CN115202388A - Control identification method, device, equipment and storage medium for unmanned aerial vehicle - Google Patents
Control identification method, device, equipment and storage medium for unmanned aerial vehicle Download PDFInfo
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Abstract
The application discloses a control identification method, a control identification device, control identification equipment and a storage medium of unmanned aerial vehicles, wherein different aircraft identifiers are loaded for each unmanned aerial vehicle, a ground control station identifies the unmanned aerial vehicles through the aircraft identifiers, and the aircraft identifiers are composed of aircraft types and aircraft numbers, have uniqueness and provide a basis for accurate identification control; when a certain unmanned aerial vehicle is improved or remodeled, the method can be executed only by modifying the aircraft identification of the unmanned aerial vehicle, and the method is low in cost and high in efficiency. The ground control station sends a control data frame containing a control instruction, identification data and a check data frame to each unmanned aerial vehicle, each unmanned aerial vehicle checks the received control data frame, judges whether the control data frame is the data which is sent to the unmanned aerial vehicle and has higher accuracy, generates a corresponding check result, generates and executes a corresponding operation instruction according to the check result, and realizes that a plurality of unmanned aerial vehicles are conveniently controlled and identified through one ground control station.
Description
Technical Field
The application relates to the field of unmanned aerial vehicle control, in particular to a control identification method, device, equipment and storage medium for an unmanned aerial vehicle.
Background
The unmanned aerial vehicle is an aircraft with low cost and high efficiency, can realize various specified tasks by carrying different loads, and is widely applied to the fields of aerial photography, reconnaissance, customs, plant protection and the like. The ground control station is an important component of an unmanned aerial vehicle system and is key equipment for the unmanned aerial vehicle to successfully execute tasks.
In the prior art, the unmanned aerial vehicle and the ground control station belong to point-to-point communication, and for a miniaturized unmanned aerial vehicle, one ground control station can easily control a plurality of unmanned aerial vehicles due to simple tasks and convenient operation and control. However, for a large unmanned aerial vehicle, because the task executed by the large unmanned aerial vehicle is complex and the operation difficulty is high, the control accuracy of a plurality of large unmanned aerial vehicles at one ground control station is low.
Disclosure of Invention
The application mainly aims to provide a control identification method, device, equipment and storage medium for unmanned aerial vehicles, and aims to solve the technical problem that one ground control station has low control accuracy on a plurality of large unmanned aerial vehicles.
In order to achieve the above object, the present application provides a control identification method for an unmanned aerial vehicle, which is used for the unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises an aircraft identifier, and the aircraft identifier comprises an aircraft type and an aircraft number; the method comprises the following steps:
transmitting the aircraft identification to a ground control station to enable the ground control station to generate a data control frame;
receiving the control data frame sent by the ground control station; the control data frame comprises a control instruction, identification data and a check data frame;
verifying the control data frame to obtain a verification result;
generating an operation instruction according to the checking result; the operation instruction comprises an execution control instruction and an non-execution control instruction;
and executing the operation instruction.
Optionally, before the step of sending the aircraft identifier to a ground control station to enable the ground control station to generate a data control frame, the method further includes:
loading the aircraft identification to the drone; wherein the aircraft identification includes an aircraft type and an aircraft number.
Optionally, the step of verifying the control data frame to obtain a verification result includes:
performing cyclic redundancy check on the check data frame, and judging whether the control data frame is correct or not;
if the control data frame is correct, verifying the identification data; the identification data comprise n groups of continuous and same aircraft identifications, n is more than or equal to 3 and is an integer;
if the control data frame is correct, the step of checking the identification data comprises the following steps:
if the aircraft identification of the group a in the identification data is the same as the aircraft identification of the target unmanned aerial vehicle, generating a first verification result; wherein a is n-1 or n;
if the b groups of aircraft identifications in the identification data are different from the aircraft identification of the target unmanned aerial vehicle, generating a second check result; wherein b is not less than 2, and b is an integer.
Optionally, the step of generating an operation instruction according to the verification result includes:
if the verification result is a first verification result, generating the execution operation instruction;
and if the check result is a second check result, generating the no-execution operation instruction.
Optionally, the step of executing the operation instruction includes:
if the operation instruction is the execution control instruction, sending the control instruction to a control center of the unmanned aerial vehicle, and executing the control instruction by the control center;
if the operation instruction is the non-execution control instruction, a zone bit is sent to the ground control station; wherein the flag is obtained by marking the control data frame.
Furthermore, for realizing above-mentioned purpose, this application still provides an unmanned aerial vehicle's control recognition device for unmanned aerial vehicle includes:
the aircraft identification sending module is used for sending the aircraft identification to a ground control station so as to enable the ground control station to generate a data control frame;
a control data frame receiving module, configured to receive the control data frame sent by the ground control station; the control data frame comprises a control instruction, identification data and a verification data frame;
the checking module is used for checking the control data frame to obtain a checking result;
the operation instruction generating module is used for generating an operation instruction according to the verification result; the operation instruction comprises an execution control instruction and an non-execution control instruction;
and the operation instruction execution module is used for executing the operation instruction.
In addition, in order to achieve the above object, the present application also provides a computer device for a drone, the computer device including a memory and a processor, the memory storing a computer program therein, and the processor executing the computer program, so as to implement the above method for a drone.
In addition, in order to achieve the above object, the present application further provides a computer-readable storage medium for a drone, where a computer program is stored on the computer-readable storage medium, and a processor executes the computer program to implement the above method for a drone.
The application also provides a control identification method of the unmanned aerial vehicle, which is used for a ground control station and comprises the following steps:
receiving an aircraft identifier sent by an unmanned aerial vehicle;
generating a control data frame based on the aircraft identification; the control data frame comprises a control instruction, identification data and a verification data frame;
sending the control data frame to a plurality of unmanned aerial vehicles so that each unmanned aerial vehicle checks the control data frame to obtain a checking result; generating an operation instruction according to the checking result; and executing the operation instruction; the operation instruction comprises an execution control instruction and an non-execution control instruction.
Optionally, before the step of generating a control data frame based on the aircraft identifier, the method further includes:
receiving a zone bit sent by the unmanned aerial vehicle;
the step of generating a control data frame based on the aircraft identification comprises:
generating the control data frame based on the aircraft identification and the flag bit.
In addition, for realizing above-mentioned purpose, this application still provides an unmanned aerial vehicle's control recognition device for ground control station includes:
the aircraft identification receiving module is used for receiving an aircraft identification sent by the unmanned aerial vehicle;
the control data frame generation module is used for generating a control data frame based on the aircraft identifier; the control data frame comprises a control instruction, identification data and a check data frame;
the control data frame sending module is used for sending the control data frame to a plurality of unmanned aerial vehicles so that each unmanned aerial vehicle can check the control data frame to obtain a check result; generating an operation instruction according to the checking result; and executing the operation instruction; the operation instruction comprises an execution control instruction and an non-execution control instruction.
In addition, in order to achieve the above object, the present application also provides a computer device for a ground control station, the computer device including a memory and a processor, the memory storing a computer program therein, and the processor executing the computer program, implementing the above method for the ground control station.
In addition, to achieve the above object, the present application further provides a computer readable storage medium for a ground control station, the computer readable storage medium having a computer program stored thereon, and a processor executing the computer program to implement the above method for the ground control station.
The beneficial effect that this application can realize.
The control identification method, the control identification device, the control identification equipment and the storage medium of the unmanned aerial vehicle are used for the unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises an aircraft identifier, and the aircraft identifier comprises an aircraft type and an aircraft number; transmitting the aircraft identification to a ground control station to enable the ground control station to generate a data control frame; receiving the control data frame sent by the ground control station; the control data frame comprises a control instruction, identification data and a check data frame; verifying the control data frame to obtain a verification result; generating an operation instruction according to the checking result; the operation instructions comprise an execution control instruction and an non-execution control instruction; and executing the operation instruction.
The control identification method, the control identification device, the control identification equipment and the storage medium of the unmanned aerial vehicle are used for receiving an aircraft identifier sent by the unmanned aerial vehicle through a ground control station; generating a control data frame based on the aircraft identification; the control data frame comprises a control instruction, identification data and a check data frame; sending the control data frame to a plurality of unmanned aerial vehicles so that each unmanned aerial vehicle checks the control data frame to obtain a checking result; generating an operation instruction according to the checking result; and executing the operation instruction; the operation instruction comprises an execution control instruction and an non-execution control instruction.
The ground control station identifies the unmanned aerial vehicle through the aircraft identifier, the aircraft identifier consists of the aircraft type and the aircraft number, and the aircraft identifier has uniqueness and provides a foundation for accurate identification control; when a certain unmanned aerial vehicle is improved or remodeled, the method can be executed only by modifying the aircraft identification of the unmanned aerial vehicle, and the method is low in cost and high in efficiency. The ground control station sends a control data frame containing a control instruction, identification data and a check data frame to each unmanned aerial vehicle, each unmanned aerial vehicle checks the received control data frame, judges whether the data is sent to the unmanned aerial vehicle and has higher accuracy, generates a corresponding check result, generates and executes a corresponding operation instruction according to the check result, and realizes convenient control and identification of a plurality of unmanned aerial vehicles through one ground control station.
Drawings
FIG. 1 is a schematic diagram of a computer device in a hardware operating environment according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a method for identifying control of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a schematic flowchart of a control identification method for an unmanned aerial vehicle, which is used for a ground control station according to an embodiment of the present application;
fig. 4 is a schematic diagram of a control recognition device of an unmanned aerial vehicle according to an embodiment of the present application, and functional modules of the control recognition device are used for the unmanned aerial vehicle;
fig. 5 is a schematic diagram of functional modules of a control recognition device of an unmanned aerial vehicle for a ground control station according to an embodiment of the present application;
fig. 6 is a schematic diagram of a specific implementation of a control identification method for an unmanned aerial vehicle according to an embodiment of the present application.
The implementation, functional features and advantages of the object of the present application will be further explained with reference to the embodiments, and with reference to the accompanying drawings.
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: the control identification method, the control identification device, the control identification equipment and the storage medium of the unmanned aerial vehicle are used for the unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises an aircraft identifier, and the aircraft identifier comprises an aircraft type and an aircraft number; transmitting the aircraft identification to a ground control station to enable the ground control station to generate a data control frame; receiving the control data frame sent by the ground control station; the control data frame comprises a control instruction, identification data and a verification data frame; verifying the control data frame to obtain a verification result; generating an operation instruction according to the checking result; the operation instruction comprises an execution control instruction and an non-execution control instruction; and executing the operation instruction. The control identification method, the device, the equipment and the storage medium of the unmanned aerial vehicle are used for receiving an aircraft identifier sent by the unmanned aerial vehicle through a ground control station; generating a control data frame based on the aircraft identification; the control data frame comprises a control instruction, identification data and a check data frame; sending the control data frame to a plurality of unmanned aerial vehicles so that each unmanned aerial vehicle checks the control data frame to obtain a checking result; generating an operation instruction according to the checking result; and executing the operation instruction; the operation instruction comprises an execution control instruction and an non-execution control instruction.
In the prior art, an unmanned aerial vehicle is an aircraft with low cost and high efficiency, can realize various specified tasks by carrying different loads, and is widely applied to the fields of aerial photography, reconnaissance, customs, plant protection and the like. The ground control station is an important component of an unmanned aerial vehicle system and is key equipment for the unmanned aerial vehicle to successfully execute tasks.
The unmanned aerial vehicle and the ground control station belong to point-to-point communication, and for the miniaturized unmanned aerial vehicle, one ground control station can easily control a plurality of unmanned aerial vehicles due to simple tasks and convenient operation and control. However, for a large unmanned aerial vehicle, due to the fact that the executed task is complex and the operation difficulty is high, errors are prone to occur in the process of identifying a plurality of large unmanned aerial vehicles by one ground control station, and the control accuracy of the plurality of large unmanned aerial vehicles is low.
Therefore, the method provides a solution, different aircraft identifiers are loaded on each unmanned aerial vehicle, the ground control station identifies the unmanned aerial vehicles through the aircraft identifiers, the aircraft identifiers are composed of aircraft types and aircraft numbers, uniqueness is achieved, and a foundation is provided for accurate identification control; when a certain unmanned aerial vehicle is improved or remodeled, the method can be executed only by modifying the aircraft identification of the unmanned aerial vehicle, and is low in cost and high in efficiency. The ground control station sends a control data frame containing a control instruction, identification data and a verification data frame to each unmanned aerial vehicle, each unmanned aerial vehicle verifies the received control data frame, judges whether the control data frame is sent to the unmanned aerial vehicle and is high in accuracy, generates a corresponding verification result, generates and executes a corresponding operation instruction according to the verification result, and therefore the purpose that a plurality of unmanned aerial vehicles are conveniently controlled and identified through one ground control station is achieved. Meanwhile, the verification data frame and the identification data in the control data frame are verified, so that the unmanned aerial vehicle can accurately judge whether the control data frame needs to be executed by the local machine or not and whether the control data frame is accurate or not, the accuracy of the control identification process is improved, and the efficiency of the control process is also improved by simultaneous identification of multiple machines. Furthermore, nobody who does not execute the control instruction can send a flag bit to the ground control station, and the ground control station can judge the receiving and executing conditions of the control instruction according to the flag bit, so that the judgment and the timely modification of error data are facilitated, and other control data frames of tasks to be executed are generated.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a computer device in a hardware operating environment according to an embodiment of the present application.
As shown in fig. 1, the computer apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement connection communication among these components. The user interface 1003 may include a Display screen (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., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in FIG. 1 does not constitute a limitation of a computer device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, the memory 1005, which is a storage medium, may include therein an operating system, a data storage module, a network communication module, a user interface module, and an electronic program.
In the computer device shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the computer device may be disposed in the computer device, and the computer device calls the control identification apparatus of the drone stored in the memory 1005 through the processor 1001 and executes the control identification method of the drone provided by the embodiment of the present application.
Referring to fig. 6, an embodiment of the present application provides a specific implementation method of a control identification method for an unmanned aerial vehicle, including:
as shown in fig. 6, in a scene where multiple unmanned aerial vehicles are in communication connection with the ground control station, the horizontal solid line arrow head in the figure is divided into operations performed on the unmanned aerial vehicles, and the horizontal dotted line arrow head is divided into operations sent by the unmanned aerial vehicles.
Before the control task is executed, an aircraft identifier is loaded to the airborne wireless data link of each unmanned aerial vehicle through the link data loading device, and the aircraft identifier has uniqueness.
The airborne wireless link device of the unmanned aerial vehicle sends the aircraft identification of the unmanned aerial vehicle to the ground control station.
In the process of executing the control task, the ground control station generates a control data frame according to the task to be executed and the aircraft identifier of the target unmanned aerial vehicle, wherein the control data frame comprises a control instruction, identifier data and a verification data frame. The ground control station sends a control data frame like each unmanned aerial vehicle through ground wireless link equipment, after airborne wireless link equipment of the unmanned aerial vehicle receives the control data frame, cyclic redundancy check is carried out on the check data frame firstly, the check data frame is correct, then check is carried out on identification data, if the identification data check is correct, the airborne wireless link equipment sends an execution operation instruction, the control instruction is transmitted to a control center of the unmanned aerial vehicle, and the control center controls the action of the unmanned aerial vehicle according to the control instruction. If the identification data is not verified correctly, the airborne wireless link equipment sends an operation-not-executed instruction and sends a zone bit of the local machine to the ground control station.
And the ground control station receives the aircraft identifications and the flag bits from the multiple unmanned aerial vehicles, continues to generate a control data frame according to the task to be executed, and sends the control data frame to the multiple unmanned aerial vehicles, and the unmanned aerial vehicles continue to perform the steps.
Referring to fig. 2, based on the hardware device of the foregoing embodiment, an embodiment of the present application provides a control identification method for a drone, the drone including an aircraft identifier, the aircraft identifier including an aircraft type and an aircraft number; the method comprises the following steps:
the aircraft sign is the data message who is used for the different unmanned aerial vehicle of sign, comprises aircraft type and aircraft serial number, possesses the uniqueness, provides the basis for accurate identification control.
S11: transmitting the aircraft identification to a ground control station to enable the ground control station to generate a data control frame;
in the specific implementation process, a Ground Control Station (GCS) is a very important component of the whole unmanned aerial vehicle system, is a channel for direct interaction between Ground operators and the unmanned aerial vehicle, and includes comprehensive capabilities of Control, communication and data processing including task planning, task playback, real-time monitoring, digital maps and communication data chains, and is a command Control center of the whole unmanned aerial vehicle system.
The unmanned aerial vehicle sends the aircraft identification to the ground control station, and the ground control station can generate a control data frame according to the received aircraft identification.
As an optional implementation, before the step of sending the aircraft identifier to the ground control station to cause the ground control station to generate the data control frame, the method further includes: loading the aircraft identification to the drone; wherein the aircraft identification comprises an aircraft type and an aircraft number.
In the concrete implementation process, the aircraft sign is the data message that is used for the different unmanned aerial vehicle of sign, comprises aircraft type and aircraft serial number, possesses the uniqueness, provides the basis for accurate discernment control. When a certain unmanned aerial vehicle is improved or remodeled, the method can be executed only by modifying the aircraft identifier of the unmanned aerial vehicle, the cost is low, the efficiency is high, the operation is simple and convenient, and the subsequent control identification process is not influenced.
Before executing the control task, the link data loading device loads the aircraft identification and stores the aircraft identification in a nonvolatile memory of an onboard wireless data link corresponding to the unmanned aerial vehicle. The link data loading device is a special data loading device, loads data through wired connection and adapts according to different wireless links. A non-volatile memory is a computer data storage device that does not lose stored data after power is removed. The wireless link is a wireless communication channel connecting the ground control station and the unmanned aerial vehicle, and transmits and receives data information through an antenna. The aircraft identification may also be loaded by other devices and stored in other parts of the drone.
S12: receiving the control data frame sent by the ground control station; the control data frame comprises a control instruction, identification data and a check data frame;
in a specific implementation process, airborne wireless link equipment of the unmanned aerial vehicle receives a control data frame sent by a ground control station. The control data frame is a set of data sets sent by the ground control station, including control instructions, identification data, and a check data frame. The control instruction comprises task data to be executed and is used for controlling and guiding the unmanned aerial vehicle to act; the identification data is used for judging whether the control data frame is sent to the unmanned aerial vehicle and whether errors such as frame dropping and the like occur in the transmission process of the control data frame; the check data frame is used for the unmanned aerial vehicle to perform cyclic redundancy check.
S13: verifying the control data frame to obtain a verification result;
in the specific implementation process, the unmanned aerial vehicle checks the control data frame, judges whether errors such as frame dropping and the like occur in the control data frame and judges whether the control data frame is sent to the unmanned aerial vehicle, and performs subsequent operation according to the check result.
As an optional implementation manner, the step of verifying the control data frame to obtain a verification result includes: performing cyclic redundancy check on the check data frame, and judging whether the control data frame is correct or not; if the control data frame is correct, verifying the identification data; the identification data comprise n groups of continuous and same aircraft identifications, n is more than or equal to 3 and is an integer;
in a specific implementation process, the unmanned aerial vehicle performs cyclic redundancy check on a check data frame in the control data frame. Cyclic Redundancy Check (CRC), which is a channel coding technique for generating a short fixed bit Check code according to data such as a network data packet or a computer file, is mainly used to detect or Check errors that may occur after data transmission or storage, and if and only if the detected result is correct, the receiver really receives the data, and if the control data frame is incorrect, the ground control station is automatically required to resend the control data frame, thereby avoiding the situation that the unmanned aerial vehicle executes an erroneous instruction, cannot execute the instruction, but the sender cannot know due to data loss.
And if the control data frame is correct, the unmanned aerial vehicle continuously checks the identification data in the control data frame. The identification data comprises 3 groups or more of continuous and same aircraft identifications and is used for judging whether the control data frame is data sent to the unmanned aerial vehicle and further judging whether the control data frame is correct.
At this time, the step of verifying the identification data if the control data frame is correct includes: if the aircraft identifier of the group a in the identification data is the same as the aircraft identifier of the target unmanned aerial vehicle, generating a first verification result; wherein a is n-1 or n; if the b groups of aircraft identifications in the identification data are different from the aircraft identification of the target unmanned aerial vehicle, generating a second check result; wherein b is not less than 2 and b is an integer.
In the specific implementation process, if n-1 or n groups of aircraft identifiers in the identification data are the same as the aircraft identifiers of the local aircraft, the control data frame is considered to be data sent to the local aircraft, the accuracy of the data is high, and a first verification result is generated.
If 2 or more groups of aircraft identifications in the identification data are different from the aircraft identification of the local machine, the control data frame is considered to have errors in the data in the transmission process, if all the aircraft identifications in the identification data are different from the aircraft identification of the local machine, the control data frame is considered not to be sent to the local machine, and a second check result is generated.
S14: generating an operation instruction according to the checking result; the operation instruction comprises an execution control instruction and an non-execution control instruction;
in a specific implementation process, according to the verification result, the unmanned aerial vehicle generates an operation instruction for executing the control instruction or not executing the control instruction.
As an optional implementation manner, the step of generating an operation instruction according to the verification result includes: if the verification result is a first verification result, generating the execution operation instruction; and if the check result is a second check result, generating the no-execution operation instruction.
In the specific implementation process, if the verification result is the first verification result, it is indicated that the control data frame is data sent to the local computer and has higher accuracy, and an execution operation instruction is generated; if the check result is the second check result, the control data frame is not sent to the local computer or the data loss is more, and an operation-not-executed instruction is generated.
S15: and executing the operation instruction.
In the specific implementation process, the unmanned aerial vehicle operates according to the execution or non-execution operation instruction.
As an optional implementation manner, the step of executing the operation instruction includes: if the operation instruction is the execution control instruction, sending the control instruction to a control center of the unmanned aerial vehicle, and executing the control instruction by the control center; if the operation instruction is the non-execution control instruction, a zone bit is sent to the ground control station; wherein the flag is obtained by marking the control data frame.
In a specific implementation process, if the operation instruction is an execution operation instruction, the airborne wireless link device of the unmanned aerial vehicle sends the control instruction in the control data frame to a control center of the unmanned aerial vehicle, and the control center operates according to the control instruction. If the operation instruction is not executed, the unmanned aerial vehicle cannot execute the control instruction in the control data frame, generates a flag bit and sends the flag bit to the ground control station, and the flag bit marks that the current control data frame is not the control data frame sent to the unmanned aerial vehicle or marks that the current control data frame has errors.
Referring to fig. 3, based on the hardware device of the foregoing embodiment, an embodiment of the present application provides a control identification method for a drone, where the method is used for a ground control station in the foregoing embodiment, and includes:
s21: receiving an aircraft identifier sent by an unmanned aerial vehicle;
in a specific implementation process, the ground control station receives aircraft identifications sent by the multiple unmanned aerial vehicles.
S22: generating a control data frame based on the aircraft identification; the control data frame comprises a control instruction, identification data and a verification data frame;
in a specific implementation process, the ground control station generates a control data frame according to the tasks to be executed and the corresponding aircraft identifiers of the unmanned aerial vehicles to be executed. The control data frame comprises a control instruction of the task to be executed and an aircraft identifier of the target unmanned aerial vehicle, and also comprises a verification data frame for preliminarily verifying the accuracy of the data.
As an optional implementation, before the step of generating a control data frame based on the aircraft identifier, the method further includes: receiving a zone bit sent by the unmanned aerial vehicle;
in the specific implementation process, the ground unmanned station can also receive the zone bits sent by the multiple unmanned aerial vehicles, and the receiving execution condition of the control instruction can be judged according to the zone bits.
At this time, the step of generating a control data frame based on the aircraft identification includes: generating the control data frame based on the aircraft identification and the flag bit.
In the specific implementation process, the ground control station generates a corresponding control data frame based on the zone bit and the aircraft identifier of the target unmanned aerial vehicle to be subjected to the task, so that the control of multiple unmanned aerial vehicles is realized.
S23: sending the control data frame to a plurality of unmanned aerial vehicles, so that each unmanned aerial vehicle checks the control data frame to obtain a checking result; generating an operation instruction according to the checking result; and executing the operation instruction; the operation instruction comprises an execution control instruction and an non-execution control instruction.
In a specific implementation process, the ground control station sends a control data frame to a plurality of unmanned aerial vehicles, each unmanned aerial vehicle receives the control data frame and performs subsequent verification, generates an operation instruction according to a verification result, and executes the operation instruction, wherein the operation instruction comprises an execution operation instruction and an non-execution operation instruction, and whether the control instruction in the control data frame is executed or not is determined correspondingly. The one-to-many control of the ground control station and the unmanned aerial vehicle is realized.
It should be understood that the above is only an example, and the technical solution of the present application is not limited in any way, and those skilled in the art can make the setting based on the actual application, and the setting is not limited herein.
Through the above description, it is not difficult to find that in the embodiment, different aircraft identifiers are loaded for each unmanned aerial vehicle, the ground control station identifies the unmanned aerial vehicles through the aircraft identifiers, and the aircraft identifiers are composed of aircraft types and aircraft numbers, have uniqueness, and provide a basis for accurate identification control; when a certain unmanned aerial vehicle is improved or remodeled, the method can be executed only by modifying the aircraft identification of the unmanned aerial vehicle, and the method is low in cost and high in efficiency. The ground control station sends a control data frame containing a control instruction, identification data and a verification data frame to each unmanned aerial vehicle, each unmanned aerial vehicle verifies the received control data frame, judges whether the control data frame is sent to the unmanned aerial vehicle and is high in accuracy, generates a corresponding verification result, generates and executes a corresponding operation instruction according to the verification result, and therefore the purpose that a plurality of unmanned aerial vehicles are conveniently controlled and identified through one ground control station is achieved. Meanwhile, the verification data frame and the identification data in the control data frame are verified, so that the unmanned aerial vehicle can accurately judge whether the control data frame needs to be executed by the unmanned aerial vehicle or not and whether the control data frame is accurate or not, the accuracy of the control identification process is improved, and the high efficiency of the control process is also improved by the simultaneous identification of multiple machines. Furthermore, nobody who does not execute the control instruction can send a flag bit to the ground control station, and the ground control station can judge the receiving and executing conditions of the control instruction according to the flag bit, so that the judgment and the timely modification of error data are facilitated, and other control data frames of tasks to be executed are generated.
Referring to fig. 4, based on the same inventive concept, an embodiment of the present application further provides a control identification apparatus for an unmanned aerial vehicle, where the apparatus is used for the unmanned aerial vehicle, and includes:
the aircraft identification sending module is used for sending the aircraft identification to a ground control station so as to enable the ground control station to generate a data control frame;
a control data frame receiving module, configured to receive the control data frame sent by the ground control station; the control data frame comprises a control instruction, identification data and a check data frame;
the checking module is used for checking the control data frame to obtain a checking result;
the operation instruction generating module is used for generating an operation instruction according to the verification result; the operation instruction comprises an execution control instruction and an non-execution control instruction;
and the operation instruction execution module is used for executing the operation instruction.
It should be noted that, in this embodiment, each module in the control identification apparatus of the unmanned aerial vehicle corresponds to the control identification method of the unmanned aerial vehicle in the foregoing embodiment, and is used for each step in the unmanned aerial vehicle, so that the specific implementation of this embodiment may refer to the implementation of the control identification method of the unmanned aerial vehicle, and details are not described here.
Referring to fig. 5, based on the same inventive concept, an embodiment of the present application further provides a control identification apparatus for an unmanned aerial vehicle, for a ground control station, including:
the aircraft identification receiving module is used for receiving an aircraft identification sent by the unmanned aerial vehicle;
the control data frame generation module is used for generating a control data frame based on the aircraft identifier; the control data frame comprises a control instruction, identification data and a check data frame;
the control data frame sending module is used for sending the control data frame to a plurality of unmanned aerial vehicles so that each unmanned aerial vehicle can check the control data frame to obtain a check result; generating an operation instruction according to the checking result; and executing the operation instruction; the operation instruction comprises an execution control instruction and an non-execution control instruction.
It should be noted that, in the control identification apparatus of an unmanned aerial vehicle in this embodiment, each module corresponds to the control identification method of an unmanned aerial vehicle in the foregoing embodiment, and is used for a ground control station, and therefore, the specific implementation of this embodiment may refer to the implementation of the control identification method of an unmanned aerial vehicle, and is not described here again.
Furthermore, in an embodiment, an embodiment of the present application further provides a computer device for a drone, the device including a processor, a memory, and a computer program stored in the memory, the computer program, when executed by the processor, implementing the steps of the method in the foregoing embodiment.
Furthermore, in an embodiment, an embodiment of the present application further provides a computer device for a ground control station, the device comprising a processor, a memory and a computer program stored in the memory, the computer program, when executed by the processor, implementing the steps of the method in the preceding embodiment.
Furthermore, in an embodiment, an embodiment of the present application further provides a computer storage medium for a drone, where the computer storage medium stores a computer program that when executed by a processor implements the steps of the method in the foregoing embodiments.
Furthermore, in an embodiment, an embodiment of the present application further provides a computer storage medium for a ground control station, the computer storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the method in the foregoing embodiments.
In some embodiments, the computer-readable storage medium may be memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash, magnetic surface memory, optical disk, or CD-ROM; or may be various devices including one or any combination of the above memories. The computer may be a variety of computing devices including intelligent terminals and servers.
In some embodiments, executable instructions may be written in any form of programming language (including compiled or interpreted languages), in the form of programs, software modules, scripts or code, and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.
By way of example, executable instructions may correspond, but do not necessarily have to correspond, to files in a file system, and may be stored in a portion of a file that holds other programs or data, such as in one or more scripts in a hypertext Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code).
By way of example, executable instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application or portions thereof contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium (such as a rom/ram, a magnetic disk, and an optical disk), and includes instructions for enabling a multimedia terminal device (which may be a mobile phone, a computer, a television receiver, or a network device) to execute the method according to the embodiments of the present application.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (13)
1. The control identification method of the unmanned aerial vehicle is used for the unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises an aircraft identifier, and the aircraft identifier comprises an aircraft type and an aircraft number; the method comprises the following steps:
transmitting the aircraft identification to a ground control station to enable the ground control station to generate a data control frame;
receiving the control data frame sent by the ground control station; the control data frame comprises a control instruction, identification data and a check data frame;
verifying the control data frame to obtain a verification result;
generating an operation instruction according to the checking result; the operation instructions comprise an execution control instruction and an non-execution control instruction;
and executing the operation instruction.
2. The method for unmanned aerial vehicle control recognition of claim 1, wherein the step of transmitting the aircraft identification to a ground control station to cause the ground control station to generate a data control frame is preceded by the step of:
loading the aircraft identification to the drone; wherein the aircraft identification comprises an aircraft type and an aircraft number.
3. The unmanned aerial vehicle control identification method of claim 1, wherein the step of verifying the control data frame to obtain a verification result comprises:
performing cyclic redundancy check on the check data frame, and judging whether the control data frame is correct or not;
if the control data frame is correct, verifying the identification data; the identification data comprise n groups of continuous and same aircraft identifications, n is more than or equal to 3 and is an integer;
if the control data frame is correct, the step of checking the identification data includes:
if the aircraft identification of the group a in the identification data is the same as the aircraft identification of the target unmanned aerial vehicle, generating a first verification result; wherein a is n-1 or n;
if the b groups of aircraft identifications in the identification data are different from the aircraft identification of the target unmanned aerial vehicle, generating a second check result; wherein b is not less than 2, and b is an integer.
4. The method for controlling and identifying the unmanned aerial vehicle according to claim 1, wherein the step of generating the operation command according to the verification result comprises:
if the verification result is a first verification result, generating the execution operation instruction;
and if the check result is a second check result, generating the no-execution operation instruction.
5. The method for identifying control of a drone of claim 1, wherein the step of executing the operating instructions includes:
if the operation instruction is the execution control instruction, sending the control instruction to a control center of the unmanned aerial vehicle, and executing the control instruction by the control center;
if the operation instruction is the non-execution control instruction, sending a zone bit to the ground control station; wherein the flag is obtained by marking the control data frame.
6. A control identification method of an unmanned aerial vehicle is characterized by being used for a ground control station and comprising the following steps:
receiving an aircraft identifier sent by an unmanned aerial vehicle;
generating a control data frame based on the aircraft identification; the control data frame comprises a control instruction, identification data and a check data frame;
sending the control data frame to a plurality of unmanned aerial vehicles, so that each unmanned aerial vehicle checks the control data frame to obtain a checking result; generating an operation instruction according to the checking result; and executing the operation instruction; the operation instruction comprises an execution control instruction and an non-execution control instruction.
7. The method of claim 6, wherein the step of generating the control data frame based on the aircraft identification is preceded by:
receiving a zone bit sent by the unmanned aerial vehicle;
the step of generating a control data frame based on the aircraft identification comprises:
generating the control data frame based on the aircraft identification and the flag bit.
8. The utility model provides an unmanned aerial vehicle's control recognition device for unmanned aerial vehicle, its characterized in that includes:
the aircraft identification sending module is used for sending the aircraft identification to a ground control station so as to enable the ground control station to generate a data control frame;
a control data frame receiving module, configured to receive the control data frame sent by the ground control station; the control data frame comprises a control instruction, identification data and a check data frame;
the checking module is used for checking the control data frame to obtain a checking result;
the operation instruction generating module is used for generating an operation instruction according to the verification result; the operation instruction comprises an execution control instruction and an non-execution control instruction;
and the operation instruction execution module is used for executing the operation instruction.
9. The utility model provides an unmanned aerial vehicle's control recognition device for ground control station, its characterized in that includes:
the aircraft identification receiving module is used for receiving an aircraft identification sent by the unmanned aerial vehicle;
the control data frame generation module is used for generating a control data frame based on the aircraft identifier; the control data frame comprises a control instruction, identification data and a verification data frame;
the control data frame sending module is used for sending the control data frame to a plurality of unmanned aerial vehicles so that each unmanned aerial vehicle checks the control data frame to obtain a checking result; generating an operation instruction according to the checking result; and executing the operation instruction; the operation instruction comprises an execution control instruction and an non-execution control instruction.
10. A computer device for a drone, characterized in that it comprises a memory in which a computer program is stored and a processor that executes said computer program implementing the method according to any one of claims 1 to 5.
11. A computer device for a ground control station, characterized in that the computer device comprises a memory in which a computer program is stored and a processor which executes the computer program implementing the method according to any of claims 6-7.
12. A computer-readable storage medium for a drone, the computer-readable storage medium having stored thereon a computer program, the computer program being executable by a processor to implement the method of any one of claims 1-5.
13. A computer-readable storage medium for a ground control station, the computer-readable storage medium having stored thereon a computer program, which computer program, when executed by a processor, performs the method of any one of claims 6-7.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115361236A (en) * | 2022-10-20 | 2022-11-18 | 成都飞机工业（集团）有限责任公司 | Data transmission consistency checking method, device, equipment and medium |
| CN115866020A (en) * | 2022-12-19 | 2023-03-28 | 亿航智能设备（广州）有限公司 | Communication method, device, equipment and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115361236A (en) * | 2022-10-20 | 2022-11-18 | 成都飞机工业（集团）有限责任公司 | Data transmission consistency checking method, device, equipment and medium |
| CN115866020A (en) * | 2022-12-19 | 2023-03-28 | 亿航智能设备（广州）有限公司 | Communication method, device, equipment and system |
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