CN117713913B - Node-extensible multi-unmanned aerial vehicle communication control method and system - Google Patents
Node-extensible multi-unmanned aerial vehicle communication control method and system Download PDFInfo
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Abstract
The invention relates to a wireless communication network of a new generation information technology, and discloses a node-extensible multi-unmanned aerial vehicle communication control method and system, so as to meet the control requirements of a single ground control terminal on a plurality of unmanned aerial vehicles with uncertain nodes. The method comprises the following steps: the nodes corresponding to the same data multicast IP address can expand capacity through the port number, and transmit and receive data according to the set or identified port number; the method has the advantages of strong practicability and high flexibility, and well meets the command requirements of a single ground command terminal on a plurality of unmanned aerial vehicles with uncertain nodes; and moreover, a plurality of troubles caused by IP address conflict between different unmanned aerial vehicles in the same network and photoelectric modules are thoroughly solved fundamentally, and the maintenance and management are facilitated.
Description
Technical Field
The invention relates to a wireless communication network of a new generation information technology, in particular to a node-extensible multi-unmanned aerial vehicle communication control method and system.
Background
With the continuous development of unmanned aerial vehicles and distributed algorithms, the technologies such as communication technology, measurement and control technology, intelligent control technology and the like are mature, and the application of the swarm unmanned aerial vehicle is wide.
The traditional unmanned aerial vehicle generally adopts a point-to-point communication control method, and a single ground command terminal can only communicate with the corresponding unmanned aerial vehicle, send a remote control instruction, monitor the state of the unmanned aerial vehicle and display image information acquired by matched optical equipment.
When the swarm unmanned aerial vehicle is cooperated with multiple unmanned aerial vehicles, a flight route and a cooperative algorithm are generally written into the unmanned aerial vehicle in advance, the unmanned aerial vehicle spontaneously performs many-to-many networking communication, sends local state information, provides a communication route for the unmanned aerial vehicle, and receives position and speed information of the unmanned aerial vehicle, so that cooperative flight control is carried out, communication among the unmanned aerial vehicles can only adopt a broadcasting mode, the requirement on communication bandwidth is high, and the system communication delay is large.
Aiming at the scene that a single ground control terminal performs control on a plurality of unmanned aerial vehicles, a traditional control method of unmanned aerial vehicle point-to-point communication is generally adopted at present, namely, the ground control terminal performs communication with different devices on the unmanned aerial vehicles through a wireless network transmission mode access device IP address.
When the one-to-many communication control is applied to the swarm unmanned aerial vehicle, flexible network access and network access of each unmanned aerial vehicle are required, at the moment, the traditional swarm network communication mode and the one-to-many network communication mode cannot meet the requirements, and a node-extensible multi-unmanned aerial vehicle communication control method is urgently needed, so that on one hand, a single ground command terminal is realized to control a plurality of unmanned aerial vehicles, and on the other hand, the number of unmanned aerial vehicles in the system and network access equipment are ensured to be unnecessary to be determined in advance.
Disclosure of Invention
The invention aims to disclose a node-extensible multi-unmanned aerial vehicle communication control method and system, so as to meet the control requirements of a single ground control terminal on a plurality of unmanned aerial vehicles with uncertain nodes.
To achieve the above object, the present invention discloses a method comprising: a ground command terminal and N unmanned aerial vehicles, wherein N is more than or equal to 2; the N unmanned aerial vehicles are respectively provided with an aerial data link terminal, and a ground data link terminal is deployed between each aerial data link terminal and the ground command terminal; the ground data link terminals are communicated with all the aerial data link terminals in a multicast mode;
The ground command terminal and the unmanned aerial vehicle send and receive data with the same and fixed multicast IP address; when any unmanned aerial vehicle sends unmanned aerial vehicle state information, image information and receives unmanned aerial vehicle control instructions to a ground command terminal, port numbers are respectively an air unmanned aerial vehicle state information sending port number, an air image information sending port number and an air control instruction receiving port number, the three port numbers are fixed values unified with all unmanned aerial vehicles in the same network, and the three port numbers are different;
When the ground command terminal transmits an unmanned aerial vehicle control instruction to an unmanned aerial vehicle with a data chain terminal product number M, the transmitting port number is M+ground transmitting control instruction port offset; when the ground command terminal receives unmanned aerial vehicle state information and image information sent by an unmanned aerial vehicle with a data chain terminal product number of M, the receiving port numbers are respectively M+ground receiving state information port offset and M+ground receiving image information port offset; the product numbers of the data chain terminals are preconfigured and carried in the network access requests of the air data chain terminals and the data frames for interaction after network access, and the data frames also carry marking information for indicating whether network access is performed;
The distance between every two of three offset values corresponding to the ground transmission control instruction port offset, the ground receiving state information port offset and the ground receiving image information port offset is larger than the maximum number and the maximum number of the expected expanded unmanned aerial vehicles in the same network. For example: the difference between every two of the above-mentioned two is greater than 9999.
Preferably, the ground data chain terminal product at least comprises a serial port and a network port which are connected with the ground command terminal through cables; the method further comprises the steps of: the ground data link terminal receives unmanned plane state information, image information and air data link terminal state information sent by the air data link terminal through a wireless communication mode; transmitting ground data link terminal state information to a ground command terminal through a serial port, forwarding air data link terminal state information, and receiving a ground data link terminal communication control instruction and an air data link terminal communication control instruction transmitted by the ground command terminal; receiving an unmanned aerial vehicle control instruction sent by a ground command terminal through a network port; and forwarding the communication control instruction of the aerial data link terminal and the unmanned aerial vehicle control instruction to the aerial data link terminal in a wireless communication mode.
Preferably, the aerial data link terminal is provided with at least one network port connected with the unmanned aerial vehicle photoelectric module, one network port connected with the unmanned aerial vehicle flight control, and a serial port connected with the unmanned aerial vehicle flight control; the method further comprises the steps of: the aerial data link terminal receives unmanned aerial vehicle control instructions and aerial data link terminal communication control instructions forwarded by the ground data link terminal in a wireless communication mode; transmitting the state information of the aerial data link terminal to the unmanned aerial vehicle through a serial port; the unmanned aerial vehicle control instruction is sent to the unmanned aerial vehicle through the internet access, and unmanned aerial vehicle state information and image information sent by the unmanned aerial vehicle are received; and transmitting the state information of the aerial data link terminal through a wireless communication mode, and forwarding the state information and the image information of the unmanned aerial vehicle to a ground data link terminal.
Preferably, the communication protocol comprises a downstream communication protocol and an upstream communication protocol; wherein: the downlink communication protocol prescribes the data format of ground data link terminal state information and air data link terminal state information; the downlink communication protocol at least comprises a frame header, a data length, an information identifier, a transmitting data chain terminal product number, a receiving data chain terminal product number, a power control word, a network access setting word and a checksum;
The uplink communication protocol prescribes the data format of the ground data link terminal communication control instruction and the air data link terminal communication control instruction; the uplink communication protocol at least comprises a frame header, a data length, an information identifier, a transmitting data chain terminal product number, a receiving data chain terminal product number, a power state, a network access state, a self-checking state, a signal strength, a signal background noise, a packet loss rate and a checksum.
Preferably, the ground data link terminal communication control implementation flow is as follows.
And A1, self-checking a ground data link terminal.
Powering up the ground data link terminal and completing self-checking; setting the 'transmitting data chain terminal product number' and the 'receiving data chain terminal product number' as local product numbers, setting the 'self-checking state' as 'self-checking normal', defaulting the 'power state' as 'high power', and generating ground data chain terminal state information according to a downlink communication protocol.
And A2, transmitting the state information of the data link terminal.
The ground data link terminal periodically transmits ground data link terminal state information to the ground command terminal, and simultaneously forwards air data link terminal state information, and the ground command terminal distinguishes the ground data link terminal and the air data link terminal state information by identifying a 'transmitting data link terminal product number'.
And step A3, controlling the network access of the aerial data link terminal.
The ground command terminal identifies the 'receiving data chain terminal product number' and the 'network access state' of the air data chain terminal state information, judges whether the air data chain terminal needs to change the network access state, sets the 'network access setting word' as 'allowing network access' or 'refusing network access' when the network access state needs to be changed, sets the 'transmitting data chain terminal product number' as the local product number, sets the 'receiving data chain terminal product number' as the identified air data chain terminal, generates an air data chain terminal communication control instruction according to an uplink communication protocol, sends the air data chain terminal and forwards the air data chain terminal.
And A4, setting parameters of the data link terminal.
The ground command terminal sets parameters of the ground data link terminal and the air data link terminal according to actual needs, and distinguishes objects of parameter setting by setting a 'transmitting data link terminal product number' as a local product number and a 'receiving data link terminal product number' as a ground data link terminal product number or an air data link terminal product number which is accessed to the network; by setting the "power control word" to "low power" or "high power", the data link terminal operating mode may be adjusted to a low power mode or a high power mode; generating a ground data link terminal communication control instruction according to an uplink communication protocol, sending the ground data link terminal communication control instruction to the ground data link terminal, and controlling the state of the ground data link terminal communication control instruction; and generating an air data link terminal communication control instruction according to an uplink communication protocol, sending the air data link terminal communication control instruction to a ground data link terminal, and forwarding the air data link terminal communication control instruction to the air data link terminal.
And step A5, receiving state information of the data link terminal.
The ground control terminal receives ground data link terminal state information and air data link terminal state information, the product number of the sending data link terminal for identifying the state information distinguishes the ground data link terminal and the air data link terminal state information, the current working modes of the ground data link terminal and the air data link terminal are obtained through analyzing the power state, whether the air data link terminal is connected to the network is judged through analyzing the network connection state, the self-checking state, the signal intensity, the signal bottom noise and the packet loss rate, whether the self-checking is normal or not is judged, and whether the signal intensity, the signal bottom noise and the packet loss rate meet the requirements or not is judged.
And A6, receiving unmanned plane state information and image information.
The ground data chain terminal receives the state information and the image information of the network-accessed unmanned aerial vehicle, forwards the state information and the image information to the ground control terminal, and the ground control terminal analyzes and displays the state information and the image information.
And step A7, controlling the network access of the data link in the air and transmitting the data.
And when a new unmanned aerial vehicle enters the network or a current unmanned aerial vehicle which has entered the network exits the network, repeating the steps A3 to A6.
Preferably, the air data link terminal communication control implementation flow is as follows.
And B1, self-checking an aerial data link terminal.
Powering up the aerial data link terminal and completing self-checking; setting the 'transmitting data chain terminal product number' and the 'receiving data chain terminal product number' as local product numbers, setting the 'self-checking state' as 'self-checking normal', defaulting the 'power state' as 'low power', generating aerial data chain terminal state information according to a downlink communication protocol, and periodically transmitting the aerial data chain terminal state information to flight control of the unmanned aerial vehicle.
And B2, an air data link terminal network access request.
The aerial data link terminal sets the 'transmitting data link terminal product number' as the local product number, the 'receiving data link terminal product number' as the 'ground data link terminal product number', the 'self-checking state' and the 'power state' in the step B1 are maintained, the 'network access state' is set as the 'network access request', the aerial data link terminal state information is generated according to the downlink communication protocol, and the aerial data link terminal state information is periodically transmitted to the ground data link terminal.
And B3, setting parameters of the aerial data link terminal.
The aerial data link terminal receives the aerial data link terminal communication control instruction, and identifies the 'receiving data link terminal product number' of the aerial data link terminal communication control instruction; when the product number of the receiving data chain terminal is consistent with the product number of the local machine, judging a network access setting word, if the network access is allowed, setting a network access state as a network access, and if the network access is refused, setting the network access state as a network access not; the "power control word" is identified, whereupon the local operating mode is adjusted to either a low power mode or a high power mode.
And B4, transmitting the state information of the aerial data link terminal.
The aerial data link terminal sets the 'transmitting data link terminal product number' as the local product number, and the 'receiving data link terminal product number' as the 'ground data link terminal product number'; maintaining the self-checking state in the step B1 and the network access state and the power state in the step B2, and updating the signal strength, the signal background noise and the packet loss rate in real time; and generating the state information of the aerial data link terminal according to the downlink communication protocol, and periodically transmitting the state information to the ground data link terminal.
And B5, transmitting unmanned plane state information and image information.
When the network access setting word is "network access allowed" in the step B3, the aerial data link terminal forwards the unmanned aerial vehicle state information and the image information sent by the unmanned aerial vehicle photoelectric module to the ground data link terminal.
In order to achieve the purpose, the invention also discloses a node-extensible multi-unmanned-aerial-vehicle communication control system, which comprises a ground command terminal and N unmanned aerial vehicles, wherein N is more than or equal to 2; the N unmanned aerial vehicles are respectively provided with an aerial data link terminal, and a ground data link terminal is deployed between each aerial data link terminal and the ground command terminal; the ground data link terminals are communicated with all the aerial data link terminals in a multicast mode; each node comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, and the method is cooperatively realized when the corresponding processor of each node is interacted to execute the corresponding computer program.
The invention has the beneficial effects that: the nodes corresponding to the same data multicast IP address can expand capacity through the port number, and transmit and receive data according to the set or identified port number; the method has the advantages of strong practicability and high flexibility, and well meets the command requirements of a single ground command terminal on a plurality of unmanned aerial vehicles with uncertain nodes; and moreover, a plurality of troubles caused by IP address conflict between different unmanned aerial vehicles in the same network and photoelectric modules are thoroughly solved fundamentally, and the maintenance and management are facilitated.
The invention will be described in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
Fig. 1 is a block diagram of a node-scalable multi-drone communication control system according to an embodiment of the present invention.
Detailed Description
Embodiments of the invention are described in detail below with reference to the attached drawings, but the invention can be implemented in a number of different ways, which are defined and covered by the claims.
Example 1
The embodiment discloses a node-extensible multi-unmanned aerial vehicle communication control system and a corresponding control method thereof.
Taking a certain unmanned aerial vehicle system as an example, the system comprises a ground pilot terminal and two unmanned aerial vehicles, wherein the ground pilot terminal is connected with a ground data link terminal, and the two unmanned aerial vehicles are respectively connected with an air data link terminal. The ground data chain terminal product number in the system is 0, and two external interfaces are arranged, wherein one RS422 interface and one hundred megamega network port are connected with the ground command terminal through cables. The aerial data chain terminal product number of the unmanned aerial vehicle 1 is 81, and the aerial data chain terminal product number of the unmanned aerial vehicle 2 is 82; the aerial data link terminal is provided with three external interfaces, wherein one RS422 interface and one hundred meganet port are connected with the flight control on the unmanned aerial vehicle, so that unmanned aerial vehicle control instructions, unmanned aerial vehicle state information transmission and aerial data link terminal state information transmission are realized; the other hundred meganets are connected with the photoelectric module on the unmanned plane to realize the transmission of image information.
The ground data link terminal receives unmanned plane state information, image information and air data link terminal state information sent by the air data link terminal through a wireless communication mode; transmitting ground data link terminal state information to a ground command terminal through an RS422 interface, forwarding air data link terminal state information, and receiving a ground data link terminal communication control instruction and an air data link terminal communication control instruction transmitted by the ground command terminal; receiving an unmanned aerial vehicle control instruction sent by a ground command terminal through a hundred meganetwork port; and forwarding the communication control instruction of the aerial data link terminal and the unmanned aerial vehicle control instruction to the aerial data link terminal in a wireless communication mode.
The aerial data link terminal receives unmanned aerial vehicle control instructions and aerial data link terminal communication control instructions forwarded by the ground data link terminal in a wireless communication mode; transmitting the state information of the aerial data link terminal to the unmanned aerial vehicle through an RS422 interface; the unmanned aerial vehicle control instruction is sent to the unmanned aerial vehicle through the hundred meganet port, and unmanned aerial vehicle state information and image information sent by the unmanned aerial vehicle are received; and transmitting the state information of the aerial data link terminal through a wireless communication mode, and forwarding the state information and the image information of the unmanned aerial vehicle to a ground data link terminal.
The ground data link terminal and the air data link terminal carry out networking communication in a wireless ad hoc network mode, and periodically broadcast ground data link terminal state information and air data link terminal state information; the ground command terminal and the unmanned aerial vehicle communicate in a multicast mode. The multicast address and port number list is shown in table 1.
Table 1 unmanned aerial vehicle system multicast address and port number list
The communication interface and the data transmission schematic diagram of the unmanned aerial vehicle system are shown in fig. 1.
The communication protocol followed by the communication control of the unmanned aerial vehicle system comprises a downlink communication protocol and an uplink communication protocol, which are shown in table 2 and table 3 respectively.
Table 2 upstream communication protocol
TABLE 3 downstream communication protocol
Taking a ground data chain terminal as an example, allowing the unmanned aerial vehicle 1 and the unmanned aerial vehicle 2 to access the network in sequence, performing communication control on the unmanned aerial vehicle 1 and the unmanned aerial vehicle 2, and receiving state information and image information of the unmanned aerial vehicle; the implementation flow of the ground data link terminal communication control is as follows.
Step one: and (5) self-checking the ground data link terminal.
Powering up the ground data link terminal and completing self-checking; setting the 'transmitting data chain terminal product number' and the 'receiving data chain terminal product number' as 0, setting the 'self-checking state' as 'self-checking normal', defaulting the 'power state' as 'high power', and generating the ground data chain terminal state information according to a downlink communication protocol.
Step two: and sending the state information of the data link terminal.
The ground data link terminal transmits the ground data link terminal state information to the ground pilot terminal every 1S through the RS422 interface, and forwards the air data link terminal state information, and the ground pilot terminal distinguishes the ground data link terminal and the air data link terminal state information through identifying the 'transmitting data link terminal product number'.
Step three: and (5) network access control of the aerial data link terminal.
The ground control terminal recognizes that the product number of a receiving data chain terminal of the state information of an aerial data chain terminal is 80, and the network access state is not accessed; setting the networking setting word as networking permission, setting the sending data chain terminal product number as 0, setting the receiving data chain terminal product number as 80, generating an aerial data chain terminal communication control instruction according to an uplink communication protocol, sending the aerial data chain terminal communication control instruction to a ground data chain terminal through an RS422 interface, and sending the aerial data chain terminal communication control instruction to an aerial data chain terminal 1 in a multicast mode.
Step four: and setting data link terminal parameters.
The ground command terminal sets the 'transmitting data chain terminal product number' to 0 and the 'receiving data chain terminal product number' to 80; the data link terminal working mode is adjusted to a high power mode by setting the power control word to be high power; and generating an air data link terminal communication control instruction according to an uplink communication protocol, transmitting the air data link terminal communication control instruction to a ground data link terminal through an RS422 interface, and transmitting the air data link terminal communication control instruction to the air data link terminal 1 in a multicast mode.
Step five: and receiving state information of the data link terminal.
The ground control terminal receives ground data link terminal state information and air data link terminal state information through an RS422 interface, the product number of the sending data link terminal for identifying the state information distinguishes the ground data link terminal and the air data link terminal state information, the current working modes of the ground data link terminal and the air data link terminal are obtained through analyzing the power state, whether the air data link terminal is connected to the network is judged through analyzing the network connection state, the self-checking state, the signal intensity, the signal noise floor and the packet loss rate, the self-checking is normal, and the signal intensity, the signal noise floor and the packet loss rate meet the requirements.
Step six: and receiving unmanned aerial vehicle state information and image information.
The ground data chain terminal receives the state information and the image information of the network-accessed unmanned aerial vehicle through the hundred megaweb portal, forwards the state information and the image information to the ground control terminal, and analyzes and displays the state information and the image information through the ground control terminal.
Step seven: air data link out/in control and data transmission.
When the unmanned aerial vehicle 2 requests to access the internet, the product number is 81, and the steps three to six are repeated.
Taking an aerial data link terminal 1 of an unmanned aerial vehicle 1 for network access, setting parameters, and sending aerial data link terminal state information, unmanned aerial vehicle state information and image information as an example; the implementation flow of the communication control of the aerial data link terminal is as follows.
Step one: and (5) self-checking the aerial data link terminal.
Powering up the aerial data link terminal 1 and completing self-checking; setting the 'transmitting data chain terminal product number' and the 'receiving data chain terminal product number' as 80, setting the 'self-checking state' as 'self-checking normal', defaulting the 'power state' as 'low power', generating the air data chain terminal state information according to the downlink communication protocol, and transmitting the air data chain terminal state information to the unmanned aerial vehicle every 1S through the RS422 interface.
Step two: an over-the-air data link terminal requests access to the network.
The aerial data link terminal 1 sets the "sending data link terminal product number" to 80, the "receiving data link terminal product number" to 0, maintains the "self-checking state" and the "power state" in the first step, sets the "network access state" to "request network access", generates aerial data link terminal state information according to the downlink communication protocol, and sends the information to the ground data link terminal through multicast mode every 1S.
Step three: and setting parameters of an aerial data link terminal.
The aerial data link terminal 1 receives an aerial data link terminal communication control instruction through an RS422 interface, and when the product number of the received data link terminal is 80; identifying the network access setting word as "network access allowed", and setting the network access state as "network accessed"; the "power control word" is identified as "high power" and the local operating mode is adjusted to the high power mode.
Step four: and sending the state information of the aerial data link terminal.
The aerial data link terminal 1 sets the "transmit data link terminal product number" to 80 and the "receive data link terminal product number" to 0; maintaining the self-checking state in the first step and the network access state and the power state in the second step, and updating the signal strength, the signal background noise and the packet loss rate in real time; and generating the state information of the aerial data link terminal according to the downlink communication protocol, and transmitting the state information to the ground data link terminal in a multicast mode every 1S.
Step five: and sending the unmanned aerial vehicle state information and the image information.
And the aerial data link terminal forwards the unmanned aerial vehicle state information and the image information which are respectively sent by the unmanned aerial vehicle flight control and photoelectric module through the hundred meganet ports to the ground data link terminal in a multicast mode.
Example 2
Corresponding to the above embodiment 1, the present embodiment discloses a node-extensible multi-unmanned aerial vehicle communication control system, which includes a ground command terminal and N unmanned aerial vehicles, where N is greater than or equal to 2; the N unmanned aerial vehicles are respectively provided with an aerial data link terminal, and a ground data link terminal is deployed between each aerial data link terminal and the ground command terminal; the ground data link terminals are communicated with all the aerial data link terminals in a multicast mode; each node comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, and the following method is cooperatively implemented when the corresponding processor of each node is interacted to execute the corresponding computer program.
The multicast IP addresses are the same and fixed when the ground command terminal and the unmanned aerial vehicle send and receive data; when any unmanned aerial vehicle sends unmanned aerial vehicle state information, image information and receives unmanned aerial vehicle control instructions to a ground command terminal, port numbers are respectively an air unmanned aerial vehicle state information sending port number, an air image information sending port number and an air control instruction receiving port number, the three port numbers are fixed values unified with all unmanned aerial vehicles in the same network, and the three port numbers are different.
When the ground command terminal transmits an unmanned aerial vehicle control instruction to an unmanned aerial vehicle with a data chain terminal product number M, the transmitting port number is M+ground transmitting control instruction port offset; when the ground command terminal receives unmanned aerial vehicle state information and image information sent by an unmanned aerial vehicle with a data chain terminal product number of M, the receiving port numbers are respectively M+ground receiving state information port offset and M+ground receiving image information port offset; the product numbers of the data chain terminals are preconfigured and carried in the network access requests of the air data chain terminals and the data frames for interaction after network access, and the data frames also carry marking information for indicating whether network access is performed.
The distance between every two of three offset values corresponding to the ground transmission control instruction port offset, the ground receiving state information port offset and the ground receiving image information port offset is larger than the maximum number and the maximum number of the expected expanded unmanned aerial vehicles in the same network. For example: the difference between every two of the above-mentioned two is greater than 9999.
Preferably, the ground data chain terminal product at least comprises a serial port and a network port which are connected with the ground command terminal through cables; the method further comprises the steps of: the ground data link terminal receives unmanned plane state information, image information and air data link terminal state information sent by the air data link terminal through a wireless communication mode; transmitting ground data link terminal state information to a ground command terminal through a serial port, forwarding air data link terminal state information, and receiving a ground data link terminal communication control instruction and an air data link terminal communication control instruction transmitted by the ground command terminal; receiving an unmanned aerial vehicle control instruction sent by a ground command terminal through a network port; and forwarding the communication control instruction of the aerial data link terminal and the unmanned aerial vehicle control instruction to the aerial data link terminal in a wireless communication mode.
Preferably, one network port of the aerial data link terminal is connected with the unmanned aerial vehicle photoelectric module, one network port is connected with the unmanned aerial vehicle flight control, and a serial port is also arranged and connected with the unmanned aerial vehicle flight control; the method further comprises the steps of: the aerial data link terminal receives unmanned aerial vehicle control instructions and aerial data link terminal communication control instructions forwarded by the ground data link terminal in a wireless communication mode; transmitting the state information of the aerial data link terminal to the unmanned aerial vehicle through a serial port; the unmanned aerial vehicle control instruction is sent to the unmanned aerial vehicle through the internet access, and unmanned aerial vehicle state information and image information sent by the unmanned aerial vehicle are received; and transmitting the state information of the aerial data link terminal through a wireless communication mode, and forwarding the state information and the image information of the unmanned aerial vehicle to a ground data link terminal.
Preferably, the communication protocol comprises a downstream communication protocol and an upstream communication protocol; wherein:
the downlink communication protocol prescribes the data format of ground data link terminal state information and air data link terminal state information; the downlink communication protocol at least comprises a frame header, a data length, an information identifier, a transmitting data chain terminal product number, a receiving data chain terminal product number, a power control word, a network access setting word and a checksum.
The uplink communication protocol prescribes the data format of the ground data link terminal communication control instruction and the air data link terminal communication control instruction; the uplink communication protocol at least comprises a frame header, a data length, an information identifier, a transmitting data chain terminal product number, a receiving data chain terminal product number, a power state, a network access state, a self-checking state, a signal strength, a signal background noise, a packet loss rate and a checksum.
Preferably, the ground data link terminal communication control implementation flow is as follows.
Step A1, self-checking of a ground data link terminal:
Powering up the ground data link terminal and completing self-checking; setting the 'transmitting data chain terminal product number' and the 'receiving data chain terminal product number' as local product numbers, setting the 'self-checking state' as 'self-checking normal', defaulting the 'power state' as 'high power', and generating ground data chain terminal state information according to a downlink communication protocol.
And A2, transmitting the state information of the data link terminal.
The ground data link terminal periodically transmits ground data link terminal state information to the ground command terminal, and simultaneously forwards air data link terminal state information, and the ground command terminal distinguishes the ground data link terminal and the air data link terminal state information by identifying a 'transmitting data link terminal product number'.
And step A3, controlling the network access of the aerial data link terminal.
The ground command terminal identifies the 'receiving data chain terminal product number' and the 'network access state' of the air data chain terminal state information, judges whether the air data chain terminal needs to change the network access state, sets the 'network access setting word' as 'allowing network access' or 'refusing network access' when the network access state needs to be changed, sets the 'transmitting data chain terminal product number' as the local product number, sets the 'receiving data chain terminal product number' as the identified air data chain terminal, generates an air data chain terminal communication control instruction according to an uplink communication protocol, sends the air data chain terminal and forwards the air data chain terminal.
And A4, setting parameters of the data link terminal.
The ground command terminal sets parameters of the ground data link terminal and the air data link terminal according to actual needs, and distinguishes objects of parameter setting by setting a 'transmitting data link terminal product number' as a local product number and a 'receiving data link terminal product number' as a ground data link terminal product number or an air data link terminal product number which is accessed to the network; by setting the "power control word" to "low power" or "high power", the data link terminal operating mode may be adjusted to a low power mode or a high power mode; generating a ground data link terminal communication control instruction according to an uplink communication protocol, sending the ground data link terminal communication control instruction to the ground data link terminal, and controlling the state of the ground data link terminal communication control instruction; and generating an air data link terminal communication control instruction according to an uplink communication protocol, sending the air data link terminal communication control instruction to a ground data link terminal, and forwarding the air data link terminal communication control instruction to the air data link terminal.
And step A5, receiving state information of the data link terminal.
The ground control terminal receives ground data link terminal state information and air data link terminal state information, the product number of the sending data link terminal for identifying the state information distinguishes the ground data link terminal and the air data link terminal state information, the current working modes of the ground data link terminal and the air data link terminal are obtained through analyzing the power state, whether the air data link terminal is connected to the network is judged through analyzing the network connection state, the self-checking state, the signal intensity, the signal bottom noise and the packet loss rate, whether the self-checking is normal or not is judged, and whether the signal intensity, the signal bottom noise and the packet loss rate meet the requirements or not is judged.
And A6, receiving unmanned plane state information and image information.
The ground data chain terminal receives the state information and the image information of the network-accessed unmanned aerial vehicle, forwards the state information and the image information to the ground control terminal, and the ground control terminal analyzes and displays the state information and the image information.
And step A7, controlling the network access of the data link in the air and transmitting the data.
And when a new unmanned aerial vehicle enters the network or a current unmanned aerial vehicle which has entered the network exits the network, repeating the steps A3 to A6.
Preferably, the air data link terminal communication control implementation flow is as follows.
And B1, self-checking an aerial data link terminal.
Powering up the aerial data link terminal and completing self-checking; setting the 'transmitting data chain terminal product number' and the 'receiving data chain terminal product number' as local product numbers, setting the 'self-checking state' as 'self-checking normal', defaulting the 'power state' as 'low power', generating aerial data chain terminal state information according to a downlink communication protocol, and periodically transmitting the aerial data chain terminal state information to flight control of the unmanned aerial vehicle.
And B2, an air data link terminal network access request.
The aerial data link terminal sets the 'transmitting data link terminal product number' as the local product number, the 'receiving data link terminal product number' as the 'ground data link terminal product number', the 'self-checking state' and the 'power state' in the step B1 are maintained, the 'network access state' is set as the 'network access request', the aerial data link terminal state information is generated according to the downlink communication protocol, and the aerial data link terminal state information is periodically transmitted to the ground data link terminal.
And B3, setting parameters of the aerial data link terminal.
The aerial data link terminal receives the aerial data link terminal communication control instruction, and identifies the 'receiving data link terminal product number' of the aerial data link terminal communication control instruction; when the product number of the receiving data chain terminal is consistent with the product number of the local machine, judging a network access setting word, if the network access is allowed, setting a network access state as a network access, and if the network access is refused, setting the network access state as a network access not; the "power control word" is identified, whereupon the local operating mode is adjusted to either a low power mode or a high power mode.
And B4, transmitting the state information of the aerial data link terminal.
The aerial data link terminal sets the 'transmitting data link terminal product number' as the local product number, and the 'receiving data link terminal product number' as the 'ground data link terminal product number'; maintaining the self-checking state in the step B1 and the network access state and the power state in the step B2, and updating the signal strength, the signal background noise and the packet loss rate in real time; and generating the state information of the aerial data link terminal according to the downlink communication protocol, and periodically transmitting the state information to the ground data link terminal.
And B5, transmitting unmanned plane state information and image information.
When the network access setting word is "network access allowed" in the step B3, the aerial data link terminal forwards the unmanned aerial vehicle state information and the image information sent by the unmanned aerial vehicle photoelectric module to the ground data link terminal.
In summary, the method and system disclosed in the present embodiment have at least the following beneficial effects: the nodes corresponding to the same data multicast IP address can expand capacity through the port number, and transmit and receive data according to the set or identified port number; the method has the advantages of strong practicability and high flexibility, and well meets the command requirements of a single ground command terminal on a plurality of unmanned aerial vehicles with uncertain nodes; and moreover, a plurality of troubles caused by IP address conflict between different unmanned aerial vehicles in the same network and photoelectric modules are thoroughly solved fundamentally, and the maintenance and management are facilitated.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A node-scalable multi-unmanned aerial vehicle communication control method, comprising: a ground command terminal and N unmanned aerial vehicles, wherein N is more than or equal to 2; the N unmanned aerial vehicles are respectively provided with an aerial data link terminal, and a ground data link terminal is deployed between each aerial data link terminal and the ground command terminal; the ground data link terminals are communicated with all the aerial data link terminals in a multicast mode;
The ground command terminal and the unmanned aerial vehicle send and receive data with the same and fixed multicast IP address; when any unmanned aerial vehicle sends unmanned aerial vehicle state information, image information and receives unmanned aerial vehicle control instructions to a ground command terminal, port numbers are respectively an air unmanned aerial vehicle state information sending port number, an air image information sending port number and an air control instruction receiving port number, the three port numbers are fixed values unified with all unmanned aerial vehicles in the same network, and the three port numbers are different;
When the ground command terminal transmits an unmanned aerial vehicle control instruction to an unmanned aerial vehicle with a data chain terminal product number M, the transmitting port number is M+ground transmitting control instruction port offset; when the ground command terminal receives unmanned aerial vehicle state information and image information sent by an unmanned aerial vehicle with a data chain terminal product number of M, the receiving port numbers are respectively M+ground receiving state information port offset and M+ground receiving image information port offset; the product numbers of the data chain terminals are preconfigured and carried in the network access requests of the air data chain terminals and the data frames for interaction after network access, and the data frames also carry marking information for indicating whether network access is performed;
The distance between every two of three offset values corresponding to the ground transmission control instruction port offset, the ground receiving state information port offset and the ground receiving image information port offset is larger than the maximum number and the maximum number of the expected expanded unmanned aerial vehicles in the same network.
2. The method of claim 1, wherein the ground data link end product comprises at least one serial port and one network port connected to the ground command terminal by a cable; the method further comprises the steps of:
The ground data link terminal receives unmanned plane state information, image information and air data link terminal state information sent by the air data link terminal through a wireless communication mode; transmitting ground data link terminal state information to a ground command terminal through a serial port, forwarding air data link terminal state information, and receiving a ground data link terminal communication control instruction and an air data link terminal communication control instruction transmitted by the ground command terminal; receiving an unmanned aerial vehicle control instruction sent by a ground command terminal through a network port; and forwarding the communication control instruction of the aerial data link terminal and the unmanned aerial vehicle control instruction to the aerial data link terminal in a wireless communication mode.
3. The method according to claim 1 or 2, wherein the aerial data link terminal is provided with at least one network port connected with the unmanned aerial vehicle photoelectric module, one network port connected with the unmanned aerial vehicle flight control, and a serial port connected with the unmanned aerial vehicle flight control; the method further comprises the steps of:
The aerial data link terminal receives unmanned aerial vehicle control instructions and aerial data link terminal communication control instructions forwarded by the ground data link terminal in a wireless communication mode; transmitting the state information of the aerial data link terminal to the unmanned aerial vehicle through a serial port; the unmanned aerial vehicle control instruction is sent to the unmanned aerial vehicle through the internet access, and unmanned aerial vehicle state information and image information sent by the unmanned aerial vehicle are received; and transmitting the state information of the aerial data link terminal through a wireless communication mode, and forwarding the state information and the image information of the unmanned aerial vehicle to a ground data link terminal.
4. A method according to claim 3, wherein during the interaction, the communication protocol comprises a downstream communication protocol and an upstream communication protocol; wherein:
the downlink communication protocol prescribes the data format of ground data link terminal state information and air data link terminal state information; the downlink communication protocol at least comprises a frame header, a data length, an information identifier, a transmitting data chain terminal product number, a receiving data chain terminal product number, a power control word, a network access setting word and a checksum;
The uplink communication protocol prescribes the data format of the ground data link terminal communication control instruction and the air data link terminal communication control instruction; the uplink communication protocol at least comprises a frame header, a data length, an information identifier, a transmitting data chain terminal product number, a receiving data chain terminal product number, a power state, a network access state, a self-checking state, a signal strength, a signal background noise, a packet loss rate and a checksum.
5. The method according to claim 4, wherein the ground data link terminal communication control implementation flow is as follows:
Step A1, self-checking of a ground data link terminal:
Powering up the ground data link terminal and completing self-checking; setting the 'transmitting data chain terminal product number' and the 'receiving data chain terminal product number' as local product numbers, setting the 'self-checking state' as 'self-checking normal', defaulting the 'power state' as 'high power', and generating ground data chain terminal state information according to a downlink communication protocol;
step A2, transmitting data link terminal state information:
The ground data link terminal periodically transmits ground data link terminal state information to the ground command terminal, and forwards air data link terminal state information at the same time, and the ground command terminal distinguishes the ground data link terminal and the air data link terminal state information by identifying a product number of the transmitted data link terminal;
Step A3, network access control of an aerial data link terminal:
The ground command terminal identifies the 'receiving data chain terminal product number' and the 'network access state' of the air data chain terminal state information, judges whether the air data chain terminal needs to change the network access state, sets the 'network access setting word' as 'allowing network access' or 'refusing network access' when the network access state needs to be changed, sets the 'transmitting data chain terminal product number' as the local product number, sets the 'receiving data chain terminal product number' as the identified air data chain terminal, generates an air data chain terminal communication control instruction according to an uplink communication protocol, sends the air data chain terminal and forwards the air data chain terminal;
Step A4, setting parameters of a data link terminal:
The ground command terminal sets parameters of the ground data link terminal and the air data link terminal according to actual needs, and distinguishes objects of parameter setting by setting a 'transmitting data link terminal product number' as a local product number and a 'receiving data link terminal product number' as a ground data link terminal product number or an air data link terminal product number which is accessed to the network; by setting the "power control word" to "low power" or "high power", the data link terminal operating mode may be adjusted to a low power mode or a high power mode; generating a ground data link terminal communication control instruction according to an uplink communication protocol, sending the ground data link terminal communication control instruction to the ground data link terminal, and controlling the state of the ground data link terminal communication control instruction; generating an air data link terminal communication control instruction according to an uplink communication protocol, sending the air data link terminal communication control instruction to a ground data link terminal, and forwarding the air data link terminal communication control instruction to the air data link terminal;
step A5, receiving state information of the data link terminal:
The ground control terminal receives ground data link terminal state information and air data link terminal state information, the product number of a sending data link terminal for identifying the state information distinguishes the ground data link terminal and the air data link terminal state information, the current working modes of the ground data link terminal and the air data link terminal are obtained through analyzing the power state, whether the air data link terminal is connected to the network is judged through analyzing the network connection state, the self-checking state, the signal intensity, the signal bottom noise and the packet loss rate, the self-checking is normal, and the signal intensity, the signal bottom noise and the packet loss rate meet the requirements;
step A6, unmanned plane state information and image information are received:
The ground data chain terminal receives the state information and the image information of the network-accessed unmanned aerial vehicle, forwards the state information and the image information to the ground control terminal, and the ground control terminal analyzes and displays the state information and the image information;
step A7, controlling the network access of the data link in the air and transmitting the data;
And when a new unmanned aerial vehicle enters the network or a current unmanned aerial vehicle which has entered the network exits the network, repeating the steps A3 to A6.
6. The method according to claim 5, wherein the air data link terminal communication control implementation flow is as follows:
step B1, self-checking an aerial data link terminal:
Powering up the aerial data link terminal and completing self-checking; setting the 'transmitting data chain terminal product number' and the 'receiving data chain terminal product number' as local product numbers, setting the 'self-checking state' as 'self-checking normal', defaulting the 'power state' as 'low power', generating aerial data chain terminal state information according to a downlink communication protocol, and periodically transmitting the aerial data chain terminal state information to flight control of the unmanned aerial vehicle;
step B2, an air data link terminal network access request:
The aerial data link terminal sets the 'sending data link terminal product number' as a local product number, sets the 'receiving data link terminal product number' as a 'ground data link terminal product number', keeps the 'self-checking state' and the 'power state' in the step B1, sets the 'network access state' as a 'network access request', generates aerial data link terminal state information according to a downlink communication protocol, and periodically sends the information to the ground data link terminal;
Step B3, setting parameters of an aerial data link terminal:
The aerial data link terminal receives the aerial data link terminal communication control instruction, and identifies the 'receiving data link terminal product number' of the aerial data link terminal communication control instruction; when the product number of the receiving data chain terminal is consistent with the product number of the local machine, judging a network access setting word, if the network access is allowed, setting a network access state as a network access, and if the network access is refused, setting the network access state as a network access not; identifying a "power control word" whereby the local operating mode is adjusted to a low power mode or a high power mode;
And step B4, sending the state information of the aerial data link terminal:
The aerial data link terminal sets the 'transmitting data link terminal product number' as the local product number, and the 'receiving data link terminal product number' as the 'ground data link terminal product number'; maintaining the self-checking state in the step B1 and the network access state and the power state in the step B2, and updating the signal strength, the signal background noise and the packet loss rate in real time; generating state information of an air data link terminal according to a downlink communication protocol, and periodically transmitting the state information to a ground data link terminal;
Step B5, transmitting unmanned plane state information and image information;
When the network access setting word is "network access allowed" in the step B3, the aerial data link terminal forwards the unmanned aerial vehicle state information and the image information sent by the unmanned aerial vehicle photoelectric module to the ground data link terminal.
7. A node-extensible multi-unmanned aerial vehicle communication control system is characterized by comprising a ground command terminal and N unmanned aerial vehicles, wherein N is more than or equal to 2; the N unmanned aerial vehicles are respectively provided with an aerial data link terminal, and a ground data link terminal is deployed between each aerial data link terminal and the ground command terminal; the ground data link terminals are communicated with all the aerial data link terminals in a multicast mode; each node comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, and the method of any one of the preceding claims 1 to 6 is cooperatively implemented when the processor corresponding to each node is interacted to execute the corresponding computer program.
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