seat is a seat capable of controlling the airplane, and only one monitoring seat is available at the same time. And the DLS module collects remote control data according to bandwidth distribution and self-configured ground seat channels and sends the remote control data to the flight controller through the redundant link. Namely, the remote control seat is configured according to the link station, and data is sent to the seat interface corresponding to the link station, so that the data can be sent to the flight controller by multiple links.
In one embodiment, the second UDP packet is determined based on telemetry data in the first UDP packet; or when a pole instruction and/or a remote control instruction are received, determining a second UDP data packet of the ground control station according to remote control data corresponding to the pole instruction and/or the remote control instruction.
And step S220, determining a second target data packet and a corresponding target flight controller according to the second UDP data packet.
In this embodiment, a second target data packet is determined according to a second UDP data packet of the ground control station, and the second target data packet is transmitted to the target flight controller through a different data link.
In an embodiment, determining the second target data packet and the corresponding target flight controller according to the second UDP data packet specifically includes the following steps:
step S221, identifying a second UDP data packet of the ground control station to obtain a second device identifier for sending the second UDP data packet;
step S222, determining the number of the ground control stations according to the second equipment identifier;
step S223, when the number of the ground control stations is equal to a preset threshold value, determining a second target data packet from all the second UDP data packets according to the number of the ground control stations;
step S224, when the number of the flight controllers is greater than a preset threshold, determining a second target data packet from all the second UDP data packets based on a preset screening manner.
In this embodiment, the preset threshold may be set according to actual conditions, for example, when the preset threshold is 1, it indicates that there is a ground control station currently sending remote control data to the target flight controller. At this time, the ground control station may transmit the second UDP packet through a plurality of data chains. The data link is an uplink data link, that is, the ground control station transmits the second UDP data packet to the target flight controller through a different uplink data link. And in the process of transmitting the second UDP data packet to the target flight controller, the second UDP data packet of the ground control station is identified through a link station so as to obtain a second device identifier for sending the second UDP data packet. And determining the number of ground control stations according to the second equipment identifier, and determining a second target data packet from all the second UDP data packets according to the number of the ground control stations when the number of the ground control stations is equal to a preset threshold value. And when the number of the flight controllers is larger than a preset threshold value, determining a second target data packet from all the second UDP data packets based on a preset screening mode. The preset screening mode may be that the second UDP packet of the monitoring seat with the high priority is sent to the target flight controller according to the priority of each monitoring seat.
In the technical solution of this embodiment, a second UDP packet identifying the ground control station is used to obtain a second device identifier for sending the second UDP packet; determining the number of ground control stations according to the second equipment identification; when the number of the ground control stations is equal to a preset threshold value, determining a second target data packet from all the second UDP data packets according to the number of the ground control stations; and when the number of the flight controllers is larger than a preset threshold value, determining a second target data packet from all the second UDP data packets based on a preset screening mode, so that the link station can determine a corresponding data processing mode according to the number of the equipment identifiers, and the flight controllers and the ground control station can normally communicate.
Step S230, sending the second target data packet to a corresponding target flight controller through different data links, so as to control the target flight controller through the remote control data in the second target data packet.
In this embodiment, the remote control data in the second target data packet includes remote controller instruction data, ground station event command data, uploaded waypoints, route data, aircraft configuration data, sensor calibration data, and the like.
According to the technical scheme, the embodiment adopts the second UDP data packet for receiving the ground control station; determining a second target data packet and a corresponding target flight controller according to the second UDP data packet; and the second target data packet is sent to the corresponding target flight controller through different data chains to pass through remote control data control in the second target data packet, and the technical scheme of the target flight controller adopts a plurality of data chains and transmits the data packets through the data chains, so that the flight controller can identify and receive control instructions of the ground control station, and further normal communication between the flight controller and the ground control station is realized.
The third embodiment:
as shown in fig. 4, in a third embodiment of the present application, a multilink fusion method of the present application includes the following steps:
and step S210, receiving a second UDP data packet of the ground control station.
Step S220, determining a second target data packet and a corresponding target flight controller according to the second UDP data packet.
Step S230, sending the second target data packet to a corresponding target flight controller through different data links, so as to control the target flight controller through the remote control data in the second target data packet.
Step S310, forwarding the telemetry data in the first target data packet and the remote control data in the second target data packet to a public network or a private network based on any one of a wireless communication network, a wired communication network, or a mobile cellular.
In this embodiment, the DLS module may further access a network through WIFI, a wired network, or a mobile cellular network, and forward the telemetry data and the remote control data to a public network or a private network, thereby implementing data access to the network.
According to the technical scheme, the data transmitted between the ground control station and the flight controller are accessed to the network.
The embodiments of the present application provide embodiments of a multilink fusion method, and it should be noted that although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be performed in an order different from the order shown.
Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium, where an aircraft multilink fusion program is stored, and when executed by a processor, the aircraft multilink fusion program implements the above-described steps of aircraft multilink fusion, and can achieve the same technical effects, and is not described herein again to avoid repetition.
Since the computer-readable storage medium provided in the embodiments of the present application is a computer-readable storage medium used for implementing the method in the embodiments of the present application, based on the method described in the embodiments of the present application, a person skilled in the art can understand a specific structure and a modification of the computer-readable storage medium, and thus details are not described herein. Any computer-readable storage medium that can be used with the methods of the embodiments of the present application is intended to be within the scope of the present application.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means can be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. An aircraft multilink fusion method, characterized in that the aircraft multilink fusion method comprises:
receiving first UDP (user Datagram protocol) data packets of flight controllers transmitted through different data chains;
determining a first target data packet and a corresponding target ground control station according to the first UDP data packet;
and sending the first target data packet to the target ground control station.
2. The aircraft multilink fusion method of claim 1, wherein the step of determining a first target data packet and a corresponding target ground control station from the first UDP data packet comprises:
identifying the first UDP packet to obtain a first device identification for sending the first UDP packet;
determining the number of flight controllers according to the first equipment identification;
when the number of the flight controllers is smaller than or equal to a preset threshold value, determining a first target data packet from all the first UDP data packets;
and when the number of the flight controllers is larger than a preset threshold value, determining a first target data packet from all the first UDP data packets according to the number of the flight controllers.
3. The aircraft multilink fusion method of claim 2, wherein the step of determining a number of flight controllers from the first device identification comprises:
when the first device identification and the time scale are the same, determining that the number of the flight controllers is smaller than or equal to a preset threshold value;
and when the first device identification and the time scale are different, determining that the number of the flight controllers is greater than a preset threshold value.
4. The aircraft multilink fusion method of claim 1, wherein the step of transmitting the first target data packet to the target ground control station comprises:
determining a far-end address and a port number of the data chain and a local address and a port number of a target ground control station;
and sending the first target data packet to a local address and a port number of the target ground control station through a far-end address and a port number of the data chain.
5. The aircraft multilink fusion method of claim 1, further comprising:
receiving a second UDP data packet of the ground control station;
determining a second target data packet and a corresponding target flight controller according to the second UDP data packet;
and sending the second target data packet to a corresponding target flight controller through different data chains so as to control the target flight controller through remote control data in the second target data packet.
6. The aircraft multilink fusion method of claim 5, wherein the second UDP packet is determined from telemetry data in the first UDP packet; or when a pole instruction and/or a remote control instruction are received, determining a second UDP data packet of the ground control station according to remote control data corresponding to the pole instruction and/or the remote control instruction.
7. The aircraft multilink fusion method of claim 5, wherein the step of determining a second target packet and a corresponding target flight controller from the second UDP packet includes:
identifying a second UDP data packet of the ground control station to obtain a second device identifier for sending the second UDP data packet;
determining the number of ground control stations according to the second equipment identification;
when the number of the ground control stations is equal to a preset threshold value, determining a second target data packet from all the second UDP data packets according to the number of the ground control stations;
and when the number of the ground control stations is larger than a preset threshold value, determining a second target data packet from all the second UDP data packets based on a preset screening mode.
8. The aircraft multilink fusion method of claim 5, wherein after the step of sending the second target data packet to the corresponding target flight controller via a different data chain to control the target flight controller via the remote control data in the second target data packet, further comprising:
and forwarding the telemetry data in the first target data packet and the remote control data in the second target data packet to a public network or a private network based on any one communication mode of a wireless communication network, a wired communication network or a mobile cellular network.
9. A flight controller, characterized in that the flight controller comprises: memory, a processor and an aircraft multilink fusion program stored on the memory and executable on the processor, the aircraft multilink fusion program when executed by the processor implementing the steps of the multilink fusion method of any one of claims 1-8.
10. A computer-readable storage medium, characterized in that the storage medium stores an aircraft multilink fusion program which, when executed by a processor, implements the steps of the aircraft multilink fusion method of any one of claims 1-8.
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