CN115035771A - Group control unmanned aerial vehicle communication experiment teaching system - Google Patents
Group control unmanned aerial vehicle communication experiment teaching system Download PDFInfo
- Publication number
- CN115035771A CN115035771A CN202210733070.2A CN202210733070A CN115035771A CN 115035771 A CN115035771 A CN 115035771A CN 202210733070 A CN202210733070 A CN 202210733070A CN 115035771 A CN115035771 A CN 115035771A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- module
- control
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004891 communication Methods 0.000 title claims abstract description 80
- 238000002474 experimental method Methods 0.000 title claims abstract description 47
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 45
- 230000005540 biological transmission Effects 0.000 claims abstract description 40
- 238000000034 method Methods 0.000 claims abstract description 29
- 238000007405 data analysis Methods 0.000 claims abstract description 17
- 238000001514 detection method Methods 0.000 claims description 12
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 9
- 230000007613 environmental effect Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000012827 research and development Methods 0.000 abstract description 2
- 230000002349 favourable effect Effects 0.000 abstract 1
- 230000006870 function Effects 0.000 description 9
- 238000004590 computer program Methods 0.000 description 7
- 238000004458 analytical method Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 238000013439 planning Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000013468 resource allocation Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
-
- 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]
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of unmanned aerial vehicle control, in particular to a group control unmanned aerial vehicle communication experiment teaching system, which comprises a ground control station, an unmanned aerial vehicle, a ground environment sensor, image transmission equipment and differential RTK equipment, wherein the ground control station is used for controlling the unmanned aerial vehicle; the ground control station comprises an unmanned aerial vehicle control module, a positioning module, a user interface module, a data analysis module, a data transmission module and a database module; the ground control station is in communication connection with the unmanned aerial vehicles through the data transmission module and is used for issuing air line control instructions to a single unmanned aerial vehicle or an unmanned aerial vehicle group consisting of a plurality of unmanned aerial vehicles and issuing formation control instructions to the unmanned aerial vehicle group; the group control technology principle can be visually displayed, a new group control algorithm can be verified while the teaching process is carried out, and a user interface module is provided for a user to monitor the state of the unmanned aerial vehicle at any time; the commonality of group control unmanned aerial vehicle communication experiment teaching system has been improved, the compatibility that has promoted the system is favorable to reducing the work load of research and development, possesses high scalability.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to a group control unmanned aerial vehicle communication experiment teaching system.
Background
The communication system of the group control unmanned aerial vehicle is one of the core parts of the unmanned aerial vehicle system, and the group control unmanned aerial vehicle communication system has the functions of controlling the unmanned aerial vehicle to take off autonomously, land autonomously, adjusting the flight parameters of the unmanned aerial vehicle, receiving and analyzing the flight data and log files of the unmanned aerial vehicle and controlling the operation of the unmanned aerial vehicle. Meanwhile, real-time video receiving can be performed, the flight area of the unmanned aerial vehicle is set, and an important guarantee is provided for normal and stable operation of the unmanned aerial vehicle.
At present, the research on unmanned aerial vehicle communication systems at home and abroad has already had relatively mature achievements. For example, a DJIGSPRO1.30 ground control system developed by Shenzhen Dajiang Innovation science and technology Limited is computer-side control software, has a simple human-computer interaction interface, can intelligently plan a course and a shooting point, and can calculate a proper photo repetition rate according to the course and parameters set by an operator, so that the surveying and mapping operation is more efficient, and the system has multiple drawing establishing functions, but the operation of the system is too complicated and is not beneficial to the use of teaching scenes; an IFLY mobile phone end management and control system developed by a polar wing robot company also has certain representativeness, is mainly used for realizing the full autonomous operation of a plant protection unmanned aerial vehicle, is simple and convenient to operate, can support a user to autonomously plan a task scheme and set a flight limiting area of the unmanned aerial vehicle, but runs at a mobile equipment end, has limited functions due to the performance of an operating system and hardware equipment, cannot analyze relevant data of the unmanned aerial vehicle, and has limited available application scenes; the MissionPlanner provided by the APM official part enables a user to select to use the MAVLink communication or the network communication to establish connection with the unmanned aerial vehicle, can adjust flight parameters of the unmanned aerial vehicle, enables the unmanned aerial vehicle to be more stable in the flight process, can load an electronic map, enables the user to plan tasks, uploads the created tasks to an unmanned aerial vehicle control system, monitors the flight state of the unmanned aerial vehicle, can be connected with an unmanned aerial vehicle flight simulator at a PC (personal computer) end, provides an unmanned aerial vehicle simulated flight environment for the user, but the system lacks external log file analysis, and is not beneficial to backtracking data generated in the operation process of the unmanned aerial vehicle.
For the application of unmanned aerial vehicle communication experiments in teaching, the system cannot visually display the group control technical principle and is difficult to verify a new group control algorithm in teaching. The existing system is only used for realizing simultaneous coordinated control of a plurality of unmanned aerial vehicles, and the corresponding group control algorithm is solidified to a hardware platform, so that secondary development interfaces, log analysis and experimental data analysis means are lacked; and the interface of unmanned aerial vehicle platform is limited, can't satisfy multiple load type simultaneously, for example communication radio station, photoelectricity load, data transmission load etc. lead to that the experiment type that current system can support to develop is limited.
Therefore, the existing Missinoplanner, DJIGSPRO, ifly and other systems are not suitable for school experiment teaching.
Disclosure of Invention
The invention provides a group control unmanned aerial vehicle communication experiment teaching system, which is used for solving the defects that the prior art cannot visually display the technical principle of group control, is difficult to verify a new group control algorithm in teaching and cannot meet the requirements of various load types, and provides a user interface module for a user to monitor the state of an unmanned aerial vehicle at any time; a general group control unmanned aerial vehicle communication experiment teaching system is developed, so that the compatibility of the system is greatly improved, and the workload of research and development is reduced; the system has high expandability, and the updating and upgrading efficiency of the system is improved.
The invention provides a group control unmanned aerial vehicle communication experiment teaching system, which comprises a ground control station, a plurality of unmanned aerial vehicles, a plurality of ground environment sensors, image transmission equipment and differential RTK equipment, wherein the ground control station is used for controlling the communication of the unmanned aerial vehicles; the ground control station comprises an unmanned aerial vehicle control module, a positioning module, a user interface module, a data analysis module, a data transmission module and a database module;
the ground control station is in communication connection with the unmanned aerial vehicles through the data transmission module and is used for issuing a route control instruction to a single unmanned aerial vehicle or an unmanned aerial vehicle group consisting of a plurality of unmanned aerial vehicles and issuing a formation control instruction to the unmanned aerial vehicle group;
the ground control station acquires detection data fed back by the unmanned aerial vehicle or the unmanned aerial vehicle group and transmits the detection data to the image transmission equipment; acquiring sensor data acquired by the unmanned aerial vehicle or the unmanned aerial vehicle group from the ground environment sensor; displaying the detection data and the sensor data in real time on the user interface module; analyzing, by the data analysis module, the detection data and the sensor data;
the ground control station acquires the real-time position of the unmanned aerial vehicle through the positioning module and acquires the motion trail of the unmanned aerial vehicle; and displaying the real-time position and the motion trail of the unmanned aerial vehicle in real time on the user interface module.
Specifically, the database module stores a plurality of preset routes, preset formation and electronic maps;
the ground control station selects the preset air route and the preset formation through a user interface module, or generates a user-defined air route and a user-defined formation;
the unmanned aerial vehicle control module generates an unmanned aerial vehicle air route control instruction based on the selected preset air route, and the database module generates a formation control instruction of the unmanned aerial vehicle group based on the selected preset formation.
Specifically, the data transmission layer comprises a data communication module and a data analysis module;
the unmanned aerial vehicle transmits telemetering data to the unmanned aerial vehicle control module through the carried wireless transmission module;
the unmanned aerial vehicle control module receives the telemetry data through any serial port in the data communication module; and the unmanned aerial vehicle control module analyzes the telemetering data through the data analysis module and displays the telemetering data in the user interface module.
Specifically, the data communication layer includes a plurality of interfaces, and the types of the interfaces include: an RS232 serial communication interface, an IIC communication interface, an SPI data communication interface and an RJ45 standard network interface.
When the real-time position of any unmanned aerial vehicle is located in the transmission distance range of any ground environment sensor, the unmanned aerial vehicle acquires the sensor data of the ground environment sensor.
Specifically, the database module comprises a flight data record table, a Mallink information table, a user information table, a routing protocol table, a communication protocol table, a flight control algorithm table and an experiment database table.
The flight data record table comprises unmanned aerial vehicle identification, unmanned aerial vehicle positioning state, satellite number, unmanned aerial vehicle position and pose information, unmanned aerial vehicle position and unmanned aerial vehicle speed.
On the other hand, the invention also provides an unmanned aerial vehicle control method of the unmanned aerial vehicle communication experiment teaching system, which comprises the following steps:
connecting a single unmanned aerial vehicle with the ground control station;
acquiring the positioning information of the current unmanned aerial vehicle through a positioning module;
selecting a preset unmanned aerial vehicle route from the database module and demarcating a flight area;
and sending a control instruction to the unmanned aerial vehicle, controlling the unmanned aerial vehicle to take off and completing a task set by the control instruction.
In another aspect, the present invention further provides an unmanned aerial vehicle group control method of the unmanned aerial vehicle communication experiment teaching system, including:
connecting an unmanned aerial vehicle group consisting of a plurality of unmanned aerial vehicles with the ground control station;
respectively acquiring the positioning information of each unmanned aerial vehicle through a positioning module;
selecting a preset formation form from the database module, and issuing a formation control instruction to the unmanned aerial vehicle;
setting a starting point and an end point of the unmanned aerial vehicle group, selecting a preset air route from the database module as a main air route, and issuing a main air route control instruction to the unmanned aerial vehicle group;
generating a separate air route for each unmanned aerial vehicle based on the formation of the unmanned aerial vehicle cluster and the main air route;
after the unmanned aerial vehicle group takes off, forming a formation according to the formation control instruction;
and sending a control instruction to the unmanned aerial vehicle cluster, and controlling the unmanned aerial vehicle cluster to complete a task set by the control instruction.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the unmanned aerial vehicle control method or the unmanned aerial vehicle group control method.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the drone controlling method or the drone group controlling method as any one of the above.
The group control unmanned aerial vehicle communication experiment teaching system provided by the invention has the following technical effects:
(1) by providing a universal unmanned aerial vehicle communication experiment platform based on a MavLink communication protocol for students and realizing various unmanned aerial vehicle group control experiments such as unmanned aerial vehicle take-off, landing, formation, flight mode switching, flight task point uploading, flight data control and the like through a ground control station, the unmanned aerial vehicle group control command uploading process and unmanned aerial vehicle group control command effects can be observed in a user interface module in real time, the unmanned aerial vehicle group control commands can be rapidly distributed and displayed, the unmanned aerial vehicle group control principle can be intuitively known, and the students can conveniently learn unmanned aerial vehicle group control communication;
(2) the universal multi-task general load experiment platform is good in compatibility and expansibility, a ground control station can provide 12V and 5V multistage power supplies for the general load platform, a data transmission module of the ground control station is provided with interfaces of various different types, the universal multi-task general load experiment platform can be compatible with unmanned aerial vehicles of various types, the universal multi-task general load experiment platform can be adapted to various different communication protocols, the compatibility of the unmanned aerial vehicles can be guaranteed, and the data processing efficiency can be guaranteed through different interfaces.
(3) The transmission of telemetering data and sensor data is realized through an unmanned aerial vehicle, a ground environment sensor and the data transmission module; when the unmanned aerial vehicle enters the data transmission distance range of the ground sensor information acquisition terminal, a data transmission link can be established with the ground sensor information acquisition terminal, and the sensor data acquired by the ground sensor information acquisition terminal is acquired. By adopting the mode, the power consumption of interruption of sensor information acquisition can be reduced, the problems of high power consumption and antenna arrangement caused by long-distance data transmission are avoided, the size of the ground sensor information acquisition terminal can be reduced, hidden installation is facilitated, and hidden acquisition and data transmission of sensor information data can be better carried out.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a communication experiment teaching system of a group control unmanned aerial vehicle provided by the invention;
fig. 2 is a schematic flow chart of a method for controlling an unmanned aerial vehicle according to the present invention;
fig. 3 is a second schematic flow chart of the drone group control method provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," and the like in the description and claims of this application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
In one embodiment, as shown in fig. 1, the invention provides a group control unmanned aerial vehicle communication experiment teaching system, which includes a ground control station, a plurality of unmanned aerial vehicles, a plurality of ground environment sensors, an image transmission device, and a differential RTK device; the ground control station comprises an unmanned aerial vehicle control module, a positioning module, a user interface module, a data analysis module, a data transmission module and a database module;
the ground control station is in communication connection with the unmanned aerial vehicles through the data transmission module and is used for issuing air line control instructions to an unmanned aerial vehicle group consisting of a single unmanned aerial vehicle or a plurality of unmanned aerial vehicles and issuing formation control instructions to the unmanned aerial vehicle group;
the ground control station acquires detection data fed back by the unmanned aerial vehicle or the unmanned aerial vehicle group and transmits the detection data to the image transmission equipment; acquiring sensor data acquired by the unmanned aerial vehicle or the unmanned aerial vehicle group from the ground environment sensor; and displaying the detection data and the sensor data in real time on the user interface module; analyzing, by the data analysis module, the detection data and the sensor data;
the ground control station acquires the real-time position of the unmanned aerial vehicle through the positioning module and acquires the motion track of the unmanned aerial vehicle; displaying the real-time position and the motion track of the unmanned aerial vehicle in real time on the user interface module;
specifically, the user interface module comprises a system login interface and an unmanned aerial vehicle control interface, and can display the flying state and the flying track of GIS positioning in the interface for the flying paper of the unmanned aerial vehicle or the unmanned aerial vehicle group in the interface;
furthermore, the user interface module can also realize unmanned aerial vehicle formation control, including the functions of formation binding, formation editing, formation flight control and the like; the video data shot by the unmanned aerial vehicle can be acquired, and the data shot by the unmanned aerial vehicle is displayed on a display interface in real time; the user interface module is also used for receiving the data analysis result of the data analysis module and providing real-time and historical data graphical analysis so as to facilitate the research of a user;
optionally, a user can manage the system plug-ins in the user interface module, so as to install and uninstall the system plug-ins, and various plug-in-based experiments of the system are completed under the interface; the configuration of the MAVLINK communication test, the data acquisition of the sensor, the networking configuration test of the unmanned aerial vehicle group, the acquisition of images based on the unmanned aerial vehicle and other image equipment can be realized by the plug-in, and the functions of the system can be expanded by adding the plug-in;
optionally, the user can implement the configuration of the user in the user interface module, and manage the data and the authority of the login user;
optionally, the user interface module may also call system help from the database module, so that a user can conveniently search software operation instructions and related technical data;
optionally, the system further includes a resource scheduling module, and since the computing resources and the storage resources of the system are limited, the resource scheduling module optimizes resource allocation to improve execution efficiency;
and data service scheduling among system links, protocol processing and user interface modules is realized through data scheduling, and the data service scheduling comprises flight operation uplink data, downlink telemetering data, task planning data and the like.
Specifically, the unmanned aerial vehicle control module is used for realizing the following functions: GIS positioning, unmanned aerial vehicle group control, data query, data statistics and control algorithm planning;
wherein, GIS location includes: the real-time position of the unmanned aerial vehicle is obtained through the positioning module, the motion trail of the unmanned aerial vehicle is monitored, the running route of the unmanned aerial vehicle is convenient to select, and the flight position, the pose, the speed and the like of the unmanned aerial vehicle are also favorably updated;
wherein, unmanned aerial vehicle crowd accuse includes: the formation control instruction stored in the database module is used for realizing the control of the formation of the unmanned aerial vehicle group and realizing the coordinated operation of a plurality of unmanned aerial vehicles;
wherein the data query comprises: the database module stores a plurality of preset routes, preset formation and electronic maps; historical flight data is also stored; facilitating a user to query data in a database from a user interface module;
wherein, the data statistics module includes: analyzing historical data stored in the database module through a data analysis module, analyzing data uploaded by the unmanned aerial vehicle and data uploaded by the ground environment sensor through the unmanned aerial vehicle, and outputting an analysis result in a chart form for a user to inquire a statistical result in a user interface module;
wherein, the mode that ground environmental sensor passes through unmanned aerial vehicle transmission data specifically does:
based on the real-time position information of the unmanned aerial vehicles, when the real-time position of any unmanned aerial vehicle is within the transmission distance range of any ground environment sensor, the unmanned aerial vehicles acquire the sensor data of the ground environment sensor;
wherein the control algorithm planning comprises: the ground control station selects the preset air route and the preset formation through a user interface module, or generates a user-defined air route and a user-defined formation; the unmanned aerial vehicle control module generates a route control instruction of the unmanned aerial vehicle based on the selected preset route, and the database module generates a formation control instruction of the unmanned aerial vehicle group based on the selected preset formation;
specifically, the control instruction of the drone further includes flight control of the drone, including but not limited to: unlocking, taking off, returning, landing, flying ahead, flying behind, flying on a flight line, hovering, climbing, descending, emergency, entering formation, starting formation, ending formation and the like;
specifically, the data transmission layer comprises a data communication module and a data analysis module;
the unmanned aerial vehicle transmits telemetering data to the unmanned aerial vehicle control module through the carried wireless transmission module;
the unmanned aerial vehicle control module receives the telemetry data through any serial port in the data communication module; the unmanned aerial vehicle control module analyzes the telemetry data through the data analysis module and displays the telemetry data in the user interface module;
optionally, the data communication layer includes a plurality of interfaces, and the types of the interfaces include: an RS232 serial communication interface, an IIC communication interface, an SPI data communication interface and an RJ45 standard network interface;
as an example, the unmanned aerial vehicle acquires an unmanned aerial vehicle control instruction, a sensor acquisition instruction, a task binding instruction and the like issued by a ground control station through a serial port by an onboard control module; the image acquisition equipment transmits the video acquired by the external equipment to the ground control station through a USB interface; differential data are transmitted from a serial port through RTK equipment; data transmission and control signal transmission with various devices are realized through various interfaces;
the ground control station receives data transmitted by the unmanned aerial vehicle through a serial port, analyzes the data according to a communication protocol format and displays the data in the user interface module;
optionally, the database module includes a flight data record table, a mavlik information table, a user information table, a routing protocol table, a communication protocol table, a flight control algorithm table, and an experimental database table;
the flight data record table comprises unmanned aerial vehicle identification, unmanned aerial vehicle positioning state, satellite number, unmanned aerial vehicle position and pose information, unmanned aerial vehicle position and unmanned aerial vehicle speed.
Specifically, the pose information of the unmanned aerial vehicle includes, but is not limited to, a pitch angle, a roll angle and a yaw angle; drone speeds include, but are not limited to, forward speed, lateral speed, vertical speed; drone location includes longitude, latitude, and altitude;
the unmanned aerial vehicle identification is a mark number of the unmanned aerial vehicle and is used for distinguishing different unmanned aerial vehicles so as to respectively control a plurality of unmanned aerial vehicles in the unmanned aerial vehicle cluster;
the mavlik information table is used for storing information such as airplane identification, source code data, mavlik protocol format fields and the like;
the user information table is used for storing and recording information such as user account numbers, names, passwords and the like so as to check the information of the login users and improve the data security of the system; the user interface module can be used for editing the user information table, such as adding or deleting users, configuring the use permission of the users and the like, and the invention is not limited to the above;
the routing protocol table is used for recording routing information including but not limited to information such as a source software number, a destination software number, a protocol type, data content, a communication mode and the like; the communication protocol table is used for recording the communication protocol content, including but not limited to protocol identifier, protocol name, protocol field, field length, type, precision, range, etc.;
the flight control algorithm table is used for recording the developed flight control algorithm, including but not limited to the identification, name, version, creation time, update time and the like of the algorithm;
the experimental data table is used for recording data acquired by various sensors, including but not limited to information such as temperature, humidity, pm2.5, visibility, point location and acquisition time; the specific acquired data depends on the type of the sensor configured by the user and the type of the unmanned aerial vehicle used, which is not limited in the invention;
optionally, a user can customize a flight control algorithm, an ad hoc network communication protocol, a routing protocol and the like and store the flight control algorithm, the ad hoc network communication protocol, the routing protocol and the like into a database, and a relevant algorithm can be read from the database during an experiment and transplanted to the communication experiment teaching system for the group control unmanned aerial vehicle, so that experiment teaching such as multi-machine cooperative group control of the unmanned aerial vehicle, airborne sensor data transmission, multi-load data access, task load communication and the like is better supported; in addition, can look over unmanned aerial vehicle state, browse map etc. on line, the group control instruction is opened to the user moreover, and in the experimentation, the student can directly perceivedly know the action that the instruction edited executed.
In an embodiment, based on the above teaching system for communication experiment of unmanned aerial vehicle, the present invention further provides a method for controlling an unmanned aerial vehicle, including:
connecting a single unmanned aerial vehicle with the ground control station;
acquiring the positioning information of the current unmanned aerial vehicle through a positioning module;
selecting a preset unmanned aerial vehicle route from the database module and demarcating a flight area;
sending a control instruction to the unmanned aerial vehicle, controlling the unmanned aerial vehicle to take off and completing a task set by the control instruction;
the task types include but are not limited to unmanned aerial vehicle ad hoc network communication, multi-machine collaborative photoelectric video acquisition, unmanned aerial vehicle three-dimensional geographic data acquisition and reconstruction, environmental information acquisition and transmission and other experiments; carrying out unmanned aerial vehicle ad hoc network communication experiment through an airborne communication module of the unmanned aerial vehicle; carrying out a multi-machine collaborative photoelectric video acquisition experiment through an unmanned aerial vehicle airborne photoelectric module and a picture transmission module; carrying out unmanned aerial vehicle three-dimensional geographic data acquisition and reconstruction experiments through an unmanned aerial vehicle airborne optical module and a holder; the method comprises the following steps that an environment information acquisition and transmission experiment is carried out through an airborne data transmission module of the unmanned aerial vehicle and a sensor acquisition assembly arranged on the ground;
the unmanned aerial vehicle navigates back after the experiment task is completed, the corresponding unmanned aerial vehicle is selected at the ground control station to send a 'navigation back' instruction, and the unmanned aerial vehicle navigates back after receiving the instruction; and (4) selecting the unmanned aerial vehicle to send landing, and landing after the unmanned aerial vehicle receives the instruction.
In another aspect, based on the above teaching system for unmanned aerial vehicle communication experiments, the present invention further provides an unmanned aerial vehicle group control method, which can be used for carrying out experiments including, but not limited to, unmanned aerial vehicle ad hoc network communication, multi-machine cooperative photoelectric video acquisition, unmanned aerial vehicle three-dimensional geographic data acquisition and reconstruction, environmental information acquisition and transmission, and the like, and includes:
connecting an unmanned aerial vehicle group consisting of a plurality of unmanned aerial vehicles with the ground control station;
respectively acquiring the positioning information of each unmanned aerial vehicle through a positioning module;
selecting a preset formation form from the database module, and issuing a formation control instruction to the unmanned aerial vehicle;
setting a starting point and an end point of the unmanned aerial vehicle cluster, selecting a preset air route from the database module as a main air route, and issuing a main air route control instruction to the unmanned aerial vehicle cluster;
generating a separate route for each drone based on the formation of the fleet of drones and the primary route;
after the unmanned aerial vehicle group takes off, forming a formation according to the formation control instruction;
sending a control instruction to the unmanned aerial vehicle group, and controlling the unmanned aerial vehicle group to complete a task set by the control instruction;
after the set experiment task is finished, the unmanned aerial vehicles stop formation and enter a hovering waiting state;
sending a return flight instruction to one or more selected unmanned aerial vehicles to control the return flight of the unmanned aerial vehicles;
and sending a landing instruction to the single or the plurality of selected unmanned aerial vehicles to control the unmanned aerial vehicles to land.
The present invention also provides an electronic device, which may include: the system comprises a processor (processor), a communication interface (communication interface), a memory (memory) and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus. The processor can call the logic instructions in the memory to realize the functions of the unmanned aerial vehicle communication experiment teaching system and execute the unmanned aerial vehicle group control method and/or the unmanned aerial vehicle control method.
In addition, the logic instructions in the memory may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In another aspect, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer being capable of implementing the functions of the above-mentioned unmanned aerial vehicle communication experiment teaching system, and executing the above-mentioned unmanned aerial vehicle group control method and/or unmanned aerial vehicle control method.
In yet another aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implements the functions of the above-mentioned unmanned aerial vehicle communication experiment teaching system, and executes the above-mentioned unmanned aerial vehicle group control method and/or unmanned aerial vehicle control method.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A group control unmanned aerial vehicle communication experiment teaching system is characterized by comprising a ground control station, a plurality of unmanned aerial vehicles, a plurality of ground environment sensors, image transmission equipment and differential RTK equipment; the ground control station comprises an unmanned aerial vehicle control module, a positioning module, a user interface module, a data analysis module, a data transmission module and a database module;
the ground control station is in communication connection with the unmanned aerial vehicles through the data transmission module and is used for issuing air line control instructions to an unmanned aerial vehicle group consisting of a single unmanned aerial vehicle or a plurality of unmanned aerial vehicles and issuing formation control instructions to the unmanned aerial vehicle group;
the ground control station acquires detection data fed back by the unmanned aerial vehicle or the unmanned aerial vehicle group and transmits the detection data to the image transmission equipment; acquiring sensor data acquired by the unmanned aerial vehicle or the unmanned aerial vehicle group from the ground environment sensor; and displaying the detection data and the sensor data in real time on the user interface module; analyzing, by the data analysis module, the detection data and the sensor data;
the ground control station acquires the real-time position of the unmanned aerial vehicle through the positioning module and acquires the motion track of the unmanned aerial vehicle; and displaying the real-time position and the motion trail of the unmanned aerial vehicle in real time on the user interface module.
2. The group control unmanned aerial vehicle communication experiment teaching system according to claim 1, wherein the database module stores a plurality of preset routes, preset formation patterns and electronic maps;
the ground control station selects the preset air route and the preset formation through a user interface module, or generates a user-defined air route and a user-defined formation;
the unmanned aerial vehicle control module generates an unmanned aerial vehicle air route control instruction based on the selected preset air route, and the database module generates a formation control instruction of the unmanned aerial vehicle group based on the selected preset formation.
3. The group control unmanned aerial vehicle communication experiment teaching system of claim 1, wherein the data transmission layer comprises a data communication module and a data analysis module;
the unmanned aerial vehicle transmits telemetering data to the unmanned aerial vehicle control module through the carried wireless transmission module;
the unmanned aerial vehicle control module receives the telemetry data through any serial port in the data communication module; the unmanned aerial vehicle control module analyzes the telemetering data through the data analysis module and displays the telemetering data in the user interface module.
4. The group control unmanned aerial vehicle communication experiment teaching system of claim 3, wherein the data communication layer comprises a plurality of interfaces, and the types of the interfaces comprise: an RS232 serial communication interface, an IIC communication interface, an SPI data communication interface and an RJ45 standard network interface.
5. The system of claim 3, wherein the real-time position information of the UAVs is used by the UAVs to obtain the sensor data of the ground environmental sensors when the real-time position of any one of the UAVs is within the transmission distance range of any one of the ground environmental sensors.
6. A group control unmanned aerial vehicle communication experiment teaching system according to any one of claims 1-5, characterized in that the database module comprises a flight data record table, a Mallink information table, a user information table, a routing protocol table, a communication protocol table, a flight control algorithm table, an experiment database table.
7. The system of claim 6, wherein the flight data record comprises drone identification, drone positioning status, satellite number, drone pose information, drone position, and drone velocity.
8. An unmanned aerial vehicle control method based on the unmanned aerial vehicle communication experiment teaching system of any one of claims 1 to 7, comprising:
connecting a single drone to the ground control station;
acquiring the positioning information of the current unmanned aerial vehicle through a positioning module;
selecting a preset unmanned aerial vehicle route from the database module and demarcating a flight area;
and sending a control instruction to the unmanned aerial vehicle, controlling the unmanned aerial vehicle to take off and completing a task set by the control instruction.
9. An unmanned aerial vehicle group control method based on the unmanned aerial vehicle communication experiment teaching system of any one of claims 1 to 7, comprising:
connecting an unmanned aerial vehicle group consisting of a plurality of unmanned aerial vehicles with the ground control station;
respectively acquiring the positioning information of each unmanned aerial vehicle through a positioning module;
selecting a preset formation from the database module, and issuing a formation control command to the unmanned aerial vehicle;
setting a starting point and an end point of the unmanned aerial vehicle group, selecting a preset air route from the database module as a main air route, and issuing a main air route control instruction to the unmanned aerial vehicle group;
generating a separate air route for each unmanned aerial vehicle based on the formation of the unmanned aerial vehicle cluster and the main air route;
after the unmanned aerial vehicle group takes off, forming a formation according to the formation control command;
and sending a control instruction to the unmanned aerial vehicle cluster, and controlling the unmanned aerial vehicle cluster to complete a task set by the control instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210733070.2A CN115035771B (en) | 2022-06-27 | 2022-06-27 | Group control unmanned aerial vehicle communication experiment teaching system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210733070.2A CN115035771B (en) | 2022-06-27 | 2022-06-27 | Group control unmanned aerial vehicle communication experiment teaching system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115035771A true CN115035771A (en) | 2022-09-09 |
| CN115035771B CN115035771B (en) | 2024-05-17 |
Family
ID=83126117
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210733070.2A Active CN115035771B (en) | 2022-06-27 | 2022-06-27 | Group control unmanned aerial vehicle communication experiment teaching system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115035771B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107831783A (en) * | 2017-11-10 | 2018-03-23 | 南昌航空大学 | A kind of ground station control system for supporting multiple no-manned plane autonomous flight |
| CN109669477A (en) * | 2019-01-29 | 2019-04-23 | 华南理工大学 | A kind of cooperative control system and control method towards unmanned plane cluster |
| CN112180985A (en) * | 2020-10-26 | 2021-01-05 | 中国人民解放军国防科技大学 | Small airborne cooperative control system supporting cluster control of multiple unmanned aerial vehicles |
| KR102244988B1 (en) * | 2019-10-31 | 2021-04-27 | 석진영 | Swarm flight controlling system and method for a plurality of unmanned aerial vehicles for swarm flight |
| CN113848984A (en) * | 2021-10-29 | 2021-12-28 | 哈尔滨工业大学 | Unmanned aerial vehicle cluster control method and system |
| CN216647176U (en) * | 2021-12-10 | 2022-05-31 | 大连海事大学 | STM 32-based quad-rotor unmanned aerial vehicle platform for teaching experiment |
-
2022
- 2022-06-27 CN CN202210733070.2A patent/CN115035771B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107831783A (en) * | 2017-11-10 | 2018-03-23 | 南昌航空大学 | A kind of ground station control system for supporting multiple no-manned plane autonomous flight |
| CN109669477A (en) * | 2019-01-29 | 2019-04-23 | 华南理工大学 | A kind of cooperative control system and control method towards unmanned plane cluster |
| KR102244988B1 (en) * | 2019-10-31 | 2021-04-27 | 석진영 | Swarm flight controlling system and method for a plurality of unmanned aerial vehicles for swarm flight |
| CN112180985A (en) * | 2020-10-26 | 2021-01-05 | 中国人民解放军国防科技大学 | Small airborne cooperative control system supporting cluster control of multiple unmanned aerial vehicles |
| CN113848984A (en) * | 2021-10-29 | 2021-12-28 | 哈尔滨工业大学 | Unmanned aerial vehicle cluster control method and system |
| CN216647176U (en) * | 2021-12-10 | 2022-05-31 | 大连海事大学 | STM 32-based quad-rotor unmanned aerial vehicle platform for teaching experiment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115035771B (en) | 2024-05-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2020192050A1 (en) | V2r communication test system and test method based on 5g technology | |
| CN103809600B (en) | A kind of human-computer interactive control system of unmanned airship | |
| CN207133659U (en) | A kind of unmanned vehicle tele-control system | |
| CN108762300A (en) | A kind of ground for the flight of unmanned unit controls programing system | |
| CN108366118A (en) | A kind of real-time mapping system of distributed unmanned plane based on cloud computing | |
| CN105549497A (en) | PC-control-supporting multi-rotor-wing unmanned-aerial-vehicle control system | |
| CN114063474A (en) | Semi-physical simulation system of unmanned aerial vehicle cluster | |
| CN102854886A (en) | Flying line editing and control method and device | |
| CN109557880A (en) | A kind of ecological cruising inspection system based on unmanned plane | |
| CN113362487A (en) | Intelligent autonomous inspection unified management and control system for distribution line unmanned aerial vehicle | |
| WO2019127229A1 (en) | Method and device for displaying monitored data and unmanned aerial vehicle monitoring system | |
| US10565783B2 (en) | Federated system mission management | |
| WO2019104554A1 (en) | Control method for unmanned aerial vehicle and control terminal | |
| CN110187695A (en) | A kind of unmanned plane Collaborative Control verification platform | |
| JP2020170213A (en) | Drone-work support system and drone-work support method | |
| CN112923242A (en) | GIS (gas insulated switchgear) system and method for inspecting oil and gas pipelines | |
| AU2017202520B2 (en) | Virtual weather generation | |
| Liang et al. | Design and development of ground control system for tethered uav | |
| CN110442144A (en) | Tour guide's UAV system and its working method based on Android | |
| CN112634662B (en) | Electronic fence, control system, method, medium, unmanned aerial vehicle formation and terminal | |
| CN110174904A (en) | A kind of more rotors based on cloud platform are taken photo by plane unmanned plane job scheduling system | |
| CN115035771B (en) | Group control unmanned aerial vehicle communication experiment teaching system | |
| Lin et al. | UAS cloud surveillance system | |
| CN109799841A (en) | A kind of unmanned aerial vehicle ground control system, equipment and storage medium | |
| CN113885381A (en) | Remote control system for intelligent surveying of unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |