CN118018104A - Unmanned aerial vehicle-based data transmission method and system - Google Patents

Unmanned aerial vehicle-based data transmission method and system Download PDF

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Publication number
CN118018104A
CN118018104A CN202410418290.5A CN202410418290A CN118018104A CN 118018104 A CN118018104 A CN 118018104A CN 202410418290 A CN202410418290 A CN 202410418290A CN 118018104 A CN118018104 A CN 118018104A
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communication
unmanned aerial
aerial vehicle
data
searching
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CN118018104B (en
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汤志文
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Zhongke Yuanjing Jiangsu Culture Technology Co ltd
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Zhongke Yuanjing Jiangsu Culture Technology Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18504—Aircraft used as relay or high altitude atmospheric platform
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W48/00—Access restriction; Network selection; Access point selection
    • H04W48/16—Discovering, processing access restriction or access information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
    • H04W84/04—Large scale networks; Deep hierarchical networks
    • H04W84/06—Airborne or Satellite Networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Security & Cryptography (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention is applicable to the technical field of data communication, and particularly relates to a data transmission method and system based on an unmanned aerial vehicle, wherein the method comprises the following steps: setting a fixed communication base station, and acquiring an image to obtain a communication area monitoring image; the corresponding regional map is called, a position mapping relation is constructed, search region hierarchy division is conducted based on the regional map, and hierarchical search is conducted; the method comprises the steps of detecting a communication device signal by searching an unmanned aerial vehicle, establishing temporary data communication with the communication device, and receiving temporary communication data; and performing position verification, determining positioning information of the communication equipment, performing image acquisition based on the positioning information of the communication equipment, and transmitting data to the fixed communication base station. According to the invention, the data connection is established between the simulated mobile base station and the communication equipment, so that temporary communication data is temporarily stored in the unmanned aerial vehicle, and the data interaction is completed when the unmanned aerial vehicle passes through the fixed communication base station, so that an intermittent data interaction process is realized, the communication cost is reduced, and the communication efficiency is improved.

Description

Unmanned aerial vehicle-based data transmission method and system
Technical Field
The invention belongs to the technical field of data communication, and particularly relates to a data transmission method and system based on an unmanned aerial vehicle.
Background
Unmanned aerial vehicle communication refers to a process of information transmission between an Unmanned aerial vehicle (un-managed AERIAL VEHICLE, UAV) and other devices (such as ground stations, other Unmanned aerial vehicles, satellites, mobile devices, etc.). Unmanned aerial vehicle communication is one of the core components of Unmanned aerial vehicle system (UAS, unmanned AIRCRAFT SYSTEM), and is crucial to realizing functions such as remote control, real-time monitoring, data acquisition and transmission, collaborative operation and the like of Unmanned aerial vehicles.
Along with unmanned aerial vehicle's development, unmanned aerial vehicle is widely used in each field, in the data transmission field, and common application is emergent communication unmanned aerial vehicle, and emergent communication unmanned aerial vehicle is carried the mobile base station by large-scale unmanned aerial vehicle and is constituteed, and it hovers above the target area and provides temporary communication for the network equipment of below, but emergent communication unmanned aerial vehicle mainly uses in large-scale emergent communication scene, such as the scene such as large tracts of land communication interruption that the storm leads to and the large tracts of land communication terminal that the earthquake leads to, and communication cost is extremely high moreover, and can't realize the effect of autonomous search communication equipment.
Disclosure of Invention
The invention aims to provide a data transmission method based on an unmanned aerial vehicle, and aims to solve the problems that the communication cost is extremely high and the effect of autonomously searching communication equipment cannot be achieved in the prior art.
The invention is realized in such a way that a data transmission method based on an unmanned aerial vehicle comprises the following steps:
Setting a fixed communication base station for image acquisition to obtain a communication area monitoring image, wherein the fixed communication base station is used for carrying out data communication with a searching unmanned aerial vehicle, and the searching unmanned aerial vehicle is provided with an analog mobile base station;
the corresponding area map is called, the position mapping relation between the communication area monitoring image and the area map is constructed, the search area hierarchy division is carried out based on the area map, and hierarchical search is carried out through the search unmanned aerial vehicle;
The method comprises the steps of detecting a communication device signal by searching an unmanned aerial vehicle, establishing temporary data communication with the communication device, and receiving temporary communication data sent by the corresponding communication device;
And invoking at least two groups of searching unmanned aerial vehicles to perform position verification on the communication equipment, determining the positioning information of the communication equipment, performing image acquisition based on the positioning information of the communication equipment, and transmitting data to a fixed communication base station.
Preferably, the step of retrieving a corresponding area map, constructing a position mapping relationship between a communication area monitoring image and the area map, performing search area hierarchical division based on the area map, and performing hierarchical search by searching the unmanned aerial vehicle specifically includes:
Taking an area map, identifying building features contained in the area map, performing image matching based on the building features, and determining a position mapping relation between a communication area monitoring image and the area map;
Identifying an area where a building is located in an area map, wherein the position where the building is located in the area map is set as a first search level, and other areas are set as a second search level;
And determining the number of unmanned aerial vehicles to be searched divided into different search areas based on the areas of the different search areas and preset search parameters, and carrying out hierarchical search through the unmanned aerial vehicles to be searched.
Preferably, the step of detecting the signal of the communication device by the searching unmanned aerial vehicle, establishing temporary data communication with the communication device, and receiving the temporary communication data sent by the corresponding communication device specifically includes:
The method comprises the steps of searching an unmanned aerial vehicle to start an analog mobile base station, detecting a communication equipment signal in the middle of flight, and carrying out low-speed flight when the communication equipment signal is monitored;
Continuously detecting the intensity of a communication signal on a flight path, hovering a searching unmanned aerial vehicle at the position with the maximum intensity of the communication signal, and establishing data connection with communication equipment;
And sending preset prompt data to the corresponding communication equipment, receiving temporary communication data sent by the communication equipment, marking the current position, and storing the position information into the temporary communication data.
Preferably, the step of retrieving at least two groups of search unmanned aerial vehicles to perform position verification on the communication device, determining positioning information of the communication device, performing image acquisition based on the positioning information of the communication device, and transmitting data to a fixed communication base station specifically includes:
Hovering the current searching unmanned aerial vehicle, broadcasting a positioning matching request outwards, and approaching the current searching unmanned aerial vehicle after the nearby searching unmanned aerial vehicle monitors the positioning matching request;
at least two groups of searching unmanned aerial vehicles detect the communication signal intensity of the communication equipment, the searching unmanned aerial vehicles detect the signal intensity from a plurality of detection points to obtain a plurality of groups of signal intensity values, and a plurality of detection points form a preset graph;
And checking the communication distance based on the coordinates of the detection points and the signal intensity values, determining the positioning information of the communication equipment, and sending the positioning image of the communication equipment to the fixed communication base station.
Preferably, the searching unmanned aerial vehicle sends the stored temporary communication data and the positioning image to the fixed communication base station when passing through the fixed communication base station in the searching process, receives the feedback communication data sent by the fixed communication base station, and sends the feedback communication data to the corresponding communication equipment through the corresponding searching unmanned aerial vehicle.
Another object of the present invention is to provide a data transmission system based on an unmanned aerial vehicle, the system comprising:
the image acquisition module is used for setting a fixed communication base station for image acquisition to obtain a communication area monitoring image, the fixed communication base station is used for carrying out data communication with a searching unmanned aerial vehicle, and the searching unmanned aerial vehicle is provided with an analog mobile base station;
The map matching module is used for retrieving a corresponding area map, constructing a position mapping relation between the communication area monitoring image and the area map, carrying out search area hierarchical division based on the area map, and carrying out hierarchical search through the search unmanned aerial vehicle;
the data interaction module is used for detecting signals of the communication equipment through searching the unmanned aerial vehicle, establishing temporary data communication with the communication equipment and receiving temporary communication data sent by the corresponding communication equipment;
And the searching and positioning module is used for retrieving at least two groups of searching unmanned aerial vehicles to perform position verification on the communication equipment, determining the positioning information of the communication equipment, performing image acquisition based on the positioning information of the communication equipment and transmitting data to the fixed communication base station.
Preferably, the map matching module includes:
The image mapping unit is used for calling the area map, identifying the building features contained in the area map, carrying out image matching based on the building features, and determining the position mapping relation between the communication area monitoring image and the area map;
The regional division unit is used for identifying the region where the building is located in the regional map, wherein the position where the building is located in the regional map is set as a first search level, and other regions are set as a second search level;
And the hierarchical search unit is used for determining the number of unmanned aerial vehicles to be searched divided into different search areas based on the areas of the different search areas and preset search parameters, and performing hierarchical search through the unmanned aerial vehicles to be searched.
Preferably, the data interaction module includes:
The signal detection unit is used for searching the unmanned aerial vehicle to start the simulated mobile base station, detecting the signal of the communication equipment in the middle of the flight, and carrying out low-speed flight when the signal of the communication equipment is monitored;
The data communication unit is used for continuously detecting the intensity of the communication signal on the flight path, hovering the searching unmanned aerial vehicle at the position with the maximum intensity of the communication signal, and establishing data connection with the communication equipment;
And the data receiving unit is used for sending preset prompt data to the corresponding communication equipment, receiving temporary communication data sent by the communication equipment, marking the current position and storing the position information into the temporary communication data.
Preferably, the searching and positioning module includes:
The positioning request unit is used for hovering the current searching unmanned aerial vehicle, broadcasting a positioning matching request outwards, and approaching the current searching unmanned aerial vehicle after the nearby searching unmanned aerial vehicle monitors the positioning matching request;
The signal intensity detection unit is used for detecting the communication signal intensity of the communication equipment by at least two groups of searching unmanned aerial vehicles, the searching unmanned aerial vehicles detect the signal intensity from a plurality of detection points to obtain a plurality of groups of signal intensity values, and a plurality of detection points form a preset graph;
And the image acquisition unit is used for checking the communication distance based on the coordinates of the detection points and the multiple groups of signal intensity values, determining the positioning information of the communication equipment and sending the positioning image of the communication equipment to the fixed communication base station.
Preferably, the searching unmanned aerial vehicle sends the stored temporary communication data and the positioning image to the fixed communication base station when passing through the fixed communication base station in the searching process, receives the feedback communication data sent by the fixed communication base station, and sends the feedback communication data to the corresponding communication equipment through the corresponding searching unmanned aerial vehicle.
According to the unmanned aerial vehicle-based data transmission method, the fixed communication base station is established on site, the unmanned aerial vehicle is used for carrying the simulated mobile base station for searching, and the simulated mobile base station is used for establishing data connection with the communication equipment, so that temporary communication data are temporarily stored in the unmanned aerial vehicle, and when the unmanned aerial vehicle passes through the fixed communication base station, data interaction is completed, an intermittent data interaction process is realized, communication cost is reduced, and communication efficiency is improved.
Drawings
Fig. 1 is a flowchart of a data transmission method based on an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of a step of retrieving a corresponding area map, constructing a position mapping relationship between a communication area monitoring image and the area map, performing search area hierarchical division based on the area map, and performing hierarchical search by searching an unmanned aerial vehicle according to the embodiment of the present invention;
Fig. 3 is a flowchart of a step of establishing temporary data communication with a communication device by searching for a signal detection of the communication device by the unmanned aerial vehicle and receiving temporary communication data sent by the corresponding communication device according to an embodiment of the present invention;
Fig. 4 is a flowchart of the steps of retrieving at least two groups of search robots to perform position verification on the communication device, determining positioning information of the communication device, performing image acquisition based on the positioning information of the communication device, and transmitting data to a fixed communication base station according to the embodiment of the present invention;
Fig. 5 is a schematic diagram of a data transmission system based on an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a map matching module according to an embodiment of the present invention;
FIG. 7 is a block diagram of a data interaction module according to an embodiment of the present invention;
fig. 8 is a block diagram of a search positioning module according to an embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that the terms "first," "second," and the like, as used herein, may be used to describe various elements, but these elements are not limited by these terms unless otherwise specified. These terms are only used to distinguish one element from another element. For example, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script, without departing from the scope of this disclosure.
As shown in fig. 1, a flowchart of a data transmission method based on an unmanned aerial vehicle according to an embodiment of the present invention is provided, where the method includes:
S100, setting a fixed communication base station, acquiring images to obtain a communication area monitoring image, wherein the fixed communication base station is used for carrying out data communication with a searching unmanned aerial vehicle, and the searching unmanned aerial vehicle is provided with an analog mobile base station.
In this step, a fixed communication base station is set, a group of fixed communication base stations are set near the area where data transmission is required, and mobile communication base stations can be used, the number of the fixed communication base stations can be one or more, the fixed communication base stations can perform data transmission with the searching unmanned aerial vehicle, the data transmission modes between the fixed communication base stations and the searching unmanned aerial vehicle can be any wireless transmission mode including WIFI transmission and Bluetooth transmission, when the searching unmanned aerial vehicle enters the communication range of the fixed communication base stations, data connection can be established, data transmission is performed, the number of the searching unmanned aerial vehicle is more, and the mobile communication base stations are provided with simulated mobile base stations, wherein the simulated mobile base stations are used for simulating the base stations in a physical sense to perform offline data interaction with the communication equipment, namely, the communication equipment can detect communication signals when approaching the searching unmanned aerial vehicle, identity verification can be completed between the two mobile communication base stations, the mobile communication base stations perform data transmission with the searching unmanned aerial vehicle, and the unmanned aerial vehicle carries a high-definition image acquisition device, and image acquisition is performed from the upper part of the searching area, so that the monitoring image of the communication area is obtained.
S200, a corresponding area map is called, a position mapping relation between the communication area monitoring image and the area map is constructed, search area hierarchy division is conducted based on the area map, and hierarchical search is conducted through a search unmanned aerial vehicle.
In this step, the corresponding regional map is called, based on the approximate position of the current region, the regional map is called, which is the map of the current region, and is used for recording the original landform of the current region, including the position and type of the building, while in the extreme case of communication interruption, the building of the current region may be damaged, the original landform will be changed, the mapping relationship between the communication region monitoring image and the regional map can be determined by matching the positions of the communication region monitoring image and the regional map, then each pixel on the communication region monitoring image can determine the corresponding position of the pixel in the regional map, during searching, quick positioning can be completed, for the searching region, the number of the communication devices existing in the region with a higher personnel activity probability such as the building is obviously higher than that of the other region, for example, the number of the communication devices existing in the building is obviously higher than that of the mountain, so that the searching region is divided into at least two levels according to the type of the ground characteristics, then the unmanned aerial vehicle is divided into a plurality of portions, and the hierarchical searching communication devices are searched for the communication devices.
S300, detecting signals of the communication equipment through searching the unmanned aerial vehicle, establishing temporary data communication with the communication equipment, and receiving temporary communication data sent by the corresponding communication equipment.
In this step, the unmanned aerial vehicle is searched for to detect the communication device signal, the unmanned aerial vehicle starts to fly round according to the search area obtained by dividing, in the flying process, the simulated mobile base station is started, the communication device can detect the network signal at the moment, meanwhile, the simulated mobile base station can synchronously detect the communication device, when the communication device is detected, the data connection is established between the communication device and the simulated mobile base station in an off-line communication mode, at the moment, the simulated mobile base station can send data to the communication device, can also receive temporary communication data sent by the communication device, and the unmanned aerial vehicle is searched for to send preset communication data to the communication device, wherein the communication data are used for guiding the communication device to send data.
S400, at least two groups of searching unmanned aerial vehicles are called to carry out position verification on the communication equipment, the positioning information of the communication equipment is determined, image acquisition is carried out based on the positioning information of the communication equipment, and data are transmitted to a fixed communication base station.
In this step, at least two groups of search unmanned aerial vehicles are called to perform position verification on the communication equipment, when the communication equipment is detected, the communication equipment is recorded, the recorded content at least comprises equipment unique codes of the communication equipment, such as IMEI codes, then in the subsequent process, the identity of the communication equipment can be directly determined, data transmission is performed, multiple groups of search unmanned aerial vehicles are called to detect the signal intensity of the communication equipment from different distances, the distance value between each search unmanned aerial vehicle and the communication equipment is determined based on an RSSI ranging technology, thereby determining the specific position of the communication equipment, obtaining the position information of the communication equipment, after the position of the communication equipment is determined, performing image acquisition on the area, in order to save data, only the coordinates of the position can be recorded, the image of the area can be directly determined based on the relation between an area map and a communication area monitoring image, or the reverse image acquisition can be performed, the timeliness of the image can be ensured, after the search unmanned aerial vehicle completes data transmission with the current communication equipment, the search unmanned aerial vehicle continues, when the unmanned aerial vehicle is fixed and cruises, the unmanned aerial vehicle automatically stores the data in the unmanned aerial vehicle, the unmanned aerial vehicle automatically transmits the data to the fixed base station, and the corresponding data is transmitted to the communication equipment when the unmanned aerial vehicle is fixed, and the data is transmitted to the unmanned aerial vehicle is in an intermittent mode, and the corresponding communication equipment is transmitted in a communication mode, and the intermittent mode is required to be transmitted to the communication equipment.
As shown in fig. 2, as a preferred embodiment of the present invention, the steps of retrieving a corresponding area map, constructing a position mapping relationship between a communication area monitoring image and the area map, performing search area hierarchical division based on the area map, and performing hierarchical search by searching for an unmanned aerial vehicle specifically include:
S201, calling the area map, identifying building features contained in the area map, performing image matching based on the building features, and determining the position mapping relation between the communication area monitoring image and the area map.
In this step, the regional map is called according to the current position, the regional map should cover the area where temporary communication needs to be established currently, or be larger than the search area, the building features are identified, the building features include building features, road features and mountain features, the communication region monitoring image is identified, the buildings, roads and mountain bodies contained in the communication region monitoring image are identified, and accordingly the buildings, roads and mountain bodies in the identification result are matched with the regional map, the corresponding relation between the two is determined, and after the matching is completed, the corresponding relation between each pixel in the communication region monitoring image and each coordinate in the regional map can be determined.
S202, identifying the area where the building is located in the area map, wherein the position where the building is located in the area map is set as a first search level, and other areas are set as a second search level.
S203, determining the number of unmanned aerial vehicles to be searched divided into different search areas based on the areas of the different search areas and preset search parameters, and performing hierarchical search through the unmanned aerial vehicles to be searched.
In this step, the area where the building is located in the area map is identified, and in the area map, the type of the building is named, so that the type of the building can be determined by directly inquiring the name and address of the building, and likewise, the road and the mountain can be determined, the building is divided into a first search level, and other areas are second search levels, because the probability of personnel activity in the building is higher, the search frequency is higher for the area of the first search level, and the second search level searches through fewer unmanned search planes.
As shown in fig. 3, as a preferred embodiment of the present invention, the steps of performing signal detection of a communication device by a searching unmanned aerial vehicle, establishing temporary data communication with the communication device, and receiving temporary communication data sent by a corresponding communication device specifically include:
S301, searching for an unmanned aerial vehicle to start an analog mobile base station, detecting a communication equipment signal in the middle of flight, and carrying out low-speed flight when the communication equipment signal is monitored.
In this step, the search unmanned aerial vehicle starts the simulation mobile base station, and can simulate the base station to operate at this moment, when the search unmanned aerial vehicle moves to the signal detection range of the communication equipment, the communication signals of the other party can be detected between the search unmanned aerial vehicle and the simulation mobile base station, and when the communication equipment signals are monitored, the search unmanned aerial vehicle flies at a low speed.
S302, continuously detecting the intensity of a communication signal on a flight path, hovering a searching unmanned aerial vehicle at the position with the maximum intensity of the communication signal, and establishing data connection with communication equipment.
In this step, the communication signal intensity is continuously detected on the flight path, and although the communication device is detected, when the connection is unstable, it is difficult to complete the data transmission task, at this time, the searching unmanned aerial vehicle reciprocates on the search path, if the communication device can be detected in the a-B segment of the searching unmanned aerial vehicle, then it is determined that a point with the highest communication signal intensity is detected in the a-B segment, the searching unmanned aerial vehicle hovers at the point, and establishes a data connection with the communication device.
S303, sending preset prompt data to the corresponding communication equipment, receiving temporary communication data sent by the communication equipment, marking the current position, and storing the position information into the temporary communication data.
In this step, preset prompting data is sent to the corresponding communication device, the prompting data is used for prompting the user of the communication device, the current temporary communication mode and the data communication flow, the contents can be pushed in a short message mode, the temporary communication data sent by the communication device is received and stored, the unmanned aerial vehicle is searched to locate the position of the unmanned aerial vehicle based on the locating system, and the locating data is stored in the temporary communication data.
As shown in fig. 4, as a preferred embodiment of the present invention, the steps of retrieving at least two groups of search robots to perform location verification on the communication device, determining communication device location information, performing image acquisition based on the communication device location information, and transmitting data to a fixed communication base station specifically include:
s401, hovering by the current searching unmanned aerial vehicle, broadcasting a positioning matching request outwards, and approaching the current searching unmanned aerial vehicle after the nearby searching unmanned aerial vehicle monitors the positioning matching request.
In this step, the searching unmanned aerial vehicle hovers, and broadcasts the locating cooperation request outwards, when detecting the locating cooperation request, the searching unmanned aerial vehicle analyzes the locating cooperation request, extracts the locating information contained therein, and goes to the position designated by the locating information.
S402, detecting the communication signal intensity of the communication equipment by at least two groups of searching unmanned aerial vehicles, detecting the signal intensity by the searching unmanned aerial vehicles from a plurality of detection points to obtain a plurality of groups of signal intensity values, wherein a plurality of detection points form a preset graph.
In this step, at least two sets of search unmanned aerial vehicle detect the communication signal intensity of communication equipment, based on the detection dot matrix of predetermineeing, detect the dot matrix and can be polygon dot matrix, like triangle dot matrix, three search unmanned aerial vehicle set correspond the triangle of shape, carry out signal intensity value detection in step, record signal intensity value, triangle dot matrix's distribution position carries out multiunit change.
S403, checking the communication distance based on the coordinates of the detection points and the signal intensity values, determining the positioning information of the communication equipment, and sending the positioning image of the communication equipment to the fixed communication base station.
In this step, the communication distance checking is performed based on the coordinates of multiple detection points and multiple sets of signal intensity values, the communication device position calculated at the position of each lattice is calculated based on the preset RSSI ranging technology, and since each lattice will be distributed at multiple positions, screening is performed by checking multiple positions, if ten results exist, but only one set of results has the largest difference from other results, deleting the results, specifically, calculating the sum of distance values between each position coordinate and other position coordinates, sorting the sum of distance values, and when the average value a is greater than p×a n, determining to discard the position coordinate, and when the fixed communication base station passes through, transmitting the positioning image of the communication device.
As shown in fig. 5, an architecture diagram of a data transmission system based on an unmanned aerial vehicle according to an embodiment of the present invention includes:
The image acquisition module 100 is configured to set a fixed communication base station, perform image acquisition, and obtain a communication area monitoring image, where the fixed communication base station is configured to perform data communication with a search unmanned aerial vehicle, and the search unmanned aerial vehicle is equipped with an analog mobile base station.
In the system, the image acquisition module 100 sets a fixed communication base station, a group of fixed communication base stations are set near an area needing to perform data transmission, a mobile communication base station can be used, the number of the fixed communication base stations can be one or a plurality of fixed communication base stations, the fixed communication base stations can perform data transmission with the searching unmanned aerial vehicle, the data transmission modes between the fixed communication base stations can be any wireless transmission mode including WIFI transmission, bluetooth transmission and the like, when the searching unmanned aerial vehicle enters the communication range of the fixed communication base stations, data connection can be established, data transmission is performed, the number of the searching unmanned aerial vehicle is a plurality of the searching unmanned aerial vehicle, and the mobile communication base stations are provided with simulated mobile base stations, wherein the simulated mobile base stations are used for simulating the base stations in a physical sense to perform offline data interaction with communication equipment, namely, when the communication equipment is close to the searching unmanned aerial vehicle, communication signals can be detected, identity verification can be completed between the fixed communication base stations and the data transmission can be performed, the unmanned aerial vehicle carries a high-definition image acquisition device, and image acquisition is performed from the upper part of the searching area, and a monitoring image of the communication area is obtained.
The map matching module 200 is configured to retrieve a corresponding area map, construct a position mapping relationship between the communication area monitoring image and the area map, perform search area hierarchy division based on the area map, and perform hierarchical search by searching the unmanned aerial vehicle.
In the present system, the map matching module 200 invokes a corresponding regional map, based on the approximate position of the current region, the regional map is the map of the current region, and is used for recording the original topography of the current region, including the position and type of the building, while in the extreme case of communication interruption, the building of the current region may be damaged, the original topography may be changed, the mapping relationship between the communication region monitoring image and the regional map may be determined by matching the positions of the communication region monitoring image and the regional map, then each pixel on the communication region monitoring image may determine the corresponding position of the pixel in the regional map, during searching, quick positioning may be completed, for the searching region, the number of the existing communication devices may be obviously higher than that of other regions, such as the residential building, in the region where the activity probability of personnel is higher, for example, the number of the communication devices in the residential building is obviously higher than the mountain, so the searching region level is divided into at least two levels according to the type of the ground feature, and then the unmanned aerial vehicle is divided into a plurality of portions for hierarchical searching, and the communication devices are searched for the communication devices.
The data interaction module 300 is configured to perform signal detection of a communication device by searching for the unmanned aerial vehicle, establish temporary data communication with the communication device, and receive temporary communication data sent by the corresponding communication device.
In the system, the data interaction module 300 detects a communication device signal by searching the unmanned aerial vehicle, the searching unmanned aerial vehicle starts to fly round according to the divided searching area, in the flying process, the simulated mobile base station is started, the communication device can detect a network signal at the moment, meanwhile, the simulated mobile base station can synchronously detect the communication device, when the communication device is detected, the data connection is established between the communication device and the simulated mobile base station in an off-line communication mode, the simulated mobile base station can send data to the communication device at the moment, can also receive temporary communication data sent by the communication device, and the searching unmanned aerial vehicle sends preset communication data to the communication device, wherein the communication data are used for guiding the communication device to send data.
The searching and positioning module 400 is configured to invoke at least two groups of searching unmanned aerial vehicles to perform position verification on the communication device, determine positioning information of the communication device, perform image acquisition based on the positioning information of the communication device, and transmit data to a fixed communication base station.
In the system, the search positioning module 400 invokes at least two groups of search unmanned aerial vehicles to perform position verification on the communication equipment, when the communication equipment is detected, the communication equipment is recorded, the recorded content at least comprises equipment unique codes of the communication equipment, such as IMEI codes, in the subsequent process, the identity of the communication equipment can be directly determined, data transmission is performed, multiple groups of search unmanned aerial vehicles are invoked to detect the signal intensity of the communication equipment from different distances, the distance value between each search unmanned aerial vehicle and the communication equipment is determined based on the RSSI ranging technology, the specific position of the communication equipment is determined, the position information of the communication equipment is obtained, after the position of the communication equipment is determined, the image acquisition is performed on the area, in order to save data, only the coordinates of the position are recorded, the image of the area can be directly determined, and the reverse image acquisition can also be performed, the timeliness of the image acquisition can be ensured, after the search unmanned aerial vehicle completes the data transmission with the current communication equipment, the cruise is continuously performed, the data is automatically transmitted to the corresponding fixed base station through the fixed communication equipment, the fixed base station is automatically transmitted to the unmanned aerial vehicle, the corresponding data is transmitted to the communication equipment through the fixed base station, and the data is transmitted to the communication equipment in an intermittent mode when the fixed base station is required to be fed back to the communication equipment through the communication, and the communication is performed, the corresponding data is transmitted through the fixed base station communication is required to the communication, the communication is fed back to the communication equipment.
As shown in fig. 6, as a preferred embodiment of the present invention, the map matching module 200 includes:
The image mapping unit 201 is configured to retrieve an area map, identify building features contained therein, perform image matching based on the building features, and determine a positional mapping relationship between the communication area monitoring image and the area map.
In this module, the image mapping unit 201 retrieves an area map, according to the current position, the area map should cover the area where temporary communication is currently required to be established, or be larger than the search area, identifies building features, including building features, road features and mountain features, performs image identification on the communication area monitoring image, and identifies buildings, roads and mountain included in the communication area monitoring image, so as to match the buildings, roads and mountain in the identification result with the area map, thereby determining the correspondence between the two, and after the matching is completed, determining the correspondence between each pixel in the communication area monitoring image and each coordinate in the area map.
The area dividing unit 202 is configured to identify an area where a building is located in an area map, where a location where the building is located is set as a first search level, and other areas are set as second search levels.
The hierarchical search unit 203 is configured to determine the number of unmanned aerial vehicles to be searched divided into different search areas based on the areas of the different search areas and preset search parameters, and perform hierarchical search by searching the unmanned aerial vehicles.
In the module, the area where the building is located in the area map is identified, and the type of the building is named in the area map, so that the type of the building can be directly determined by inquiring the name and the address of the building, the road and the mountain can be determined, the building is divided into a first search level, other areas are second search levels, and the area of the first search level is searched for more frequently due to the fact that the probability of personnel activity in the building is higher, and the second search level searches for less unmanned aerial vehicles.
As shown in fig. 7, as a preferred embodiment of the present invention, the data interaction module 300 includes:
The signal detection unit 301 is configured to search for an unmanned aerial vehicle to start an analog mobile base station, detect a communication device signal during flight, and perform low-speed flight when the communication device signal is monitored.
In this module, the signal detection unit 301 searches for the unmanned aerial vehicle to start the analog mobile base station, and at this time, the analog base station can operate, and when the unmanned aerial vehicle is searched for moving within the signal detection range of the communication device, the two can mutually detect the communication signal of the other party, and when the communication device signal is monitored, the unmanned aerial vehicle flies at a low speed.
And the data communication unit 302 is used for continuously detecting the intensity of the communication signal on the flight path, hovering the searching unmanned aerial vehicle at the position with the maximum intensity of the communication signal, and establishing data connection with the communication equipment.
In this module, the data communication unit 302 controls the search unmanned aerial vehicle to continuously detect the intensity of the communication signal on the flight path, and when the communication device is detected but the connection is unstable, it is difficult to complete the data transmission task, at this time, the search unmanned aerial vehicle reciprocates on the search path, if the communication device can be detected in the a-B segment of the search unmanned aerial vehicle, then it is determined that the point with the highest intensity of the communication signal is detected in the a-B segment, the search unmanned aerial vehicle hovers at the point, and establishes the data connection with the communication device.
And the data receiving unit 303 is configured to send preset prompting data to the corresponding communication device, receive temporary communication data sent by the communication device, mark the current location, and store location information in the temporary communication data.
In this module, the data receiving unit 303 sends preset prompting data to the corresponding communication device, where the prompting data is used to prompt the user of the communication device, the current temporary communication mode and the data communication flow, and the foregoing contents may be pushed by a short message mode, receive the temporary communication data sent by the communication device, store the temporary communication data, search the unmanned aerial vehicle to locate its own position based on the positioning system, and store the locating data in the temporary communication data.
As shown in fig. 8, as a preferred embodiment of the present invention, the search and location module 400 includes:
The location request unit 401 is configured to hover the current search unmanned aerial vehicle, broadcast a location matching request outwards, and after the nearby search unmanned aerial vehicle monitors the location matching request, get close to the current search unmanned aerial vehicle.
In this module, the location request unit 401 hovers from the current searching unmanned aerial vehicle and broadcasts the location matching request outwards, when the location matching request is detected between the searching unmanned aerial vehicles, the location matching request is parsed, and the location information contained in the location matching request is extracted and goes to the location specified by the location information.
The signal strength detection unit 402 is configured to detect the communication signal strength of the communication device by at least two groups of search unmanned aerial vehicles, where the search unmanned aerial vehicle detects the signal strength from a plurality of detection points to obtain a plurality of groups of signal strength values, and the plurality of detection points form a preset pattern.
In this module, the signal strength detecting unit 402 invokes at least two groups of search unmanned aerial vehicles to detect the communication signal strength of the communication device, based on a preset detection lattice, the detection lattice may be a polygonal lattice, such as a triangle lattice, three search unmanned aerial vehicles correspond to triangles of a shape, detect signal strength values synchronously, record the signal strength values, and perform multiple groups of changes on the distribution positions of the triangle lattice.
The image acquisition unit 403 is configured to perform communication distance checking based on coordinates of a plurality of detection points and a plurality of sets of signal intensity values, determine positioning information of the communication device, and send a positioning image of the communication device to the fixed communication base station.
In this module, the image acquisition unit 403 performs communication distance checking based on coordinates of multiple detection points and multiple sets of signal intensity values, calculates a communication device position calculated at a position where each lattice is located based on a preset RSSI ranging technology, performs screening by checking multiple positions because each lattice will be distributed at multiple positions, and if ten results exist, but only one set of results has a largest difference from other results, deletes the results, specifically calculates a sum of distance values between each position coordinate and other position coordinates, sorts the sum of distance values, and calculates average value a by adding a 1-An to the sum of distance values arranged in ascending order, when average value a is greater than p×a n, determines to discard the position coordinate, and uses the average coordinates of other remaining position coordinates as positioning information of the current communication device, and when passing through the fixed communication base station, sends a positioning image of the communication device.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in various embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims (10)

1. A data transmission method based on an unmanned aerial vehicle, the method comprising:
Setting a fixed communication base station for image acquisition to obtain a communication area monitoring image, wherein the fixed communication base station is used for carrying out data communication with a searching unmanned aerial vehicle, and the searching unmanned aerial vehicle is provided with an analog mobile base station;
the corresponding area map is called, the position mapping relation between the communication area monitoring image and the area map is constructed, the search area hierarchy division is carried out based on the area map, and hierarchical search is carried out through the search unmanned aerial vehicle;
The method comprises the steps of detecting a communication device signal by searching an unmanned aerial vehicle, establishing temporary data communication with the communication device, and receiving temporary communication data sent by the corresponding communication device;
And invoking at least two groups of searching unmanned aerial vehicles to perform position verification on the communication equipment, determining the positioning information of the communication equipment, performing image acquisition based on the positioning information of the communication equipment, and transmitting data to a fixed communication base station.
2. The unmanned aerial vehicle-based data transmission method of claim 1, wherein the steps of retrieving the corresponding area map, constructing a position mapping relation between the communication area monitoring image and the area map, performing search area hierarchical division based on the area map, and performing hierarchical search by searching the unmanned aerial vehicle comprise the following steps:
Taking an area map, identifying building features contained in the area map, performing image matching based on the building features, and determining a position mapping relation between a communication area monitoring image and the area map;
Identifying an area where a building is located in an area map, wherein the position where the building is located in the area map is set as a first search level, and other areas are set as a second search level;
And determining the number of unmanned aerial vehicles to be searched divided into different search areas based on the areas of the different search areas and preset search parameters, and carrying out hierarchical search through the unmanned aerial vehicles to be searched.
3. The unmanned aerial vehicle-based data transmission method of claim 1, wherein the step of establishing temporary data communication with the communication device by searching for the unmanned aerial vehicle for communication device signal detection and receiving temporary communication data transmitted by the corresponding communication device specifically comprises the steps of:
The method comprises the steps of searching an unmanned aerial vehicle to start an analog mobile base station, detecting a communication equipment signal in the middle of flight, and carrying out low-speed flight when the communication equipment signal is monitored;
Continuously detecting the intensity of a communication signal on a flight path, hovering a searching unmanned aerial vehicle at the position with the maximum intensity of the communication signal, and establishing data connection with communication equipment;
And sending preset prompt data to the corresponding communication equipment, receiving temporary communication data sent by the communication equipment, marking the current position, and storing the position information into the temporary communication data.
4. The unmanned aerial vehicle-based data transmission method of claim 1, wherein the step of retrieving at least two groups of search unmanned aerial vehicles to perform position verification on the communication device, determining communication device positioning information, performing image acquisition based on the communication device positioning information, and transmitting data to a fixed communication base station specifically comprises:
Hovering the current searching unmanned aerial vehicle, broadcasting a positioning matching request outwards, and approaching the current searching unmanned aerial vehicle after the nearby searching unmanned aerial vehicle monitors the positioning matching request;
at least two groups of searching unmanned aerial vehicles detect the communication signal intensity of the communication equipment, the searching unmanned aerial vehicles detect the signal intensity from a plurality of detection points to obtain a plurality of groups of signal intensity values, and a plurality of detection points form a preset graph;
And checking the communication distance based on the coordinates of the detection points and the signal intensity values, determining the positioning information of the communication equipment, and sending the positioning image of the communication equipment to the fixed communication base station.
5. The unmanned aerial vehicle-based data transmission method of claim 1, wherein the searching unmanned aerial vehicle transmits the stored temporary communication data and the positioning image to the fixed communication base station and receives the feedback communication data transmitted from the fixed communication base station when passing through the fixed communication base station in the searching process, and transmits the feedback communication data to the corresponding communication device through the corresponding searching unmanned aerial vehicle.
6. A drone-based data transmission system, the system comprising:
the image acquisition module is used for setting a fixed communication base station for image acquisition to obtain a communication area monitoring image, the fixed communication base station is used for carrying out data communication with a searching unmanned aerial vehicle, and the searching unmanned aerial vehicle is provided with an analog mobile base station;
The map matching module is used for retrieving a corresponding area map, constructing a position mapping relation between the communication area monitoring image and the area map, carrying out search area hierarchical division based on the area map, and carrying out hierarchical search through the search unmanned aerial vehicle;
the data interaction module is used for detecting signals of the communication equipment through searching the unmanned aerial vehicle, establishing temporary data communication with the communication equipment and receiving temporary communication data sent by the corresponding communication equipment;
And the searching and positioning module is used for retrieving at least two groups of searching unmanned aerial vehicles to perform position verification on the communication equipment, determining the positioning information of the communication equipment, performing image acquisition based on the positioning information of the communication equipment and transmitting data to the fixed communication base station.
7. The unmanned aerial vehicle-based data transmission system of claim 6, wherein the map matching module comprises:
The image mapping unit is used for calling the area map, identifying the building features contained in the area map, carrying out image matching based on the building features, and determining the position mapping relation between the communication area monitoring image and the area map;
The regional division unit is used for identifying the region where the building is located in the regional map, wherein the position where the building is located in the regional map is set as a first search level, and other regions are set as a second search level;
And the hierarchical search unit is used for determining the number of unmanned aerial vehicles to be searched divided into different search areas based on the areas of the different search areas and preset search parameters, and performing hierarchical search through the unmanned aerial vehicles to be searched.
8. The unmanned aerial vehicle-based data transmission system of claim 6, wherein the data interaction module comprises:
The signal detection unit is used for searching the unmanned aerial vehicle to start the simulated mobile base station, detecting the signal of the communication equipment in the middle of the flight, and carrying out low-speed flight when the signal of the communication equipment is monitored;
The data communication unit is used for continuously detecting the intensity of the communication signal on the flight path, hovering the searching unmanned aerial vehicle at the position with the maximum intensity of the communication signal, and establishing data connection with the communication equipment;
And the data receiving unit is used for sending preset prompt data to the corresponding communication equipment, receiving temporary communication data sent by the communication equipment, marking the current position and storing the position information into the temporary communication data.
9. The unmanned aerial vehicle-based data transmission system of claim 6, wherein the search positioning module comprises:
The positioning request unit is used for hovering the current searching unmanned aerial vehicle, broadcasting a positioning matching request outwards, and approaching the current searching unmanned aerial vehicle after the nearby searching unmanned aerial vehicle monitors the positioning matching request;
The signal intensity detection unit is used for detecting the communication signal intensity of the communication equipment by at least two groups of searching unmanned aerial vehicles, the searching unmanned aerial vehicles detect the signal intensity from a plurality of detection points to obtain a plurality of groups of signal intensity values, and a plurality of detection points form a preset graph;
And the image acquisition unit is used for checking the communication distance based on the coordinates of the detection points and the multiple groups of signal intensity values, determining the positioning information of the communication equipment and sending the positioning image of the communication equipment to the fixed communication base station.
10. The unmanned aerial vehicle-based data transmission system of claim 6, wherein the search unmanned aerial vehicle transmits the stored temporary communication data and the positioning image to the fixed communication base station when passing through the fixed communication base station in the search process, and receives the feedback communication data transmitted from the fixed communication base station, and transmits the feedback communication data to the corresponding communication device through the corresponding search unmanned aerial vehicle.
CN202410418290.5A 2024-04-09 2024-04-09 Unmanned aerial vehicle-based data transmission method and system Active CN118018104B (en)

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