TWI443549B - Portable modularized multi-control system and method for mini uavs - Google Patents

Description

Multi-machine guidance and control system for portable modular small unmanned vehicle and control method thereof

The invention relates to a multi-machine guidance and control system for a portable modular small unmanned vehicle and a control method thereof, in particular to a multi-machine guidance and control for large, medium and small unmanned vehicles, and the ground station thereof has Small, easy to carry, highly maneuverable, low-cost and difficult to detect features, the ground forces, the Marine Corps and the Army can perform reconnaissance, surveillance and sighting tasks.

Due to the wider application range of unmanned aerial vehicles (UAVs), it is used in military, climate detection, geographic exploration, environmental monitoring, communication relay platforms, etc., especially for many high-risk tasks. It is carried out by replacing the human being with the unmanned aerial vehicle UAV. Its advantage is that it is inexpensive and has no danger of personnel danger, so the importance of unmanned aerial vehicle UAV is irreplaceable. The design of the unmanned aerial vehicle must be determined by the requirements of the mission. The present invention uses a Mini-UAV equipped with a battery of about 0.4 kg, a camera and avionics, and has a maximum cruising speed of 65 km/hr and a dead time of 52 minutes. Above, as an experimental platform for multi-machine guidance and control.

In the past, most of the mission types belonged to a single mission type, which only required one station and one aircraft (as shown in Figure 1). When performing tasks, only one ground control station (GCS) needed to communicate with one UAV in two directions. And release the task command. Its one-stop-one mission execution mode is to first transfer the unmanned aerial vehicle UAV control to the internal driving after the unmanned aerial vehicle UAV is safely flying to the sky by an external pilot (EP). Internal pilot (IP) allows the internal driver (IP) to control and perform tasks. In general, the general mission and function of the ground guidance station GCS is shown in Figure 2. After receiving the unmanned flight vehicle UAV downlink data, it then performs data decoding, screen display, data storage, voice warning and release control commands. It can be done. In recent years, UAVs for unmanned aerial vehicles have developed rapidly. The scope of tasks has expanded, and the task types have been replaced by tasks and formation tasks. In the case of limited mission time, the GCS architecture of the traditional one-stop and one-machine is shown in Figure 3. The single loop process (SLP) used in the design is a single threaded design, and the functional architecture is as described above, which cannot meet the task requirements.

The main object of the present invention is to provide a portable ground-based multi-machine guidance station technology. It can be used to introduce the unmanned aerial vehicle UAV switch in the ground station interface box (GSIB), so that the external driver EP can control different unmanned aerial vehicles UAV in the manual mode. The GCS of the present invention refers to the concept of the Multi-Control of UAVs Ground Station of the unmanned aerial vehicle, and hopes to achieve the GCS architecture of one station and multiple machines. When performing a mission, only one ground control station can perform two-way communication and release task commands for two or more unmanned aerial vehicles UAV at the same time. For this reason, the present invention proposes a multi-ring decoding architecture (multiple Loop process (MLP), which solves this problem by using a relative registration UAV with multiple tasks and function assignments.

one. Specific embodiment of the system of the present invention

As shown in FIGS. 5-8, the present invention relates to a multi-machine guidance system for a portable modular small unmanned vehicle, which includes a ground control station (GCS), ground control The ground control station (GCS) includes a ground control station computer 10 and a radio signal transmission module 20, and the ground control station computer 10 (which may be a tablet computer or an industrial computer) includes a display 11 (may be The touch screen is used to display the extended screen and the image of the human-machine interface, and is installed with a ground guidance software (GCSS) 12, and the unmanned vehicle can be controlled by the execution of the ground guiding software 12, and the main features of the present invention The utility model further comprises a ground interface box (GSIB) 13 as a relay interface of the unmanned vehicle 40 and the ground guidance station computer 10, and simultaneously collects and integrates other required information on the ground, the ground interface box 13 includes Dual microprocessor control unit (dual-MCU) for ground information and data transmission processing (please refer to Figure 9). The ground interface box (GSIB) 13 captures the pulse width modulation of the RC receiver. Pulse width modulation The PWM) signal (which can be wired mode, captures the RC remote control teaches the flying line signal) is sent to the unmanned vehicle UAV, so that an external driver EP can use the RC controller to remotely control the unmanned carrier in the manual mode. The ground guidance software (GCSS) 12 is a multi-machine guided software that uses a multi-loop decoding architecture (MLP) and a communication protocol to register the unmanned vehicle. The unmanned vehicle can independently use the functions of the GCSS, so that the ground guiding station computer 10 can perform two-way communication and release task commands for the two or more unmanned vehicles at the same time.

As shown in FIG. 9, in a specific embodiment of the dual microprocessor control unit (MCU) of the present invention, IC1 is used to integrate devices such as RF, GPS, RC receiver and remote control; IC2 integrates anemometer and high pressure. And retain the scalability of the system.

In a specific embodiment of the present invention, the radio signal transmission module includes an RF modem RF Modem, and uses the Network Topology technology provided by the RF modem RF Modem to enable information broadcasting and communication between the RF transceivers, and A multi-machine-guided protocol is developed in the system, and the ground control station software (GCSS) uses a C++ object-oriented programming (OOP) technology. The C++ object-oriented software technology enables the downlink information of each unmanned vehicle UAV received by the ground-guided computer to be processed simultaneously, and the data is not confused.

In a specific embodiment of the present invention, the mechanism steps of the ground control software for the unregistered unmanned vehicle UAV of multiple tasks and function assignments are described below, please refer to FIG.

Step 1: The communication program continuously receives the data data transmitted by the radio signal transmission module, and performs complete header verification and check code verification on the complete data.

Step 2: judging whether the header identification data (1D) of the piece of data data has been authenticated by the unmanned vehicle, and can receive the ID of the unmanned vehicle. When the authentication is successful, the data is given to the data. The multi-ring decoding architecture (MLP) performs processing. When the verification is successful, the process jumps to step 5; when the verification fails, the program proceeds to step 3 to perform the computer verification procedure of the unmanned vehicle and the ground control station.

Step 3: The verification procedure is that the ground control station computer transmits a verification message to the unmanned vehicle. When the unmanned vehicle receives the verification message and is in communication with the ground control station, it will reply one. The correct message is given to the ground control station computer for judgment. If the verification procedure fails, the ground guidance station computer will discard the data and skip to step 6.

Step 4: Register an SLP (Single Ring Decoding Architecture) for the MLP system.

Step 5: The MLP delivers the data to the corresponding SLP for data processing.

Step 6: Check all the unmanned vehicles in the system, whether the data has been confiscated for some time; when all the unmanned vehicles are communicating and working normally, go back to step 1 and continue the program.

Step 7: Alert an internal pilot (IP) to the unmanned vehicle, prompt the pilot to make a correct response to the system, and finally return to step 1 to continue the program.

In a specific embodiment of the present invention, the design of the human-machine interface (HCI) is as shown in FIG. 10, and mainly includes the following functions: (1) Map & All of the UAV orbit, which is the main information display screen, background For navigation maps or aerial photos, the scene is to display the current location and trajectory of each UAV. You can click on a specific UAV or circle the UAV group to give it a task. When you click or circle, Each block interface also displays its related information; (2) Task Mission, which is the task selection or configuration, can select the task mode in the block; (3) Detailed single UAV or multiple UAV status information Detailed form Of the UAV or Multiple UAVs state, if selected as a single UAV, the block displays the detailed status information of the UAV; if circled as a UAV cluster, the UAV's simple status and collective status are displayed; (4) When a single UAV is selected, the area can view the mission of the UAV and its mission execution status; when the circle is selected to be more than one UAV, it can be seen which UAVs the circled UAV is, and Its power, fuel quantity, model and mission status. (5) various function buttons Function Button; (6) event list column Event list, display event status, such as task completion, task change or insufficient voltage and other warnings; (7) display a smaller scale chart information and UAV In the approximate position, the main display can be quickly moved to the location through the check box of the screen. (8) System state System state, the area is to display the current GCS system state, such as the remaining power, communication quality, UAV operation and the number of execution.

In a specific embodiment of the invention, the unmanned vehicle is an unmanned aerial vehicle, an unmanned ground vehicle or an unmanned water carrier.

In a specific embodiment of the present invention, the ground guidance software uses C++ OOP to write a software, uses its inheritable concept to write, and constructs a unified modeling language (UML) to describe the software architecture, such as Annex III. Show.

As shown in FIG. 8 , in a specific embodiment of the present invention, the unmanned vehicle 40 is an unmanned aerial vehicle, which is composed of a left wing 42 , a right wing 41 , and a fuselage 43 , and the left wing 42 , Both the right wing 41 and the body 43 are flat. Use a 150W brushless power system with a 8x6 propeller to order a 4000mAH lithium battery system to extend the air time; the airspeed tube is mounted on the outside of the wing to reduce the effects of motor airflow.

two. Specific embodiment of the method of the present invention

As shown in FIG. 5 to FIG. 9 , the multi-machine guidance and control method for a portable modular small unmanned vehicle according to the present invention is currently guided and controlled by a single guiding station to a multi-machine. This method utilizes different frequencies (FHSS) or data packet headers (MAV IDs) to enable the ground-based guidance station computer 10 to issue different flight commands to different vehicles, but only one vehicle can be commanded at the same time. The method includes: providing a ground control station (GCS), the ground control station 30 includes a ground control station computer 10 and a radio signal transmission module 20 computer 10 and a radio signal transmission module Group 20, the ground control station computer 10 includes an image display 11 for displaying a human machine interface, and is installed with a ground guidance software (GCSS) 12; first, an unmanned vehicle is navigated by an external driving control; After the vehicle is voyage, the internal driving is performed by the internal driving to control the unmanned vehicle for task execution, and is characterized in that: a ground interface box (GSIB) 13 is provided as the unmanned The relay interface of the vehicle and the ground control station computer 10 also collects and integrates other required information on the ground. The ground interface box 13 includes dual MCUs for ground information and data transmission processing, and the ground interface box 13 captures The PWM signal of the RC receiver is sent to the unmanned vehicle UAV, so that an external driver EP can control the unmanned vehicle UAV using an RC controller in the manual mode; the ground guidance software (GCSS) 12 A multi-machine-guided software uses a multi-loop decoding architecture (MLP) architecture and communication protocol to register the unmanned vehicle to enable the unmanned vehicle to independently use GCSS functions. The ground guiding station computer 10 can perform two-way communication and release task commands to the two or more unmanned vehicles at the same time.

Participation. Experimental example of the present invention

The vehicle of the present invention is designed as a modular unmanned aerial vehicle 40, and its disassembly and assembly diagram is shown in FIG. 8. The fuselage can be disassembled into three parts, the left and right wings 42, 41 and the fuselage 43 due to three parts. Both are flat and the design is conducive to carrying and storage, in line with the purpose of the project.

The biggest difference between the guidance and control of the vehicle and the previous UAV system is that one GCS can simultaneously control multiple UAVs. This concept is roughly divided into the following parts. The network topology technology provided by RF Modem can be used to make information broadcast between RFs. And communication; in order to make the UAV or GCS information in the broadcast communication mode not confusing, the present invention formulates a communication protocol for multi-machine guidance and control, and then uses the ground control station software (GCSS) to use the MLP architecture and C+++. C++ object-oriented programming (OOP) technology, through the C++ OOP feature, enables the GCS to receive the downlink information of each UAV simultaneously, so that the data will not be confused.

2.1 Ground Interface Box (GSIB)

GSIB plays the role of UAV and ground station computer relay interface. It also collects and integrates other required information on the ground. Its current architecture is shown in Figure 7. The dual MCU performs ground information and data transmission processing. Another important task of GSIB is to take the PWM signal of the RC receiver and send it to the UAV. In the manual mode, the EP can use the RC controller to remotely control the UAV to take off and land.

2.2 Ground Guidance Software ( GCSS)

In the software planning of multi-machine guidance and control, in addition to the above, the concept of MLP architecture and communication protocol is required. In addition to the convenience of subsequent maintenance of the software, the software can be considered for extension. The present invention uses C++ OOP. Software, using its inheritable concept to write, the current guidance software also constructs a unified modeling language (UML) to describe the software architecture, as shown in Annex III, thereby providing greater flexibility of the software, such as by the software The extension of the construction of unmanned ground vehicles and unmanned water uploaders can be made by this architecture. In the future, the three vehicles can be integrated into a complete management system, as shown in Figure 9.

2.3 software framework (Software framework)

Due to the multi-machine guidance and control, there will be events of new machine registration and old machine loss (communication disconnection), so the registration and decoding mechanism planning is very important. The steps of the relative registration UAV mechanism of the ground guidance software in multiple tasks and function assignments are described below. Please refer to Figure 6:

Step 1: The communication program continuously receives the data data transmitted by the radio signal transmission module, and performs complete header verification and check code verification on the complete data.

Step 2: judging whether the header identity data (ID) of the piece of data data has been authenticated by the unmanned vehicle, and can receive the ID of the unmanned vehicle. When the authentication is successful, the data is given to the data. The multi-ring decoding architecture (MLP) performs processing. When the verification is successful, the process jumps to step 5; when the verification fails, the program proceeds to step 3 to perform the computer verification procedure of the unmanned vehicle and the ground control station.

Step 3: The verification procedure is that the ground control station computer transmits a verification message to the unmanned vehicle. When the unmanned vehicle receives the verification message and is in communication with the ground control station, it will reply one. The correct message is given to the ground control station computer for judgment. If the verification procedure fails, the ground guidance station computer will discard the data and skip to step 6.

Step 4: Register an SLP (Single Ring Decoding Architecture) for the MLP system.

Step 5: The MLP delivers the data to the corresponding SLP for data processing.

Step 6: Check all the unmanned vehicles in the system, whether the data has been confiscated for some time; when all the unmanned vehicles are communicating and working normally, go back to step 1 and continue the program.

Step 7: Alert an internal pilot (IP) to the unmanned vehicle, prompt the pilot to make a correct response to the system, and finally return to step 1 to continue the program.

2.4 Human Machine Interface (HCI)

In the past, the single-machine GCSS interface is shown in Figure 4. It can be roughly divided into several parts, including Map & Orbit, Left for Downlink Messages, Right for Uplink Commands, and Missions. As shown in FIG. 10, the human-machine interface design of the present invention includes: (1) Map & All of the UAV orbit, which is the most important information display screen, and the background is a navigation map or an aerial photo, etc. In order to display the current location and trajectory of each UAV, you can click on a specific UAV or circle the UAV group to give it a task. When you click or circle, each block interface will also display related information. (2) Mission, this block is the task selection or configuration, and the task mode can be selected in this area. (3) Detailed form of the UAV or Multiple UAVs state, such as a single UAV, the block displays the detailed status information of the UAV; if circled as a UAV cluster, the UAV's simple status and collective are displayed. status. (4) Way Point or UAVs list, click on the single UAV, this area can watch the mission of the UAV, and its mission execution status; if the circle is selected to be more than one UAV, you will see the circle you selected Which UAVs the UAV is, and its power, fuel quantity, model, and mission status. (5) Function Button, various function buttons. (6) Event list, showing the event status, such as task completion, task change or insufficient voltage and other warnings. (7) Small Map, which displays the aeronautical chart information with a small proportion and the approximate position of the UAV. The main display screen can be quickly moved to the position of the area through the check box of the picture. (8) System state, the area is to display the current GCS system status, such as the remaining power, communication quality, UAV operation and execution quantity.

Hey. in conclusion

1. The design of the GSIB circuit and control circuit of the present invention, as shown in Annex IV, in which GPS, Sensor, RF Port and RF Port have been integrated, so that GSIB can assume the responsibility of integration. The multi-machine pilot GCSS prototype has also been completed. As shown in Appendix V, the software can receive more than two UAV information and store all data at the same time, and the IP can switch screens from the GCSS. The UAV information required for GCSS monitoring. The GCS combination completes the entity map, as shown in Annex VI. The system integrates the image receiving module, the data receiving module and the remote controller into a ground guiding box.

2. The results of the flight test certificate of the present invention, the simultaneous downlink data and switching control of the two UAVs on the ground test, and the independent UAV air flight verification, the verification results are shown in Figure 1, Figure 2 and Figure 3 of Annex VII.

The above is only one of the possible embodiments of the present invention, and is not intended to limit the scope of the patents of the present invention. It should be included in the scope of the patent of the present invention. In addition to the above advantages, the mechanism of the present invention has deep industrial applicability, can effectively improve the lack of use, and is specifically defined in the scope of the patent application, is not found in the same kind of articles, so it is practical and progressive. , has met the requirements of the invention patent, and filed an application according to law. I would like to ask the bureau to approve the patent in accordance with the law to protect the legitimate rights and interests of the applicant.

10. . . Ground control station computer

11. . . monitor

12. . . Ground guidance software

13. . . Ground interface box

20. . . Radio signal transmission module

30. . . Ground control station

40. . . Unmanned vehicle

41. . . Right wing

42. . . Left wing

43. . . body

Figure 1 is a schematic diagram of a conventional one-stop one-machine UAV operation;

Figure 2 is a schematic diagram of a single-loop decoding architecture of a conventional one-stop one-machine;

Figure 3 is a schematic diagram of the GCS software architecture controlled by the single machine;

Figure 4 is a schematic diagram of a conventional single-machine GCS software interface;

Figure 5 is a schematic diagram of the UAV operation of the one-station multi-machine according to the present invention;

6 is a schematic diagram of a multi-machine controlled GCS software architecture according to the present invention;

Figure 7 is a schematic diagram of the integration of the portable GCS of the present invention;

FIG. 8 is a schematic structural diagram of a portable modular Mini-UAV according to the present invention; FIG.

9 is a schematic diagram of a GSIB architecture of the present invention; and

FIG. 10 is a schematic diagram of a multi-machine GCS software interface according to the present invention.

Annex 1: The architecture diagram of the portable ground station of the present invention.

Annex II: Photograph of the unmanned aerial vehicle entity of the present invention.

Annex III: The unified modeling language (UML) of the present invention.

Annex IV: Photograph of the GSIB entity of the invention.

Annex V: The prototype of the soft interface of the multi-machine guidance and control ground station of the present invention.

Annex VI: Photo 1 is the combination of the ground control station of the present invention; Photo 2 is the computer of the ground control station of the present invention.

Annex 7: Figure 1 shows the state of the first test flight No. 1 of the present invention; Figure 2 shows the state of the second test flight No. 1 of the present invention; Figure 3 shows the state of the third test flight No. 2 of the present invention.

Claims (10)

A multi-machine guidance system for a portable modular small unmanned vehicle, comprising a ground control station (GCS) computer and a radio signal transmission module, the ground guidance station computer including an image display for displaying A human-machine interface and a ground guidance software (GCSS), which can be used to control unmanned vehicles from the execution of the ground guidance software, which is selected from unmanned aerial vehicles, unmanned ground vehicles and unmanned water carriers. One of the features is that the multi-machine guidance system further includes a ground interface box (GSIB), and the ground interface box serves as a relay interface between the unmanned vehicle and the ground guidance station computer, and simultaneously collects and integrates the ground. For other required information, the ground interface box includes a dual microprocessor (dual-MCU) for ground information and data transmission processing, and the ground interface box GSIB captures a pulse width modulation (PWM) signal of an RC receiver. Sending to the unmanned vehicle, an external driver (EP) can use an RC controller to remotely control the unmanned vehicle in the manual mode; the ground guidance software (GCSS) is a multi-machine guided software Use a multi-loop solution The architecture (MLP) and the communication protocol enable the unmanned vehicle to independently use the GCSS functions by registering the unmanned vehicle so that the ground control station computer can be two or more at the same time. The unmanned vehicle carries out two-way communication and commands are issued. The multi-machine guidance and control system for a portable modular small unmanned vehicle according to claim 1, wherein the radio signal transmission module includes a radio frequency data (RF Modem), and the radio frequency data device (RF Modem) is used. The network topology provided provides information broadcasting and communication between the radio data machines, and a multi-machine communication protocol is developed in the system, and the ground guiding software is provided. (GCSS) uses a C++ object-oriented software (OOP) technology, and the C++ object-oriented software technology enables the ground-guided computer to receive the downlink information of each unmanned vehicle simultaneously, and the data will not be processed. Confused. The multi-machine guidance and control system for a portable modular small unmanned vehicle according to claim 1, wherein the ground control software is configured to register the unmanned vehicle relative to the plurality of tasks and function assignments: Step 1: The communication program continuously receives the data data transmitted by the radio signal transmission module, and performs complete header verification and check code verification on the complete data data; Step 2: determine the header identity data data (ID of the data data segment) Whether the unmanned vehicle has been authenticated and can receive the ID of the unmanned vehicle. When the authentication is successful, the data is sent to the multi-loop decoding architecture (MLP) for processing. When the verification is successful, the jump is performed. Go to step 5; when the verification fails, the program proceeds to step 3 to perform the computer verification procedure of the unmanned vehicle and the ground guidance station; and step 3: the verification program, the ground guidance station computer transmits a verification message to the unmanned vehicle, When the unmanned vehicle receives the verification message and is in communication with the ground guidance station computer, it will reply a correct message to the ground guidance station computer for judgment, such as the verification procedure fails, the ground The control station computer discards the data piece of the segment and skips to step 6; step 4: registers an SLP (single-loop decoding architecture) for the MLP system; step 5: the MLP hands the data data to the corresponding SLP to do Data processing; Step 6: Check all the unmanned vehicles in the system, whether the data has been confiscated for some time; when all the unmanned vehicles are communicating and working normally, go back to step 1 to continue the program; and 7: Alert an internal pilot (IP) to the unmanned vehicle, prompt the pilot to make a correct response to the system, and finally return to step 1 to continue the program. The multi-machine guidance system for a portable modular small unmanned vehicle according to claim 1, wherein the human machine interface (HCI) comprises an information display screen, the background of which is a navigation map or an aerial photo, The upper scene shows the current position and trajectory of each unmanned vehicle, and can be selected or circled through the screen to assign a task to a specific unmanned vehicle or unmanned vehicle group, which is selected or circled. The block interface also displays related information. The block is the task selection or configuration for selecting the task mode. When the single frame is selected as the unmanned vehicle, the block displays the details of the unmanned vehicle. Status information; when the circle is selected as the unmanned vehicle group, the simple state and the collective state of the unmanned vehicle are displayed; when the single frame is unmanned, the selected block is used to view the unmanned vehicle The task, and its task execution status; when the circle is selected to be more than one unmanned vehicle, the display selects the unmanned vehicle, its power, fuel quantity, model and task status; displays the event status, including the task Completion, task change or voltage Insufficient warning; display a small amount of aeronautical chart information and the location of the unmanned vehicle for the main display screen to quickly move to the location through the checkbox of the screen; and display the current GCS system status, including Remaining power, communication quality, status of the unmanned vehicle operation and number of executions. The multi-machine guidance system for a portable modular small unmanned vehicle according to claim 1, wherein the unmanned aerial vehicle comprises a left wing, a right wing and a fuselage, and the The left wing, the right wing and the fuselage are flat. A multi-machine guidance and control method for a portable modular small unmanned vehicle includes: providing a ground control station (GCS) computer and a radio signal transmission module, the ground control station The computer includes an image display for displaying a human-machine interface and a ground guidance software (GCSS); the unmanned vehicle is first sailed by an external driving control; after the unmanned vehicle is voyaged, an internal driving is performed. Performing task execution by using the ground control software to control the unmanned vehicle, characterized in that it further comprises a ground interface box (GSIB) as a computer relay interface of the unmanned vehicle and the ground control station At the same time, it also collects and integrates other necessary information on the ground. The ground interface box includes dual MCUs for ground information and data transmission processing. The ground interface box GSIB takes the PWM signal of the RC receiver and sends it to the unmanned vehicle UAV. When an external driver EP is in the manual mode, an RC controller can be used to remotely control the unmanned vehicle UAV; the ground control station software (GCSS) is a multi-guide The software is controlled by a multi-loop decoding architecture (MLP) architecture and communication protocol. The relative registration UAVs are allocated by multiple tasks and functions, so that the ground control station computer can be used at the same time. More than two unmanned vehicles, two-way communication and command orders are issued. The multi-machine guidance and control method for a portable modular small unmanned vehicle according to claim 6, wherein the radio signal transmission module comprises an RF modem RF Modem, which is provided by a radio frequency data (RF Modem) Network Topology enables information broadcasting and communication between RF data machines, and a multi-machine communication protocol is developed in the system, and the ground guidance software (GCSS) is used. A C++ object-oriented programming (OOP) technology, by means of the C++ object-oriented software technology, enables the ground-guided computer to receive the downlink information of each unmanned vehicle UAV simultaneously, and The information will not be confused. The multi-machine guidance and control system for a portable modular small unmanned vehicle according to claim 6, wherein the ground control software is configured to register the unmanned vehicle relative to the plurality of tasks and function assignments, including: Step 1: The communication program continuously receives the data data transmitted by the radio signal transmission module, and performs complete header verification and check code verification on the complete data data; Step 2: determine the header identity data data (ID of the data data segment) Whether the unmanned vehicle has been authenticated and can receive the ID of the unmanned vehicle. When the authentication is successful, the data is sent to the multi-loop decoding architecture (MLP) for processing. When the verification is successful, the jump is performed. Go to step 5; when the verification fails, the program proceeds to step 3 to perform the computer verification procedure of the unmanned vehicle and the ground guidance station; and step 3: the verification program, the ground guidance station computer transmits a verification message to the unmanned vehicle, When the unmanned vehicle receives the verification message and is in communication with the ground guidance station computer, it will reply a correct message to the ground guidance station computer for judgment, such as the verification procedure fails, the place The guiding station computer discards the data piece of the segment and skips to step 6; step 4: registers a single ring decoding architecture (SLP) for the MLP system; step 5: the MLP hands the data data to the corresponding SLP Data processing; Step 6: Check all the unmanned vehicles in the system, whether the data has been confiscated for some time; when all the unmanned vehicles are communicating and working normally, go back to step 1 to continue the program; and Step 7: Alert an internal pilot (IP) to the unmanned vehicle, prompt the pilot to make a correct response to the system, and finally return to step 1 to continue the program. The multi-machine guidance method for a portable modular small unmanned vehicle according to claim 6, wherein the human machine interface (HCI) comprises an information display screen, the background of which is a navigation map or an aerial photograph, The upper scene shows the current position and trajectory of each unmanned vehicle, and the specific unmanned vehicle or unmanned vehicle group can be selected or circled through the screen to give the task, which is selected or circled. At the same time, each block interface also displays its related information. The block is the task selection or configuration for selecting the task mode. When the single frame is selected as the unmanned vehicle, the block displays the unmanned vehicle. Detailed status information; when the circle is selected as the unmanned vehicle group, the simple state and the collective state of the unmanned vehicle are displayed; when the single frame of the unmanned vehicle is selected, the selected block is for viewing the unmanned carrier The task, and its task execution status; when the circle is selected to be more than one unmanned vehicle, the display selects the unmanned vehicle, its power, fuel quantity, model and task status; displays the event status, including Task completion, task change, or Warning of insufficient oil pressure; display of aeronautical map information with a small proportion and the approximate position of the unmanned vehicle for the main display screen to quickly move to the location through the check box of the screen; and display the current system status of the GCS, It includes the remaining power, communication quality, the status of the unmanned vehicle operation and the number of executions. The multi-machine guidance and control method for the portable modular small unmanned vehicle according to claim 6, wherein the ground guidance software uses C++ OOP to write software, and uses the inheritable concept to compose and construct a unified plastic. A unified modeling language (UML) is used to describe the software architecture.