WO2019113958A1 - Wireless communication method, apparatus and system - Google Patents

Wireless communication method, apparatus and system Download PDF

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Publication number
WO2019113958A1
WO2019113958A1 PCT/CN2017/116543 CN2017116543W WO2019113958A1 WO 2019113958 A1 WO2019113958 A1 WO 2019113958A1 CN 2017116543 W CN2017116543 W CN 2017116543W WO 2019113958 A1 WO2019113958 A1 WO 2019113958A1
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WO
WIPO (PCT)
Prior art keywords
link
rtk
wireless communication
mobile communication
local link
Prior art date
Application number
PCT/CN2017/116543
Other languages
French (fr)
Chinese (zh)
Inventor
张吉
陈庭欣
洪泽钦
周毅
郑德恩
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2017/116543 priority Critical patent/WO2019113958A1/en
Priority to CN202110378730.5A priority patent/CN113099499A/en
Priority to CN201780019986.9A priority patent/CN108886667B/en
Publication of WO2019113958A1 publication Critical patent/WO2019113958A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/0005—Control or signalling for completing the hand-off
    • H04W36/0011—Control or signalling for completing the hand-off for data sessions of end-to-end connection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/06—Authentication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/24—Reselection being triggered by specific parameters
    • H04W36/32—Reselection being triggered by specific parameters by location or mobility data, e.g. speed data
    • 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
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/15—Setup of multiple wireless link connections

Definitions

  • the present invention relates to a wireless communication method, device and system, and in particular to a wireless communication method, device and system for a drone device and an RTK device.
  • RTK Real-time kinematic
  • the present invention has been developed in view of the above problems, and aims to provide a technology for ensuring the effectiveness of an RTK for a drone device requiring high-precision positioning, establishing a backup link through mobile communication, and when the RTK device and the drone device are When the local link is disconnected, switch to the backup link to ensure the validity of the RTK.
  • An aspect of the invention relates to a wireless communication method of a UAV device and a real-time dynamic positioning RTK device, comprising: an initialization step, the UAV device and the RTK device perform initialization of a mobile communication link through a local link a switching step of switching the connection link with the RTK device to the mobile communication link when one or more characteristics of the local link satisfy a handover rule; and data Transmission step, the drone device and The RTK device transmits data over the mobile communication link.
  • Another aspect of the present invention relates to a wireless communication method of a UAV device and a real-time dynamic positioning RTK device, including: the UAV device performs login authentication on a message queue telemetry transmission MQTT server; The MQTT server performs login authentication; the MQTT server separately distributes a topic to the UAV device and the RTK device to issue a Topic; the UAV device and the RTK device exchange respective published Topics through a local link. And the respective key Token.
  • Another aspect of the present invention relates to a wireless communication method of a UAV device and a real-time dynamic positioning RTK device, including: the UAV device performs login authentication on a message queue telemetry transmission MQTT server; The MQTT server performs login authentication; the UAV device and the RTK device exchange respective published Topic and respective identity information through a local link; the UAV device and the RTK device respectively release the other party's identity The identity information of the Topic and the other party is sent to the MQTT server, and the MQTT server performs access control to initialize the mobile communication link.
  • Another aspect of the present invention relates to a wireless communication system including a drone device and a real-time dynamic positioning RTK device, wherein the UAV device and the RTK device perform initialization of a mobile communication link through a local link, When the one or more characteristics of the local link satisfy a handover rule, the UAV device switches a connection link with the RTK device to the mobile communication link, the UAV device Data is transmitted over the mobile communication link with the RTK device.
  • Another aspect of the present invention relates to a wireless communication system including a drone device and a real-time dynamic positioning RTK device, wherein the drone device performs login authentication on a message queue telemetry transmission MQTT server, and the RTK device is The MQTT server performs login authentication, and the MQTT server separately distributes a topic to the UAV device and the RTK device, that is, publishes a Topic, and the UAV device and the RTK device exchange respective releases through a local link. Topic and the respective key Token.
  • Another aspect of the present invention relates to a wireless communication system including a drone device and a real-time dynamic positioning RTK device, wherein the drone device performs login authentication on a message queue telemetry transmission MQTT server, and the RTK device is The MQTT server performs login authentication, and the UAV device and the RTK device exchange respective published Topic and respective through a local link. Identity information, the UAV device and the RTK device respectively send the identity information of the publishing Topic and the other party to the MQTT server, and the MQTT server performs access control to perform a mobile communication chain. Initialization of the road.
  • Another aspect of the present invention relates to a wireless communication method of a drone device capable of wirelessly communicating with a real-time dynamic positioning RTK device, the wireless communication method comprising: an initialization step, through a local link and The RTK device performs initialization of a mobile communication link; and a switching step of switching a connection link with the RTK device to the mobile communication when one or more characteristics of the local link satisfy a handover rule a link; and a data transmission step of transmitting data with the RTK device over the mobile communication link.
  • Another aspect of the present invention relates to a wireless communication method of a drone device capable of wirelessly communicating with a real-time dynamic positioning RTK device, the wireless communication method comprising: performing a message queue telemetry transmission MQTT server Logging in to the authentication; receiving the first publishing topic assigned by the MQTT server, that is, the first publishing topic; sending the own key Token and the received first publishing topic to the RTK device through the local link; Receiving, by the local link, a second published Topic sent from the RTK device and a Token of the RTK device, performing subscription according to the second published Topic and the Token of the RTK device to perform the mobile communication link Initialization.
  • Another aspect of the present invention relates to a wireless communication method of a drone device capable of wirelessly communicating with a real-time dynamic positioning RTK device, the wireless communication method comprising: performing a message queue telemetry transmission MQTT server Logging in to the authentication; receiving the first publishing topic assigned by the MQTT server, that is, the first publishing topic; sending the identity information of the identity and the first publishing topic to the RTK device through the local link; Receiving, by the RTK device, the second published Topic sent by the RTK device and the identity information of the RTK device; and sending the received second published Topic and identity information of the RTK device to the MQTT server Initialization of the mobile communication link is performed.
  • Another aspect of the invention relates to a drone device including a processor and a memory in which computer executable instructions are stored, and when the instructions are executed by the processor, the processor is caused to perform the above A wireless communication method involved in one aspect.
  • Another aspect of the present invention relates to a wireless communication method for real-time dynamic positioning of an RTK device capable of wirelessly communicating with a drone device, the wireless communication method package And an initializing step of initializing a mobile communication link with the drone device through a local link; and a switching step, when the one or more characteristics of the local link satisfy a switching rule, The connection link between the machine devices is switched to the mobile communication link; and the data transmission step is performed by the mobile communication link transmitting data with the drone device.
  • Another aspect of the present invention relates to a wireless communication method for real-time dynamic positioning of an RTK device capable of wirelessly communicating with a drone device, the wireless communication method comprising: performing login authentication on a message queue telemetry transmission MQTT server Receiving, by the MQTT server, a first publishing topic, that is, a first publishing topic; transmitting, by the local link, the own key Token and the received first publishing topic to the drone device; The local link receives the second published Topic sent from the drone device and the Token of the drone device, and performs the subscription according to the second published Topic and the Token of the drone device. Initialization of the mobile communication link.
  • Another aspect of the present invention relates to a wireless communication method for real-time dynamic positioning of an RTK device capable of wirelessly communicating with a drone device, the wireless communication method comprising: performing login authentication on a message queue telemetry transmission MQTT server Receiving, by the MQTT server, a first publishing topic, that is, a first publishing topic; sending, by the local link, identity information of the identity and the first publishing topic to the drone device; The link receives, from the drone device, the second published Topic sent by the drone device and the identity information of the drone device; the second published Topic and the drone device to be received The identity information is sent to the MQTT server for initialization of the mobile communication link.
  • Another aspect of the present invention relates to a real-time dynamic positioning RTK device including a processor and a memory in which computer-executable instructions are stored, and when the instructions are executed by the processor, cause the processor to execute the above A wireless communication method involved in any aspect.
  • Another aspect of the invention relates to a computer readable recording medium storing executable instructions that, when executed by a processor, cause the processor to perform the wireless communication method involved in any of the above aspects.
  • Another aspect of the invention relates to a program for causing a computer to perform the wireless communication method involved in any of the above aspects.
  • a backup link is established by mobile communication, and when the RTK device is disconnected from the local link of the drone device, the backup link is switched to ensure the validity of the RTK. Moreover, according to the present invention, the problem of loss of the local link connection between the UAV device and the RTK device in a complicated environment is solved without additional labor and equipment costs.
  • FIG. 1 is a flow chart showing an overall outline of wireless communication between a drone device and an RTK device according to an embodiment of the present invention.
  • FIG. 2 is a flowchart showing initialization of a mobile communication link according to an embodiment of the present invention.
  • FIG. 3 is another flowchart of initialization of a mobile communication link according to an embodiment of the present invention.
  • FIG. 4 is a flow chart showing a connection link switching according to an embodiment of the present invention.
  • FIG. 5 is a flowchart of reverse connection of a connection link according to an embodiment of the present invention.
  • FIG. 6 is a flow chart of transmitting RTK data using a mobile communication link according to an embodiment of the present invention.
  • FIG. 7 is a schematic block diagram of a wireless communication system according to an embodiment of the present invention.
  • FIG. 8 is a schematic block diagram of a drone device according to an embodiment of the present invention.
  • FIG. 9 is a schematic block diagram of an RTK device according to an embodiment of the present invention.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” and “second” may include one or more of the features, either explicitly or implicitly.
  • the meaning of “plurality” is Two or more, unless specifically defined otherwise.
  • link shall be understood broadly, and may be, for example, a fixed connection or a Disassembling the connection, or connecting integrally; may be mechanical connection, electrical connection or communication with each other; may be directly connected, or may be indirectly connected through an intermediate medium, may be internal communication of two elements or mutual interaction of two elements Role relationship.
  • link shall be understood broadly, and may be, for example, a fixed connection or a Disassembling the connection, or connecting integrally; may be mechanical connection, electrical connection or communication with each other; may be directly connected, or may be indirectly connected through an intermediate medium, may be internal communication of two elements or mutual interaction of two elements Role relationship.
  • the RTK device and the UAV device are mutually independent modules, and the RTK device needs to deal with different UAV devices in different work tasks. For example, after the device is marked by the account, the link needs to be initialized first, so that the communication meets the security requirements and is not accessed by the unauthorized device.
  • the initialization of the mobile communication link is performed with the RTK device through the local link, ensuring that only the authorized drone device can access the RTK device.
  • FIG. 1 is a flow chart showing an overall outline of wireless communication between a drone device and an RTK device according to an embodiment of the present invention.
  • a SDR (Software Definition Radio) link is taken as an example of a local link.
  • a 4G link is taken as an example. The specific manner of the mobile communication link is not limited herein.
  • step S101 the UAV device and the RTK device pass the SDR frequency. Wait for the SDR link to be established. Next, the UAV device and the RTK device perform 4G link initialization through the SDR link (step S102).
  • the UAV device switches the connection link with the RTK device. It is a mobile communication link (step S104).
  • a switching rule for example, the strength and/or quality of the signal received through the local link may be used, or the local link may be disconnected. For example, when the strength and/or quality of the signal received through the local link is less than the threshold, it is determined that the switching rule is satisfied.
  • the UAV device and the RTK device transmit data through the mobile communication link (step S105).
  • a backup link is established through mobile communication such as 4G, and when the RTK device is disconnected from the local link of the drone device, the backup link is switched to ensure the validity of the RTK.
  • the problem of loss of the local link connection between the UAV device and the RTK device in a complicated environment is solved without additional labor and equipment costs.
  • the UAV device monitors whether one or more characteristics of the local link no longer satisfy the handover rule (step S106), when the local link When one or more characteristics no longer satisfy the switching rule (YES in step S106), the drone device switches the connection link with the RTK device to the local link (step S107).
  • this process can also be referred to as "reverse switching.”
  • the determination in step S106 is "NO"
  • the drone device and the RTK device still transmit data through the mobile communication link (step S105).
  • step S108 When the connection link between the drone device and the RTK device is switched to the local link, the drone device and the RTK device transmit data through the local link (step S108). Alternatively, if the determination in step S103 is "NO", that is, when one or more characteristics of the local link do not satisfy the switching rule, the drone device and the RTK device transmit data through the local link (step S108).
  • the mobile communication traffic can be saved while ensuring the validity of the RTK.
  • FIGS. 2 and 3 are flowchart of initialization of a mobile communication link according to an embodiment of the present invention.
  • FIG. 3 is another flowchart of initialization of a mobile communication link according to an embodiment of the present invention.
  • the 4G link scheme adopts MQTT. (Message Queuing Telemetry Transport) protocol
  • the server will assign a Topic (subject) with the publishing authority and a command to publish the Topic for each of them.
  • the RTK device and the drone device share the Topic through the local link and subscribe to each other, thereby accepting the device command and data of the other device.
  • the drone device performs login authentication on the MQTT server (step S201), and the RTK device performs login authentication on the MQTT server (step S202).
  • the MQTT server separately distributes the Topic to the UAV device and the RTK device (steps S203, S204), and the UAV device and the RTK device exchange the respective published Topic and the respective key Token through the local link (Step S205).
  • the UAV device and the RTK device subscribe to each other through the local link to initialize the mobile communication link. That is, the drone device subscribes to the Topic published by the RTK device via the MQTT server (step S206), and the RTK device subscribes to the Topic issued by the drone device via the MQTT server (step S207).
  • step S201 and step S202 there is no sequence between step S201 and step S202, between step S203 and step S204, and between step S206 and step S207. Relationships, the two can be executed sequentially or simultaneously.
  • another scheme may also be adopted to implement initialization of the mobile communication link, that is, the UAV device and the RTK device share identity information by the local link, and transmit the identity information of the counterpart to the MQTT.
  • the server is controlled by the MQTT server to perform initialization of the mobile communication link.
  • the drone device performs login authentication on the MQTT server (step S301), and the RTK device performs login authentication on the MQTT server (step S302), and the drone device and the RTK device exchange respective published Topic through the local link.
  • the respective identity information S303
  • the UAV device and the RTK device respectively send the other party's Topic and identity information to the MQTT server (steps S304, S305), and the MQTT server performs access control (step S306, S307) thereby performing initialization of the mobile communication link.
  • step S301 and step S302 there is no sequence between step S304 and step S305, and between step S306 and step S307. Relationships, the two can be executed sequentially or simultaneously.
  • connection link switching and reverse switching according to the embodiment of the present invention will be described in detail using FIGS. 4 and 5.
  • the process of switching from the local link to the mobile communication link is referred to as a "handover process”
  • the process of switching from the mobile communication link to the local link is referred to as "reverse handover procedure”.
  • 4 is a flow chart showing a connection link switching according to an embodiment of the present invention.
  • FIG. 5 is a flowchart of reverse connection of a connection link according to an embodiment of the present invention.
  • the UAV device transmits the switching mobile communication to the RTK device by using the MQTT server to distribute the published Topic to the UAV device through the mobile communication link.
  • a link (4G link) command (step S401)
  • the RTK device transmits a handover confirmation command to the unmanned device by using the release topic assigned to the RTK device by the MQTT server via the mobile communication link (step S402), if the drone device Upon receiving the handover confirmation command, the connection link between the UAV device and the RTK device is switched to the mobile communication link.
  • the connection link between the UAV device and the RTK device is switched to the local link.
  • the UAV device transmits a handover local link command to the RTK device by using the local link (step S501), and the RTK device transmits a handover confirmation command to the UAV device by using the local link (step S502), if not
  • the human machine device receives the handover confirmation command, the connection link between the UAV device and the RTK device is switched to the local link.
  • the UAV device can send a handover mobile communication link command or a handover local link command to the RTK device every predetermined time, or, of course, every predetermined time when the handover is unsuccessful.
  • the time sends a handover mobile communication link command or a handover local link command to the RTK device.
  • the predetermined time may be 1 second or the like.
  • FIG. 6 is a flow chart of transmitting RTK data using a mobile communication link according to an embodiment of the present invention.
  • the drone device and the RTK device transmit RTK data, such as a drone device, via the MQTT server.
  • the location data is transmitted by publishing the Topic, and the RTK data is received from the published Topic of the subscribed RTK device.
  • the UAV device performs login authentication on the MQTT server
  • the RTK device performs login authentication on the MQTT server
  • the MQTT server respectively performs no authentication.
  • the human-machine device and the RTK device are distributed to publish the Topic, and the UAV device and the RTK device exchange their respective published Topics and their respective key tokens through the local link, and the UAV device and the RTK device subscribe to each other through the local link to perform mobile communication. Initialization of the link.
  • the UAV device performs login authentication on the MQTT server, and the RTK device logs in to the MQTT server. Authentication, the UAV device and the RTK device exchange their respective published Topic and their respective identity information through the local link, and the UAV device and the RTK device respectively send the other party's Topic and identity information to the MQTT server, and the MQTT server performs access control. Thereby the initialization of the mobile communication link is performed.
  • the local link in addition to the SDR link, a wifi (Wireless Fidelity) link, a Bluetooth link, or the like may be used.
  • a wifi (Wireless Fidelity) link in addition to the 4G link, it may be a 2G link, a 3G link, a 5G link, or the like.
  • FIG. 7 is a schematic block diagram of a wireless communication system according to an embodiment of the present invention.
  • the wireless communication system 701 of the present invention includes a drone device 702 and an RTK device 703.
  • the UAV device 702 and the RTK device 703 initiate initialization of the mobile communication link over the local link, and when the one or more characteristics of the local link satisfy the handover rule, the UAV device 702 will connect with the RTK device 703.
  • the link is switched to a mobile communication link, and the drone device 702 and the RTK device 703 transmit data over the mobile communication link.
  • the present invention can be implemented as a wireless communication method of the drone device 702, a wireless communication method of the RTK device 703, and a wireless communication method of the MQTT server.
  • the drone device 702 includes a processor 801 and a memory 802 in which computer executable instructions are stored, and when the instructions are executed by the processor 801, the processor 801 is caused to execute the drone device 702. Wireless communication method.
  • FIG. 9 is a schematic block diagram of an RTK device according to an embodiment of the present invention.
  • the RTK device 703 includes a processor 901 and a memory 902 in which computer-executable instructions are stored, and when the instructions are executed by the processor 901, the processor 901 is caused to perform a wireless communication method of the RTK device 703.
  • an embodiment of the present invention relates to a wireless communication method of a drone device capable of wirelessly communicating with a real-time dynamic positioning RTK device, the wireless communication method including: an initialization step, through a local chain Initializing a mobile communication link with the RTK device; a handover step of switching a connection link with the RTK device to the one when one or more characteristics of the local link satisfy a handover rule a mobile communication link; and a data transmission step of transmitting data with the RTK device over the mobile communication link.
  • the initializing step includes: performing login authentication on a message queue telemetry transmission MQTT server; receiving a first published Topic allocated by the MQTT server; and using the local link to itself The key Token and the received first published Topic are sent to the RTK device; receiving, by the local link, a second Topic sent from the RTK device and a Token of the RTK device, according to the The Topic and the Token of the RTK device complete the subscription to initiate the mobile communication link.
  • the initializing step includes: performing login authentication on the message queue telemetry transmission MQTT server; transmitting the identity information of the identity and the first publishing topic to the RTK through the local link.
  • Receiving, by the local link, the second published Topic and the identity information of the RTK device sent by the RTK device from the RTK device; the second published Topic and the identity of the RTK device to be received Information is sent to the MQTT server to initiate initialization of the mobile communication link.
  • the switching step includes: when the one or more characteristics of the local link satisfy a handover rule, to the RTK device via the mobile communication link via an MQTT server Transmitting a handover mobile communication link command; receiving, by the MQTT server, a handover confirmation command sent from the RTK device; and receiving the handover confirmation command, connecting to the RTK device The link switches to the mobile communication link.
  • the handover mobile communication link command is preferably transmitted to the RTK device every predetermined time.
  • the location data of the own device is transmitted by publishing the Topic, and the RTK data is received from the published Topic of the subscribed RTK device.
  • the wireless communication method further includes: an inverse handover step, when the one or more characteristics of the local link no longer satisfy the handover rule, and the RTK The connection link between the devices is switched to the local link.
  • the reverse switching step includes: using the local link to the RTK when one or more characteristics of the local link no longer satisfy the handover rule Transmitting, by the device, a handover local link command; receiving, by using the local link, a handover confirmation command from the RTK device; if receiving the handover confirmation command, switching a connection link with the RTK device to the Local link.
  • the handover local link command is preferably transmitted to the RTK device every predetermined time.
  • the local link is a software defined radio SDR link and the initializing step comprises an SDR pair frequency.
  • the mobile communication link is a 4G link.
  • the switching rule is based on the strength and/or quality of the signal received over the local link.
  • the switching rule is that the local link is disconnected.
  • an embodiment of the present invention relates to a wireless communication method of a drone device capable of wirelessly communicating with a real-time dynamic positioning RTK device, the wireless communication method including: telemetry transmission for a message queue
  • the MQTT server performs login authentication; receives the first published Topic allocated by the MQTT server; sends the own key Token and the received first published Topic to the RTK device through the local link;
  • the local link receives the second Topic sent from the RTK device and the Token of the RTK device, and performs initialization of the mobile communication link according to the second Topic and the Token of the RTK device.
  • an embodiment of the present invention relates to a wireless communication side of a drone device
  • the UAV device can perform wireless communication with a real-time dynamic positioning RTK device
  • the wireless communication method includes: performing login authentication on a message queue telemetry transmission MQTT server; and transmitting identity information and the first release through a local link Sending the Topic to the RTK device; receiving, by the local link, the second published Topic sent by the RTK device and the identity information of the RTK device; and the received second published Topic and The identity information of the RTK device is sent to the MQTT server to perform initialization of the mobile communication link.
  • the method further includes: when the one or more characteristics of the local link satisfy a handover rule, sending a handover movement to the RTK device via the mobile communication link via an MQTT server a communication link command; receiving, by the MQTT server, a handover confirmation command sent from the RTK device via the mobile communication link; and if receiving the handover confirmation command, switching a connection link with the RTK device For the mobile communication link.
  • the handover mobile communication link command is preferably transmitted to the RTK device every predetermined time.
  • the local link is used to send a handover local link command to the RTK device.
  • the handover local link command is preferably transmitted to the RTK device every predetermined time.
  • the local link is a software defined radio SDR link
  • the wireless communication method further comprises an SDR pair frequency
  • the mobile communication link is a 4G link.
  • an embodiment of the present invention is directed to a drone device including a processor and a memory in which computer executable instructions are stored, and when the instructions are executed by the processor, the processor is The wireless communication method according to any of the above aspects is executed.
  • an embodiment of the present invention relates to a real-time dynamic positioning of an RTK device.
  • a line communication method the RTK device capable of wirelessly communicating with a drone device, the wireless communication method comprising: an initialization step of initializing a mobile communication link with the drone device through a local link; and a switching step, When the one or more characteristics of the local link satisfy a handover rule, switching a connection link with the drone device to the mobile communication link; and a data transmission step by the mobile communication The link transmits data to the drone device.
  • the initializing step includes: performing login authentication on a message queue telemetry transmission MQTT server; receiving a first published Topic allocated by the MQTT server; and using the local link to itself a key Token and the received first published Topic are sent to the drone device; receiving, by the local link, a second Topic sent from the drone device and the drone device Token, performing initialization of the mobile communication link according to the second Topic and the Token of the UAV device completing the subscription.
  • the initializing step includes: performing login authentication on the message queue telemetry transmission MQTT server; and transmitting, by the local link, identity information of the identity and the first publishing topic to the a human machine device; receiving, by the local link, the second published Topic and the identity information of the drone device sent by the drone device; the second release to be received
  • the identity information of the Topic and the drone device is sent to the MQTT server for initialization of the mobile communication link.
  • the switching step includes: receiving, when the one or more characteristics of the local link satisfy a handover rule, from the mobile communication link via the MQTT server a handover mobile communication link command sent by the human machine device; transmitting, by the mobile communication link, a handover confirmation command to the drone device via the MQTT server; and the case where the drone device receives the handover confirmation command
  • the connection link with the drone device is switched to the mobile communication link.
  • the location data of the drone device is received from the published Topic of the subscribed UAV device, and the RTK is transmitted by publishing the Topic. data.
  • the method for wireless communication further includes:
  • the reverse switching step includes: utilizing the local link from the none when one or more characteristics of the local link no longer satisfy the handover rule Receiving, by the human-machine device, a handover local link command; transmitting, by using the local link, a handover confirmation command to the drone device; and when the UAV device receives the handover confirmation command, The connection link between the drone devices switches to the local link.
  • an embodiment of the present invention relates to a wireless communication method for a real-time dynamic positioning RTK device capable of wirelessly communicating with a drone device, the wireless communication method including: transmitting a MQTT server to a message queue telemetry Performing login authentication; receiving a first published Topic allocated by the MQTT server; transmitting the own key Token and the received first published Topic to the drone device through the local link; The link receives the second Topic sent from the drone device and the Token of the drone device, and completes the subscription according to the second Topic and the Token of the UAV device to perform the mobile communication link Initialization.
  • an embodiment of the present invention relates to a wireless communication method for a real-time dynamic positioning RTK device capable of wirelessly communicating with a drone device, the wireless communication method including: transmitting a MQTT server to a message queue telemetry Performing login authentication; transmitting identity information and the first published topic to the drone device through the local link; receiving, by the local link, the drone device from the drone device And transmitting the identity information of the second published Topic and the drone device to the MQTT server to perform the mobile communication link Initialization.
  • the method further comprises: receiving, when the one or more characteristics of the local link satisfy a handover rule, from the drone device via the mobile communication link via an MQTT server Transmitting a handover mobile communication link command; transmitting, by the mobile communication link, a handover confirmation command to the drone device via the MQTT server; and if the drone device receives the handover confirmation command, A connection link with the drone device is switched to the mobile communication link.
  • the method further includes: receiving, by the local link, the UAV device when the one or more characteristics of the local link no longer satisfy the handover rule Switching a local link command; transmitting to the drone device using the local link Switching the confirmation command; if the drone device receives the handover confirmation command, switching the connection link with the drone device to the local link.
  • an embodiment of the present invention is directed to a real-time dynamic positioning RTK device including a processor and a memory in which computer-executable instructions are stored, and when the instructions are executed by the processor, the processing is performed.
  • the wireless communication method of any of the above is performed.
  • an embodiment of the present invention relates to a wireless communication method for a message queue telemetry transmission MQTT server, the MQTT server capable of wirelessly communicating with a drone device and a real-time dynamic positioning RTK device, the wireless communication method comprising: Performing login authentication on the UAV device; performing login authentication on the RTK device; and distributing a Topic to the UAV device and the RTK device respectively.
  • an embodiment of the present invention relates to a wireless communication method for a message queue telemetry transmission MQTT server, the MQTT server capable of wirelessly communicating with a drone device and a real-time dynamic positioning RTK device, the wireless communication method comprising: Performing login authentication on the UAV device; performing login authentication on the RTK device; and receiving identity information of the RTK device from the UAV device;
  • an embodiment of the present invention relates to a message queue telemetry transmission MQTT server including a processor and a memory in which computer executable instructions are stored, when the instructions are executed by the processor, The processor performs the wireless communication method of any of the above.
  • the present invention provides a computer readable recording medium storing executable instructions that, when executed by a processor, cause the processor to perform the wireless communication method of any of the above.
  • the present invention provides a program for causing a computer to execute the wireless communication method of any of the above.
  • the description of the terms “one embodiment”, “an embodiment” or the like means that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment of the present invention. Or in the example.
  • the schematic representation of the above terms does not necessarily mean the same embodiment or example.
  • the particular features, structures, materials, or characteristics described may be in any one or more embodiments or examples. Combine in a suitable way.
  • a "computer-readable recording medium” can be any program that can contain, store, communicate, propagate, or transport the program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device.
  • computer readable recording media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM) ), read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer readable recording medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if necessary, Other suitable means of processing are to obtain the program electronically and then store it in computer memory.
  • portions of the invention may be implemented in hardware, software, firmware or a combination thereof.
  • multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
  • each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or in the form of software functional modules.
  • the integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.
  • the above-mentioned recording medium may be a read only memory, a magnetic disk or an optical disk or the like.

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Abstract

A wireless communication method, apparatus and system. The wireless communication method between an unmanned aerial vehicle device and a real-time kinematic (RTK) device comprises: an initialization step (S102), in which the unmanned aerial vehicle device and the RTK device perform an initialization on a mobile communication link by means of a local link; a switch step (S104), in which when one or more properties of the local link satisfy a switching rule (S103, yes), the connection link between the unmanned aerial vehicle device and the RTK device is switched to the mobile communication link; and a data transmission step (S105), in which the unmanned aerial vehicle device and the RTK device transmit data by means of the mobile communication link. By establishing a backup link through the mobile communication, the local link between the RTK device and the unmanned aerial vehicle device can be switched to the backup link when disconnected, thereby ensuring the effectiveness of the RTK positioning.

Description

无线通信方法、设备及系统Wireless communication method, device and system 技术领域Technical field
本发明涉及无线通信方法、设备及系统，具体涉及无人机设备与RTK设备的无线通信方法、设备及系统。The present invention relates to a wireless communication method, device and system, and in particular to a wireless communication method, device and system for a drone device and an RTK device.
背景技术Background technique
在消费级无人机日益普及的今天，行业级应用无人机也开始崭露头角。例如，鉴于农业无人机对于农业的重要性，农业无人机一直在行业级应用无人机中占据着重要的位置。Today, with the increasing popularity of consumer drones, industry-class application drones are beginning to emerge. For example, given the importance of agricultural drones for agriculture, agricultural drones have always played an important role in industrial-grade drones.
在农业无人机的作业过程中，对地理位置的精确程度有较高的要求，而普通GPS定位往往会带来较大的误差，造成航线偏移，甚至会撞上障碍物，造成安全事故。RTK(Real-time kinematic，实时动态定位)高精度导航定位技术，能够将定位精度提升至厘米级，降低飞行误差。因而，在农业无人机等的导航定位中，正在积极研究使用RTK技术。In the operation of agricultural drones, there is a high requirement for the accuracy of the geographical location, and ordinary GPS positioning often brings a large error, causing the route to shift, and even hitting obstacles, resulting in a safety accident. . RTK (Real-time kinematic) high-precision navigation and positioning technology can improve the positioning accuracy to the centimeter level and reduce flight errors. Therefore, in the navigation and positioning of agricultural drones, etc., RTK technology is being actively studied.
但是，因为农业无人机的作业环境复杂，导致农业无人机设备与RTK设备的仅仅依靠本地链路无法提供持续稳定的数据传输。However, because the operating environment of the agricultural drone is complicated, the agricultural drone equipment and the RTK equipment cannot rely on the local link to provide continuous and stable data transmission.
发明内容Summary of the invention
本发明鉴于上述的问题而研发，目的在于对于需要高精度定位的无人机设备，提供一种保证RTK的有效性的技术，通过移动通信建立备份链路，当RTK设备与无人机设备的本地链路断开时，切换至备份链路，从而保证RTK的有效性。The present invention has been developed in view of the above problems, and aims to provide a technology for ensuring the effectiveness of an RTK for a drone device requiring high-precision positioning, establishing a backup link through mobile communication, and when the RTK device and the drone device are When the local link is disconnected, switch to the backup link to ensure the validity of the RTK.
本发明的一个方面涉及一种无人机设备与实时动态定位RTK设备的无线通信方法，包括：初始化步骤，所述无人机设备与所述RTK设备通过本地链路进行移动通信链路的初始化；切换步骤，当所述本地链路的一个或多个特性满足切换规则时，所述无人机设备将与所述RTK设备之间的连接链路切换为所述移动通信链路；以及数据传输步骤，所述无人机设备与 所述RTK设备通过所述移动通信链路传输数据。An aspect of the invention relates to a wireless communication method of a UAV device and a real-time dynamic positioning RTK device, comprising: an initialization step, the UAV device and the RTK device perform initialization of a mobile communication link through a local link a switching step of switching the connection link with the RTK device to the mobile communication link when one or more characteristics of the local link satisfy a handover rule; and data Transmission step, the drone device and The RTK device transmits data over the mobile communication link.
本发明的另一个方面涉及一种无人机设备与实时动态定位RTK设备的无线通信方法，包括：所述无人机设备对消息队列遥测传输MQTT服务器进行登陆认证；所述RTK设备对所述MQTT服务器进行登陆认证；所述MQTT服务器分别对所述无人机设备和所述RTK设备分配发布主题即发布Topic；所述无人机设备和所述RTK设备通过本地链路交换各自的发布Topic和各自的密钥Token。Another aspect of the present invention relates to a wireless communication method of a UAV device and a real-time dynamic positioning RTK device, including: the UAV device performs login authentication on a message queue telemetry transmission MQTT server; The MQTT server performs login authentication; the MQTT server separately distributes a topic to the UAV device and the RTK device to issue a Topic; the UAV device and the RTK device exchange respective published Topics through a local link. And the respective key Token.
本发明的另一个方面涉及一种无人机设备与实时动态定位RTK设备的无线通信方法，包括：所述无人机设备对消息队列遥测传输MQTT服务器进行登陆认证；所述RTK设备对所述MQTT服务器进行登陆认证；所述无人机设备和所述RTK设备通过本地链路交换各自的发布Topic和各自的身份信息；所述无人机设备和所述RTK设备分别将对方的所述发布Topic和对方的所述身份信息发送给所述MQTT服务器，由所述MQTT服务器进行访问控制从而进行移动通信链路的初始化。Another aspect of the present invention relates to a wireless communication method of a UAV device and a real-time dynamic positioning RTK device, including: the UAV device performs login authentication on a message queue telemetry transmission MQTT server; The MQTT server performs login authentication; the UAV device and the RTK device exchange respective published Topic and respective identity information through a local link; the UAV device and the RTK device respectively release the other party's identity The identity information of the Topic and the other party is sent to the MQTT server, and the MQTT server performs access control to initialize the mobile communication link.
本发明的另一个方面涉及一种无线通信系统，包括无人机设备和实时动态定位RTK设备，其中，所述无人机设备与所述RTK设备通过本地链路进行移动通信链路的初始化，当所述本地链路的一个或多个特性满足切换规则时，所述无人机设备将与所述RTK设备之间的连接链路切换为所述移动通信链路，所述无人机设备与所述RTK设备通过所述移动通信链路传输数据。Another aspect of the present invention relates to a wireless communication system including a drone device and a real-time dynamic positioning RTK device, wherein the UAV device and the RTK device perform initialization of a mobile communication link through a local link, When the one or more characteristics of the local link satisfy a handover rule, the UAV device switches a connection link with the RTK device to the mobile communication link, the UAV device Data is transmitted over the mobile communication link with the RTK device.
本发明的另一个方面涉及一种无线通信系统，包括无人机设备和实时动态定位RTK设备，其中，所述无人机设备对消息队列遥测传输MQTT服务器进行登陆认证，所述RTK设备对所述MQTT服务器进行登陆认证，所述MQTT服务器分别对所述无人机设备和所述RTK设备分配发布主题即发布Topic，所述无人机设备和所述RTK设备通过本地链路交换各自的发布Topic和各自的密钥Token。Another aspect of the present invention relates to a wireless communication system including a drone device and a real-time dynamic positioning RTK device, wherein the drone device performs login authentication on a message queue telemetry transmission MQTT server, and the RTK device is The MQTT server performs login authentication, and the MQTT server separately distributes a topic to the UAV device and the RTK device, that is, publishes a Topic, and the UAV device and the RTK device exchange respective releases through a local link. Topic and the respective key Token.
本发明的另一个方面涉及一种无线通信系统，包括无人机设备和实时动态定位RTK设备，其中，所述无人机设备对消息队列遥测传输MQTT服务器进行登陆认证，所述RTK设备对所述MQTT服务器进行登陆认证，所述无人机设备和所述RTK设备通过本地链路交换各自的发布Topic和各自 的身份信息，所述无人机设备和所述RTK设备分别将对方的所述发布Topic和对方的所述身份信息发送给所述MQTT服务器，由所述MQTT服务器进行访问控制从而进行移动通信链路的初始化。Another aspect of the present invention relates to a wireless communication system including a drone device and a real-time dynamic positioning RTK device, wherein the drone device performs login authentication on a message queue telemetry transmission MQTT server, and the RTK device is The MQTT server performs login authentication, and the UAV device and the RTK device exchange respective published Topic and respective through a local link. Identity information, the UAV device and the RTK device respectively send the identity information of the publishing Topic and the other party to the MQTT server, and the MQTT server performs access control to perform a mobile communication chain. Initialization of the road.
本发明的另一个方面涉及一种无人机设备的无线通信方法，所述无人机设备能够与实时动态定位RTK设备进行无线通信，所述无线通信方法包括：初始化步骤，通过本地链路与所述RTK设备进行移动通信链路的初始化；切换步骤，当所述本地链路的一个或多个特性满足切换规则时，将与所述RTK设备之间的连接链路切换为所述移动通信链路；以及数据传输步骤，通过所述移动通信链路与所述RTK设备传输数据。Another aspect of the present invention relates to a wireless communication method of a drone device capable of wirelessly communicating with a real-time dynamic positioning RTK device, the wireless communication method comprising: an initialization step, through a local link and The RTK device performs initialization of a mobile communication link; and a switching step of switching a connection link with the RTK device to the mobile communication when one or more characteristics of the local link satisfy a handover rule a link; and a data transmission step of transmitting data with the RTK device over the mobile communication link.
本发明的另一个方面涉及一种无人机设备的无线通信方法，所述无人机设备能够与实时动态定位RTK设备进行无线通信，所述无线通信方法包括：对消息队列遥测传输MQTT服务器进行登陆认证；接收由所述MQTT服务器分配的第一发布主题即第一发布Topic；通过所述本地链路将本身的密钥Token和接收到的所述第一发布Topic发送给所述RTK设备；通过所述本地链路接收从所述RTK设备发送的第二发布Topic和所述RTK设备的Token，根据所述第二发布Topic和所述RTK设备的Token完成订阅从而进行所述移动通信链路的初始化。Another aspect of the present invention relates to a wireless communication method of a drone device capable of wirelessly communicating with a real-time dynamic positioning RTK device, the wireless communication method comprising: performing a message queue telemetry transmission MQTT server Logging in to the authentication; receiving the first publishing topic assigned by the MQTT server, that is, the first publishing topic; sending the own key Token and the received first publishing topic to the RTK device through the local link; Receiving, by the local link, a second published Topic sent from the RTK device and a Token of the RTK device, performing subscription according to the second published Topic and the Token of the RTK device to perform the mobile communication link Initialization.
本发明的另一个方面涉及一种无人机设备的无线通信方法，所述无人机设备能够与实时动态定位RTK设备进行无线通信，所述无线通信方法包括：对消息队列遥测传输MQTT服务器进行登陆认证；接收由所述MQTT服务器分配的第一发布主题即第一发布Topic；通过本地链路将本身的身份信息和所述第一发布Topic发送给所述RTK设备；通过所述本地链路从所述RTK设备接收所述RTK设备发送的第二发布Topic和所述RTK设备的身份信息；将接收到的所述第二发布Topic和所述RTK设备的身份信息发送给所述MQTT服务器从而进行所述移动通信链路的初始化。Another aspect of the present invention relates to a wireless communication method of a drone device capable of wirelessly communicating with a real-time dynamic positioning RTK device, the wireless communication method comprising: performing a message queue telemetry transmission MQTT server Logging in to the authentication; receiving the first publishing topic assigned by the MQTT server, that is, the first publishing topic; sending the identity information of the identity and the first publishing topic to the RTK device through the local link; Receiving, by the RTK device, the second published Topic sent by the RTK device and the identity information of the RTK device; and sending the received second published Topic and identity information of the RTK device to the MQTT server Initialization of the mobile communication link is performed.
本发明的另一个方面涉及一种无人机设备，包括处理器和存储器，在存储器中存储有计算机可执行指令，在所述指令被所述处理器执行时，使所述处理器执行上述任一个方面所涉及的无线通信方法。Another aspect of the invention relates to a drone device including a processor and a memory in which computer executable instructions are stored, and when the instructions are executed by the processor, the processor is caused to perform the above A wireless communication method involved in one aspect.
本发明的另一个方面涉及一种实时动态定位RTK设备的无线通信方法，所述RTK设备能够与无人机设备进行无线通信，所述无线通信方法包 括：初始化步骤，通过本地链路与所述无人机设备进行移动通信链路的初始化；切换步骤，当所述本地链路的一个或多个特性满足切换规则时，将与所述无人机设备之间的连接链路切换为所述移动通信链路；以及数据传输步骤，通过所述移动通信链路与所述无人机设备传输数据。Another aspect of the present invention relates to a wireless communication method for real-time dynamic positioning of an RTK device capable of wirelessly communicating with a drone device, the wireless communication method package And an initializing step of initializing a mobile communication link with the drone device through a local link; and a switching step, when the one or more characteristics of the local link satisfy a switching rule, The connection link between the machine devices is switched to the mobile communication link; and the data transmission step is performed by the mobile communication link transmitting data with the drone device.
本发明的另一个方面涉及一种实时动态定位RTK设备的无线通信方法，所述RTK设备能够与无人机设备进行无线通信，所述无线通信方法包括：对消息队列遥测传输MQTT服务器进行登陆认证；接收由所述MQTT服务器分配的第一发布主题即第一发布Topic；通过本地链路将本身的密钥Token和接收到的所述第一发布Topic发送给所述无人机设备；通过所述本地链路接收从所述无人机设备发送的第二发布Topic和所述无人机设备的Token，根据所述第二发布Topic和所述无人机设备的Token完成订阅从而进行所述移动通信链路的初始化。Another aspect of the present invention relates to a wireless communication method for real-time dynamic positioning of an RTK device capable of wirelessly communicating with a drone device, the wireless communication method comprising: performing login authentication on a message queue telemetry transmission MQTT server Receiving, by the MQTT server, a first publishing topic, that is, a first publishing topic; transmitting, by the local link, the own key Token and the received first publishing topic to the drone device; The local link receives the second published Topic sent from the drone device and the Token of the drone device, and performs the subscription according to the second published Topic and the Token of the drone device. Initialization of the mobile communication link.
本发明的另一个方面涉及一种实时动态定位RTK设备的无线通信方法，所述RTK设备能够与无人机设备进行无线通信，所述无线通信方法包括：对消息队列遥测传输MQTT服务器进行登陆认证；接收由所述MQTT服务器分配的第一发布主题即第一发布Topic；通过所述本地链路将本身的身份信息和所述第一发布Topic发送给所述无人机设备；通过所述本地链路从所述无人机设备接收所述无人机设备发送的第二发布Topic和所述无人机设备的身份信息；将接收到的所述第二发布Topic和所述无人机设备的身份信息发送给所述MQTT服务器从而进行所述移动通信链路的初始化。Another aspect of the present invention relates to a wireless communication method for real-time dynamic positioning of an RTK device capable of wirelessly communicating with a drone device, the wireless communication method comprising: performing login authentication on a message queue telemetry transmission MQTT server Receiving, by the MQTT server, a first publishing topic, that is, a first publishing topic; sending, by the local link, identity information of the identity and the first publishing topic to the drone device; The link receives, from the drone device, the second published Topic sent by the drone device and the identity information of the drone device; the second published Topic and the drone device to be received The identity information is sent to the MQTT server for initialization of the mobile communication link.
本发明的另一个方面涉及一种实时动态定位RTK设备，包括处理器和存储器，在存储器中存储有计算机可执行指令，在所述指令被所述处理器执行时，使所述处理器执行上述任一个方面所涉及的无线通信方法。Another aspect of the present invention relates to a real-time dynamic positioning RTK device including a processor and a memory in which computer-executable instructions are stored, and when the instructions are executed by the processor, cause the processor to execute the above A wireless communication method involved in any aspect.
本发明的另一个方面涉及一种计算机可读的记录介质，存储有可执行指令，该指令被处理器执行时使该处理器执行上述任一个方面所涉及的无线通信方法。Another aspect of the invention relates to a computer readable recording medium storing executable instructions that, when executed by a processor, cause the processor to perform the wireless communication method involved in any of the above aspects.
本发明的另一个方面涉及一种用于使计算机执行上述任一个方面所涉及的无线通信方法的程序。Another aspect of the invention relates to a program for causing a computer to perform the wireless communication method involved in any of the above aspects.
发明效果 Effect of the invention
根据本发明的技术，通过移动通信建立备份链路，当RTK设备与无人机设备的本地链路断开时，切换至备份链路，从而保证RTK的有效性。此外，根据本发明，无需额外的人工和设备成本，解决了在复杂环境下，无人机设备与RTK设备的本地链路连接丢失的问题。According to the technique of the present invention, a backup link is established by mobile communication, and when the RTK device is disconnected from the local link of the drone device, the backup link is switched to ensure the validity of the RTK. Moreover, according to the present invention, the problem of loss of the local link connection between the UAV device and the RTK device in a complicated environment is solved without additional labor and equipment costs.
附图说明DRAWINGS
本发明的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解。The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the appended claims.
图1是本发明的实施方式所涉及的无人机设备与RTK设备进行无线通信的整体概要流程图。1 is a flow chart showing an overall outline of wireless communication between a drone device and an RTK device according to an embodiment of the present invention.
图2是本发明的实施方式所涉及的移动通信链路初始化流程图。FIG. 2 is a flowchart showing initialization of a mobile communication link according to an embodiment of the present invention.
图3是本发明的实施方式所涉及的移动通信链路初始化的另一流程图。FIG. 3 is another flowchart of initialization of a mobile communication link according to an embodiment of the present invention.
图4是本发明的实施方式所涉及的连接链路切换流程图。4 is a flow chart showing a connection link switching according to an embodiment of the present invention.
图5是本发明的实施方式所涉及的连接链路逆切换流程图。FIG. 5 is a flowchart of reverse connection of a connection link according to an embodiment of the present invention.
图6是本发明的实施方式所涉及的利用移动通信链路传输RTK数据的流程图。6 is a flow chart of transmitting RTK data using a mobile communication link according to an embodiment of the present invention.
图7是本发明的实施方式所涉及的无线通信系统的概略框图。FIG. 7 is a schematic block diagram of a wireless communication system according to an embodiment of the present invention.
图8是本发明的实施方式所涉及的无人机设备的概略框图。8 is a schematic block diagram of a drone device according to an embodiment of the present invention.
图9是本发明的实施方式所涉及的RTK设备的概略框图。FIG. 9 is a schematic block diagram of an RTK device according to an embodiment of the present invention.
具体实施方式Detailed ways
下面详细描述本发明的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.
在本发明的描述中，需要理解的是，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者多个所述特征。在本发明的描述中，“多个”的含义是 两个或两个以上，除非另有明确具体的限定。In the description of the present invention, it is to be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" and "second" may include one or more of the features, either explicitly or implicitly. In the description of the present invention, the meaning of "plurality" is Two or more, unless specifically defined otherwise.
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“链路”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通信；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that the terms "link", "connected", and "connected" shall be understood broadly, and may be, for example, a fixed connection or a Disassembling the connection, or connecting integrally; may be mechanical connection, electrical connection or communication with each other; may be directly connected, or may be indirectly connected through an intermediate medium, may be internal communication of two elements or mutual interaction of two elements Role relationship. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
下文的公开提供了许多不同的实施方式或例子用来实现本发明的不同结构。为了简化本发明的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本发明。此外，本发明可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本发明提供了各种特定的工艺和材料的例子，但是本领域的普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and arrangements of the specific examples are described below. Of course, they are merely examples and are not intended to limit the invention. In addition, the present invention may be repeated with reference to the numerals and/or reference numerals in the various examples, which are for the purpose of simplicity and clarity, and do not indicate the relationship between the various embodiments and/or arrangements discussed. Moreover, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the use of other processes and/or the use of other materials.
在本发明的实施方式中，RTK设备与无人机设备是互相独立的模块，在不同的作业任务中，RTK设备需要与不同的无人机设备打交道。例如通过帐号标志设备后，首先需要对链路进行初始化，使其通讯满足安全需求，不被非授权的设备访问。In the embodiment of the present invention, the RTK device and the UAV device are mutually independent modules, and the RTK device needs to deal with different UAV devices in different work tasks. For example, after the device is marked by the account, the link needs to be initialized first, so that the communication meets the security requirements and is not accessed by the unauthorized device.
在本发明的实施方式中，当无人机设备的作业开始时，通过本地链路与RTK设备进行移动通信链路的初始化，保证只有通过授权的无人机设备能够访问RTK设备。In an embodiment of the present invention, when the operation of the drone device starts, the initialization of the mobile communication link is performed with the RTK device through the local link, ensuring that only the authorized drone device can access the RTK device.
下面，参照附图对本发明的实施方式所涉及的无人机设备与RTK设备进行的无线通信进行详细说明。Hereinafter, wireless communication between the UAV device and the RTK device according to the embodiment of the present invention will be described in detail with reference to the drawings.
图1是本发明的实施方式所涉及的无人机设备与RTK设备进行无线通信的整体概要流程图。1 is a flow chart showing an overall outline of wireless communication between a drone device and an RTK device according to an embodiment of the present invention.
在本实施方式中，作为本地链路，以SDR(Software Definition Radio，软件定义无线电)链路为例进行说明，作为移动通信链路，以4G链路为例进行说明，可以理解，本地链路和移动通信链路的具体方式这里不做限定。In the present embodiment, a SDR (Software Definition Radio) link is taken as an example of a local link. As a mobile communication link, a 4G link is taken as an example. The specific manner of the mobile communication link is not limited herein.
如图1所示，在步骤S101中，无人机设备与RTK设备通过SDR对频 等建立SDR链路。接下来，无人机设备与RTK设备通过SDR链路进行4G链路初始化(步骤S102)。As shown in FIG. 1, in step S101, the UAV device and the RTK device pass the SDR frequency. Wait for the SDR link to be established. Next, the UAV device and the RTK device perform 4G link initialization through the SDR link (step S102).
因为无人机设备的作业环境复杂，当本地链路的一个或多个特性满足切换规则时(步骤S103中判断为“是”)，无人机设备将与RTK设备之间的连接链路切换为移动通信链路(步骤S104)。作为切换规则，例如可以依据通过本地链路所接收到的信号的强度和/或质量，或者可以是本地链路断开。例如，通过本地链路所接收到的信号的强度和/或质量小于阈值时，判断为满足切换规则。Since the operating environment of the UAV device is complicated, when one or more characteristics of the local link satisfy the switching rule (YES in step S103), the UAV device switches the connection link with the RTK device. It is a mobile communication link (step S104). As a switching rule, for example, the strength and/or quality of the signal received through the local link may be used, or the local link may be disconnected. For example, when the strength and/or quality of the signal received through the local link is less than the threshold, it is determined that the switching rule is satisfied.
当无人机设备与RTK设备之间的连接链路被切换为移动通信链路后，无人机设备与RTK设备通过移动通信链路传输数据(步骤S105)。When the connection link between the UAV device and the RTK device is switched to the mobile communication link, the UAV device and the RTK device transmit data through the mobile communication link (step S105).
根据本发明，通过4G等移动通信建立备份链路，当RTK设备与无人机设备的本地链路断开时，切换至备份链路，从而保证RTK的有效性。此外，根据本发明，无需额外的人工和设备成本，解决了在复杂环境下，无人机设备与RTK设备的本地链路连接丢失的问题。According to the present invention, a backup link is established through mobile communication such as 4G, and when the RTK device is disconnected from the local link of the drone device, the backup link is switched to ensure the validity of the RTK. Moreover, according to the present invention, the problem of loss of the local link connection between the UAV device and the RTK device in a complicated environment is solved without additional labor and equipment costs.
此外，在无人机设备与RTK设备通过移动通信链路进行连接的期间，无人机设备监控本地链路的一个或多个特性是否不再满足切换规则(步骤S106)，当本地链路的一个或多个特性不再满足切换规则时(步骤S106中判断为“是”)，无人机设备将与RTK设备之间的连接链路切换为本地链路(步骤S107)。在本发明中，也可以将该过程称为“逆切换”。在步骤S106中判断为“否”，即，本地链路的一个或多个特性满足切换规则时，无人机设备与RTK设备仍然通过移动通信链路传输数据(步骤S105)。In addition, during the connection between the UAV device and the RTK device through the mobile communication link, the UAV device monitors whether one or more characteristics of the local link no longer satisfy the handover rule (step S106), when the local link When one or more characteristics no longer satisfy the switching rule (YES in step S106), the drone device switches the connection link with the RTK device to the local link (step S107). In the present invention, this process can also be referred to as "reverse switching." When the determination in step S106 is "NO", that is, when one or more characteristics of the local link satisfy the switching rule, the drone device and the RTK device still transmit data through the mobile communication link (step S105).
当无人机设备与RTK设备之间的连接链路被切换为本地链路时，无人机设备与RTK设备通过本地链路传输数据(步骤S108)。或者，在步骤S103中判断为“否”，即，本地链路的一个或多个特性不满足切换规则时，无人机设备与RTK设备通过本地链路传输数据(步骤S108)。When the connection link between the drone device and the RTK device is switched to the local link, the drone device and the RTK device transmit data through the local link (step S108). Alternatively, if the determination in step S103 is "NO", that is, when one or more characteristics of the local link do not satisfy the switching rule, the drone device and the RTK device transmit data through the local link (step S108).
根据本发明，因为，当本地链路的一个或多个特性不再满足切换规则时，切换为本地链路进行数据传输，所以在保证RTK的有效性的同时，能够节省移动通信流量。According to the present invention, since the data is transmitted to the local link for data transmission when one or more characteristics of the local link no longer satisfy the handover rule, the mobile communication traffic can be saved while ensuring the validity of the RTK.
接下来，使用图2、图3来详细说明移动通信链路初始化的过程。图 2是本发明的实施方式所涉及的移动通信链路初始化流程图。图3是本发明的实施方式所涉及的移动通信链路初始化的另一流程图。Next, the process of initialization of the mobile communication link will be described in detail using FIGS. 2 and 3. Figure 2 is a flowchart of initialization of a mobile communication link according to an embodiment of the present invention. FIG. 3 is another flowchart of initialization of a mobile communication link according to an embodiment of the present invention.
如图2所示，在本发明的实施方式所涉及的移动通信链路的初始化过程中，RTK设备与无人机设备分别通过服务器认证之后，在本实施方式中4G链路方案采用的是MQTT(Message Queuing Telemetry Transport，消息队列遥测传输)协议，服务器会为其双方分别分配具有发布权限的数据发布Topic(主题)和命令发布Topic。RTK设备与无人机设备通过本地链路共享Topic，互相订阅，由此接受对方设备命令和数据。As shown in FIG. 2, in the initialization process of the mobile communication link according to the embodiment of the present invention, after the RTK device and the drone device respectively pass the server authentication, in the present embodiment, the 4G link scheme adopts MQTT. (Message Queuing Telemetry Transport) protocol, the server will assign a Topic (subject) with the publishing authority and a command to publish the Topic for each of them. The RTK device and the drone device share the Topic through the local link and subscribe to each other, thereby accepting the device command and data of the other device.
也就是说，在本发明的实施方式所涉及的移动通信链路的初始化过程中，无人机设备对MQTT服务器进行登陆认证(步骤S201)，并且RTK设备对MQTT服务器进行登陆认证(步骤S202)，然后，MQTT服务器分别对无人机设备和RTK设备分配发布Topic(步骤S203、S204)，无人机设备和RTK设备通过本地链路交换各自的发布Topic和各自的密钥Token(步骤S205)，然后，无人机设备和RTK设备通过本地链路相互订阅从而进行移动通信链路的初始化。也就是说，无人机设备经由MQTT服务器订阅RTK设备发布的Topic(步骤S206)，RTK设备经由MQTT服务器订阅无人机设备发布的Topic(步骤S207)。That is, in the initialization process of the mobile communication link according to the embodiment of the present invention, the drone device performs login authentication on the MQTT server (step S201), and the RTK device performs login authentication on the MQTT server (step S202). Then, the MQTT server separately distributes the Topic to the UAV device and the RTK device (steps S203, S204), and the UAV device and the RTK device exchange the respective published Topic and the respective key Token through the local link (Step S205). Then, the UAV device and the RTK device subscribe to each other through the local link to initialize the mobile communication link. That is, the drone device subscribes to the Topic published by the RTK device via the MQTT server (step S206), and the RTK device subscribes to the Topic issued by the drone device via the MQTT server (step S207).
其中，本领域的普通技术人员可以理解，在上述的移动通信链路的初始化过程中，步骤S201与步骤S202之间，步骤S203与步骤S204之间，步骤S206与步骤S207之间，不存在先后关系，二者可以先后执行，也可以同时执行。A person skilled in the art can understand that in the initialization process of the mobile communication link, there is no sequence between step S201 and step S202, between step S203 and step S204, and between step S206 and step S207. Relationships, the two can be executed sequentially or simultaneously.
在本发明的一个实施方式中，也可以采用另一种方案来实现移动通信链路的初始化，即，无人机设备和RTK设备由本地链路共享身份信息，并且将对方身份信息传输给MQTT服务器，由MQTT服务器做访问控制从而进行移动通信链路的初始化。In an embodiment of the present invention, another scheme may also be adopted to implement initialization of the mobile communication link, that is, the UAV device and the RTK device share identity information by the local link, and transmit the identity information of the counterpart to the MQTT. The server is controlled by the MQTT server to perform initialization of the mobile communication link.
如图3所示，无人机设备对MQTT服务器进行登陆认证(步骤S301)，RTK设备对MQTT服务器进行登陆认证(步骤S302)，无人机设备和RTK设备通过本地链路交换各自的发布Topic和各自的身份信息(S303)，然后，无人机设备和RTK设备分别将对方的Topic和身份信息发送给MQTT服务器(步骤S304、S305)，由MQTT服务器进行访问控制(步骤S306、 S307)从而进行移动通信链路的初始化。As shown in FIG. 3, the drone device performs login authentication on the MQTT server (step S301), and the RTK device performs login authentication on the MQTT server (step S302), and the drone device and the RTK device exchange respective published Topic through the local link. And the respective identity information (S303), then the UAV device and the RTK device respectively send the other party's Topic and identity information to the MQTT server (steps S304, S305), and the MQTT server performs access control (step S306, S307) thereby performing initialization of the mobile communication link.
其中，本领域的普通技术人员可以理解，在上述的移动通信链路的初始化过程中，步骤S301与步骤S302之间，步骤S304与步骤S305之间，步骤S306与步骤S307之间，不存在先后关系，二者可以先后执行，也可以同时执行。A person skilled in the art can understand that in the initialization process of the foregoing mobile communication link, there is no sequence between step S301 and step S302, between step S304 and step S305, and between step S306 and step S307. Relationships, the two can be executed sequentially or simultaneously.
接下来，使用图4、图5来详细说明本发明的实施方式所涉及的连接链路切换和逆切换的过程。在本实施方式中，将从本地链路切换为移动通信链路的过程称为“切换过程”，将从移动通信链路切换为本地链路的过程称为“逆切换过程”。图4是本发明的实施方式所涉及的连接链路切换流程图。图5是本发明的实施方式所涉及的连接链路逆切换流程图。Next, the procedure of connection link switching and reverse switching according to the embodiment of the present invention will be described in detail using FIGS. 4 and 5. In the present embodiment, the process of switching from the local link to the mobile communication link is referred to as a "handover process", and the process of switching from the mobile communication link to the local link is referred to as "reverse handover procedure". 4 is a flow chart showing a connection link switching according to an embodiment of the present invention. FIG. 5 is a flowchart of reverse connection of a connection link according to an embodiment of the present invention.
当本地链路的一个或多个特性满足切换规则时，如图4所示，无人机设备利用MQTT服务器通过移动通信链路分配给无人机设备的发布Topic，向RTK设备发送切换移动通信链路(4G链路)命令(步骤S401)，RTK设备利用MQTT服务器通过移动通信链路分配给RTK设备的发布Topic，向无人机设备发送切换确认命令(步骤S402)，若无人机设备接收到切换确认命令，则无人机设备与RTK设备之间的连接链路被切换为移动通信链路。When one or more characteristics of the local link satisfy the switching rule, as shown in FIG. 4, the UAV device transmits the switching mobile communication to the RTK device by using the MQTT server to distribute the published Topic to the UAV device through the mobile communication link. a link (4G link) command (step S401), the RTK device transmits a handover confirmation command to the unmanned device by using the release topic assigned to the RTK device by the MQTT server via the mobile communication link (step S402), if the drone device Upon receiving the handover confirmation command, the connection link between the UAV device and the RTK device is switched to the mobile communication link.
当本地链路的一个或多个特性不再满足切换规则时，无人机设备与RTK设备之间的连接链路被切换为本地链路。如图5所示，无人机设备利用本地链路向RTK设备发送切换本地链路命令(步骤S501)，RTK设备利用本地链路向无人机设备发送切换确认命令(步骤S502)，若无人机设备接收到切换确认命令，则无人机设备与RTK设备之间的连接链路被切换为本地链路。When one or more characteristics of the local link no longer satisfy the handover rule, the connection link between the UAV device and the RTK device is switched to the local link. As shown in FIG. 5, the UAV device transmits a handover local link command to the RTK device by using the local link (step S501), and the RTK device transmits a handover confirmation command to the UAV device by using the local link (step S502), if not When the human machine device receives the handover confirmation command, the connection link between the UAV device and the RTK device is switched to the local link.
在上述切换过程或者逆切换过程中，无人机设备可以每隔预定时间向RTK设备发送切换移动通信链路命令或切换本地链路命令，当然，也可以是在切换未成功时，每隔预定时间向RTK设备发送切换移动通信链路命令或切换本地链路命令。该预定时间可以是1秒等。In the above switching process or reverse switching process, the UAV device can send a handover mobile communication link command or a handover local link command to the RTK device every predetermined time, or, of course, every predetermined time when the handover is unsuccessful. The time sends a handover mobile communication link command or a handover local link command to the RTK device. The predetermined time may be 1 second or the like.
图6是本发明的实施方式所涉及的利用移动通信链路传输RTK数据的流程图。在本实施方式的通过4G链路传输数据的过程中，如图6所示，无人机设备和RTK设备经由MQTT服务器传输RTK数据，例如无人机设备 通过发布Topic传输其位置数据，并且从所订阅的RTK设备的发布Topic接收RTK数据。6 is a flow chart of transmitting RTK data using a mobile communication link according to an embodiment of the present invention. In the process of transmitting data through the 4G link in the present embodiment, as shown in FIG. 6, the drone device and the RTK device transmit RTK data, such as a drone device, via the MQTT server. The location data is transmitted by publishing the Topic, and the RTK data is received from the published Topic of the subscribed RTK device.
如上所述，在本发明的无人机设备与RTK设备的移动通信链路的初始化方案中，无人机设备对MQTT服务器进行登陆认证，RTK设备对MQTT服务器进行登陆认证，MQTT服务器分别对无人机设备和RTK设备分配发布Topic，无人机设备和RTK设备通过本地链路交换各自的发布Topic和各自的密钥Token，无人机设备和RTK设备通过本地链路相互订阅从而进行移动通信链路的初始化。As described above, in the initialization scheme of the mobile communication link of the UAV device and the RTK device of the present invention, the UAV device performs login authentication on the MQTT server, and the RTK device performs login authentication on the MQTT server, and the MQTT server respectively performs no authentication. The human-machine device and the RTK device are distributed to publish the Topic, and the UAV device and the RTK device exchange their respective published Topics and their respective key tokens through the local link, and the UAV device and the RTK device subscribe to each other through the local link to perform mobile communication. Initialization of the link.
此外，在本发明的一个实施方式中，在无人机设备与RTK设备的移动通信链路的初始化的另一方案中，无人机设备对MQTT服务器进行登陆认证，RTK设备对MQTT服务器进行登陆认证，无人机设备和RTK设备通过本地链路交换各自的发布Topic和各自的身份信息，无人机设备和RTK设备分别将对方的Topic和身份信息发送给MQTT服务器，由MQTT服务器进行访问控制从而进行移动通信链路的初始化。Further, in an embodiment of the present invention, in another aspect of initialization of the mobile communication link between the UAV device and the RTK device, the UAV device performs login authentication on the MQTT server, and the RTK device logs in to the MQTT server. Authentication, the UAV device and the RTK device exchange their respective published Topic and their respective identity information through the local link, and the UAV device and the RTK device respectively send the other party's Topic and identity information to the MQTT server, and the MQTT server performs access control. Thereby the initialization of the mobile communication link is performed.
此外，在本发明中，作为本地链路，除了SDR链路之外，还可以是wifi(Wireless Fidelity，无线保真)链路、蓝牙(Bluetooth)链路等。作为移动通信链路，除了4G链路之外，还可以是2G链路、3G链路、5G链路等。Further, in the present invention, as the local link, in addition to the SDR link, a wifi (Wireless Fidelity) link, a Bluetooth link, or the like may be used. As the mobile communication link, in addition to the 4G link, it may be a 2G link, a 3G link, a 5G link, or the like.
图7是本发明的实施方式所涉及的无线通信系统的概略框图。如图7所示，本发明的无线通信系统701包括无人机设备702和RTK设备703。无人机设备702与RTK设备703通过本地链路进行移动通信链路的初始化，当本地链路的一个或多个特性满足切换规则时，无人机设备702将与RTK设备703之间的连接链路切换为移动通信链路，无人机设备702与RTK设备703通过移动通信链路传输数据。FIG. 7 is a schematic block diagram of a wireless communication system according to an embodiment of the present invention. As shown in FIG. 7, the wireless communication system 701 of the present invention includes a drone device 702 and an RTK device 703. The UAV device 702 and the RTK device 703 initiate initialization of the mobile communication link over the local link, and when the one or more characteristics of the local link satisfy the handover rule, the UAV device 702 will connect with the RTK device 703. The link is switched to a mobile communication link, and the drone device 702 and the RTK device 703 transmit data over the mobile communication link.
此外，本发明能够作为无人机设备702的无线通信方法、RTK设备703的无线通信方法、MQTT服务器的无线通信方法来实现。Furthermore, the present invention can be implemented as a wireless communication method of the drone device 702, a wireless communication method of the RTK device 703, and a wireless communication method of the MQTT server.
图8是本发明的实施方式所涉及的无人机设备的概略框图。如图8所示，无人机设备702包括处理器801和存储器802，在存储器802中存储有计算机可执行指令，在指令被处理器801执行时，使处理器801执行无人机设备702的无线通信方法。 8 is a schematic block diagram of a drone device according to an embodiment of the present invention. As shown in FIG. 8, the drone device 702 includes a processor 801 and a memory 802 in which computer executable instructions are stored, and when the instructions are executed by the processor 801, the processor 801 is caused to execute the drone device 702. Wireless communication method.
图9是本发明的实施方式所涉及的RTK设备的概略框图。如图9所示，RTK设备703包括处理器901和存储器902，在存储器902中存储有计算机可执行指令，在指令被处理器901执行时，使处理器901执行RTK设备703的无线通信方法。FIG. 9 is a schematic block diagram of an RTK device according to an embodiment of the present invention. As shown in FIG. 9, the RTK device 703 includes a processor 901 and a memory 902 in which computer-executable instructions are stored, and when the instructions are executed by the processor 901, the processor 901 is caused to perform a wireless communication method of the RTK device 703.
此外，本发明的一个实施方式涉及一种无人机设备的无线通信方法，所述无人机设备能够与实时动态定位RTK设备进行无线通信，所述无线通信方法包括：初始化步骤，通过本地链路与所述RTK设备进行移动通信链路的初始化；切换步骤，当所述本地链路的一个或多个特性满足切换规则时，将与所述RTK设备之间的连接链路切换为所述移动通信链路；以及数据传输步骤，通过所述移动通信链路与所述RTK设备传输数据。Further, an embodiment of the present invention relates to a wireless communication method of a drone device capable of wirelessly communicating with a real-time dynamic positioning RTK device, the wireless communication method including: an initialization step, through a local chain Initializing a mobile communication link with the RTK device; a handover step of switching a connection link with the RTK device to the one when one or more characteristics of the local link satisfy a handover rule a mobile communication link; and a data transmission step of transmitting data with the RTK device over the mobile communication link.
此外，在本发明的一个实施方式中，优选所述初始化步骤包括：对消息队列遥测传输MQTT服务器进行登陆认证；接收由所述MQTT服务器分配的第一发布Topic；通过所述本地链路将本身的密钥Token和接收到的所述第一发布Topic发送给所述RTK设备；通过所述本地链路接收从所述RTK设备发送的第二Topic和所述RTK设备的Token，根据所述第二Topic和所述RTK设备的Token完成订阅从而进行所述移动通信链路的初始化。Moreover, in an embodiment of the present invention, preferably, the initializing step includes: performing login authentication on a message queue telemetry transmission MQTT server; receiving a first published Topic allocated by the MQTT server; and using the local link to itself The key Token and the received first published Topic are sent to the RTK device; receiving, by the local link, a second Topic sent from the RTK device and a Token of the RTK device, according to the The Topic and the Token of the RTK device complete the subscription to initiate the mobile communication link.
此外，在本发明的一个实施方式中，优选所述初始化步骤包括：对消息队列遥测传输MQTT服务器进行登陆认证；通过所述本地链路将本身的身份信息和第一发布Topic发送给所述RTK设备；通过所述本地链路从所述RTK设备接收所述RTK设备发送的第二发布Topic和所述RTK设备的身份信息；将接收到的所述第二发布Topic和所述RTK设备的身份信息发送给所述MQTT服务器从而进行所述移动通信链路的初始化。In an embodiment of the present invention, preferably, the initializing step includes: performing login authentication on the message queue telemetry transmission MQTT server; transmitting the identity information of the identity and the first publishing topic to the RTK through the local link. Receiving, by the local link, the second published Topic and the identity information of the RTK device sent by the RTK device from the RTK device; the second published Topic and the identity of the RTK device to be received Information is sent to the MQTT server to initiate initialization of the mobile communication link.
此外，在本发明的一个实施方式中，优选所述切换步骤包括：当所述本地链路的一个或多个特性满足切换规则时，通过所述移动通信链路经由MQTT服务器向所述RTK设备发送切换移动通信链路命令；通过所述移动通信链路经由MQTT服务器接收从所述RTK设备发送的切换确认命令；若接收到所述切换确认命令，则将与所述RTK设备之间的连接链路切换为所述移动通信链路。Moreover, in an embodiment of the present invention, preferably, the switching step includes: when the one or more characteristics of the local link satisfy a handover rule, to the RTK device via the mobile communication link via an MQTT server Transmitting a handover mobile communication link command; receiving, by the MQTT server, a handover confirmation command sent from the RTK device; and receiving the handover confirmation command, connecting to the RTK device The link switches to the mobile communication link.
此外，在本发明的一个实施方式中，优选每隔预定时间向所述RTK设备发送所述切换移动通信链路命令。 Further, in an embodiment of the present invention, the handover mobile communication link command is preferably transmitted to the RTK device every predetermined time.
此外，在本发明的一个实施方式中，优选在所述数据传输步骤中，通过发布Topic传输本设备的位置数据，并且从所订阅的所述RTK设备的发布Topic接收RTK数据。Further, in an embodiment of the present invention, preferably, in the data transmission step, the location data of the own device is transmitted by publishing the Topic, and the RTK data is received from the published Topic of the subscribed RTK device.
此外，在本发明的一个实施方式中，优选所述无线通信方法还包括：逆切换步骤，当所述本地链路的一个或多个特性不再满足所述切换规则时，将与所述RTK设备之间的连接链路切换为所述本地链路。Moreover, in an embodiment of the present invention, preferably, the wireless communication method further includes: an inverse handover step, when the one or more characteristics of the local link no longer satisfy the handover rule, and the RTK The connection link between the devices is switched to the local link.
此外，在本发明的一个实施方式中，优选所述逆切换步骤包括：当所述本地链路的一个或多个特性不再满足所述切换规则时，利用所述本地链路向所述RTK设备发送切换本地链路命令；利用所述本地链路从所述RTK设备接收切换确认命令；若接收到所述切换确认命令，则将与所述RTK设备之间的连接链路切换为所述本地链路。In addition, in an embodiment of the present invention, preferably, the reverse switching step includes: using the local link to the RTK when one or more characteristics of the local link no longer satisfy the handover rule Transmitting, by the device, a handover local link command; receiving, by using the local link, a handover confirmation command from the RTK device; if receiving the handover confirmation command, switching a connection link with the RTK device to the Local link.
此外，在本发明的一个实施方式中，优选每隔预定时间向所述RTK设备发送所述切换本地链路命令。Further, in an embodiment of the present invention, the handover local link command is preferably transmitted to the RTK device every predetermined time.
此外，在本发明的一个实施方式中，优选所述本地链路是软件定义无线电SDR链路，所述初始化步骤包括SDR对频。Moreover, in one embodiment of the invention, preferably the local link is a software defined radio SDR link and the initializing step comprises an SDR pair frequency.
此外，在本发明的一个实施方式中，优选所述移动通信链路是4G链路。Furthermore, in an embodiment of the invention, preferably the mobile communication link is a 4G link.
此外，在本发明的一个实施方式中，优选所述切换规则依据通过所述本地链路所接收到的信号的强度和/或质量。Moreover, in one embodiment of the invention, preferably the switching rule is based on the strength and/or quality of the signal received over the local link.
此外，在本发明的一个实施方式中，优选所述切换规则是所述本地链路断开。Furthermore, in an embodiment of the invention, preferably the switching rule is that the local link is disconnected.
此外，在本发明的一个实施方式涉及一种无人机设备的无线通信方法，所述无人机设备能够与实时动态定位RTK设备进行无线通信，所述无线通信方法包括：对消息队列遥测传输MQTT服务器进行登陆认证；接收由所述MQTT服务器分配的第一发布Topic；通过所述本地链路将本身的密钥Token和接收到的所述第一发布Topic发送给所述RTK设备；通过所述本地链路接收从所述RTK设备发送的第二Topic和所述RTK设备的Token，根据所述第二Topic和所述RTK设备的Token完成订阅从而进行所述移动通信链路的初始化。Further, an embodiment of the present invention relates to a wireless communication method of a drone device capable of wirelessly communicating with a real-time dynamic positioning RTK device, the wireless communication method including: telemetry transmission for a message queue The MQTT server performs login authentication; receives the first published Topic allocated by the MQTT server; sends the own key Token and the received first published Topic to the RTK device through the local link; The local link receives the second Topic sent from the RTK device and the Token of the RTK device, and performs initialization of the mobile communication link according to the second Topic and the Token of the RTK device.
此外，在本发明的一个实施方式涉及一种无人机设备的无线通信方 法，所述无人机设备能够与实时动态定位RTK设备进行无线通信，所述无线通信方法包括：对消息队列遥测传输MQTT服务器进行登陆认证；通过本地链路将本身的身份信息和第一发布Topic发送给所述RTK设备；通过所述本地链路从所述RTK设备接收所述RTK设备发送的第二发布Topic和所述RTK设备的身份信息；将接收到的所述第二发布Topic和所述RTK设备的身份信息发送给所述MQTT服务器从而进行所述移动通信链路的初始化。Further, an embodiment of the present invention relates to a wireless communication side of a drone device The UAV device can perform wireless communication with a real-time dynamic positioning RTK device, the wireless communication method includes: performing login authentication on a message queue telemetry transmission MQTT server; and transmitting identity information and the first release through a local link Sending the Topic to the RTK device; receiving, by the local link, the second published Topic sent by the RTK device and the identity information of the RTK device; and the received second published Topic and The identity information of the RTK device is sent to the MQTT server to perform initialization of the mobile communication link.
此外，在本发明的一个实施方式中，优选还包括：当所述本地链路的一个或多个特性满足切换规则时，通过所述移动通信链路经由MQTT服务器向所述RTK设备发送切换移动通信链路命令；通过所述移动通信链路经由MQTT服务器接收从所述RTK设备发送的切换确认命令；若接收到所述切换确认命令，则将与所述RTK设备之间的连接链路切换为所述移动通信链路。Moreover, in an embodiment of the present invention, preferably, the method further includes: when the one or more characteristics of the local link satisfy a handover rule, sending a handover movement to the RTK device via the mobile communication link via an MQTT server a communication link command; receiving, by the MQTT server, a handover confirmation command sent from the RTK device via the mobile communication link; and if receiving the handover confirmation command, switching a connection link with the RTK device For the mobile communication link.
此外，在本发明的一个实施方式中，优选每隔预定时间向所述RTK设备发送所述切换移动通信链路命令。Further, in an embodiment of the present invention, the handover mobile communication link command is preferably transmitted to the RTK device every predetermined time.
此外，在本发明的一个实施方式中，优选当所述本地链路的一个或多个特性不再满足所述切换规则时，利用所述本地链路向所述RTK设备发送切换本地链路命令；利用所述本地链路从所述RTK设备接收切换确认命令；若接收到所述切换确认命令，则将与所述RTK设备之间的连接链路切换为所述本地链路。In addition, in an embodiment of the present invention, preferably, when the one or more characteristics of the local link no longer satisfy the handover rule, the local link is used to send a handover local link command to the RTK device. Receiving a handover confirmation command from the RTK device by using the local link; and if the handover confirmation command is received, switching a connection link with the RTK device to the local link.
此外，在本发明的一个实施方式中，优选每隔预定时间向所述RTK设备发送所述切换本地链路命令。Further, in an embodiment of the present invention, the handover local link command is preferably transmitted to the RTK device every predetermined time.
此外，在本发明的一个实施方式中，优选所述本地链路是软件定义无线电SDR链路，所述无线通信方法还包括SDR对频。Moreover, in an embodiment of the invention, preferably the local link is a software defined radio SDR link, and the wireless communication method further comprises an SDR pair frequency.
此外，在本发明的一个实施方式中，优选所述移动通信链路是4G链路。Furthermore, in an embodiment of the invention, preferably the mobile communication link is a 4G link.
此外，在本发明的一个实施方式涉及一种无人机设备，包括处理器和存储器，在存储器中存储有计算机可执行指令，在所述指令被所述处理器执行时，使所述处理器执行上述任一项所述的无线通信方法。Further, an embodiment of the present invention is directed to a drone device including a processor and a memory in which computer executable instructions are stored, and when the instructions are executed by the processor, the processor is The wireless communication method according to any of the above aspects is executed.
此外，在本发明的一个实施方式涉及一种实时动态定位RTK设备的无 线通信方法，所述RTK设备能够与无人机设备进行无线通信，所述无线通信方法包括：初始化步骤，通过本地链路与所述无人机设备进行移动通信链路的初始化；切换步骤，当所述本地链路的一个或多个特性满足切换规则时，将与所述无人机设备之间的连接链路切换为所述移动通信链路；以及数据传输步骤，通过所述移动通信链路与所述无人机设备传输数据。Furthermore, an embodiment of the present invention relates to a real-time dynamic positioning of an RTK device. a line communication method, the RTK device capable of wirelessly communicating with a drone device, the wireless communication method comprising: an initialization step of initializing a mobile communication link with the drone device through a local link; and a switching step, When the one or more characteristics of the local link satisfy a handover rule, switching a connection link with the drone device to the mobile communication link; and a data transmission step by the mobile communication The link transmits data to the drone device.
此外，在本发明的一个实施方式中，优选所述初始化步骤包括：对消息队列遥测传输MQTT服务器进行登陆认证；接收由所述MQTT服务器分配的第一发布Topic；通过所述本地链路将本身的密钥Token和接收到的所述第一发布Topic发送给所述无人机设备；通过所述本地链路接收从所述无人机设备发送的第二Topic和所述无人机设备的Token，根据所述第二Topic和所述无人机设备的Token完成订阅从而进行所述移动通信链路的初始化。Moreover, in an embodiment of the present invention, preferably, the initializing step includes: performing login authentication on a message queue telemetry transmission MQTT server; receiving a first published Topic allocated by the MQTT server; and using the local link to itself a key Token and the received first published Topic are sent to the drone device; receiving, by the local link, a second Topic sent from the drone device and the drone device Token, performing initialization of the mobile communication link according to the second Topic and the Token of the UAV device completing the subscription.
此外，在本发明的一个实施方式中，优选所述初始化步骤包括：对消息队列遥测传输MQTT服务器进行登陆认证；通过所述本地链路将本身的身份信息和第一发布Topic发送给所述无人机设备；通过所述本地链路从所述无人机设备接收所述无人机设备发送的第二发布Topic和所述无人机设备的身份信息；将接收到的所述第二发布Topic和所述无人机设备的身份信息发送给所述MQTT服务器从而进行所述移动通信链路的初始化。In an embodiment of the present invention, preferably, the initializing step includes: performing login authentication on the message queue telemetry transmission MQTT server; and transmitting, by the local link, identity information of the identity and the first publishing topic to the a human machine device; receiving, by the local link, the second published Topic and the identity information of the drone device sent by the drone device; the second release to be received The identity information of the Topic and the drone device is sent to the MQTT server for initialization of the mobile communication link.
此外，在本发明的一个实施方式中，优选所述切换步骤包括：当所述本地链路的一个或多个特性满足切换规则时，通过所述移动通信链路经由MQTT服务器接收从所述无人机设备发送的切换移动通信链路命令；通过所述移动通信链路经由MQTT服务器向所述无人机设备发送切换确认命令；在所述无人机设备接收到所述切换确认命令的情况下，将与所述无人机设备之间的连接链路切换为所述移动通信链路。Moreover, in an embodiment of the present invention, preferably, the switching step includes: receiving, when the one or more characteristics of the local link satisfy a handover rule, from the mobile communication link via the MQTT server a handover mobile communication link command sent by the human machine device; transmitting, by the mobile communication link, a handover confirmation command to the drone device via the MQTT server; and the case where the drone device receives the handover confirmation command Next, the connection link with the drone device is switched to the mobile communication link.
此外，在本发明的一个实施方式中，优选在所述数据传输步骤中，从所订阅的所述无人机设备的发布Topic接收所述无人机设备的位置数据，并且通过发布Topic传输RTK数据。In addition, in an embodiment of the present invention, preferably, in the data transmission step, the location data of the drone device is received from the published Topic of the subscribed UAV device, and the RTK is transmitted by publishing the Topic. data.
此外，在本发明的一个实施方式中，优选所述无线通信方法还包括：In addition, in an embodiment of the present invention, preferably, the method for wireless communication further includes:
逆切换步骤，当所述本地链路的一个或多个特性不再满足所述切换规则时，将与所述无人机设备之间的连接链路切换为所述本地链路。 And an inverse handover step of switching a connection link with the drone device to the local link when one or more characteristics of the local link no longer satisfy the handover rule.
此外，在本发明的一个实施方式中，优选所述逆切换步骤包括：当所述本地链路的一个或多个特性不再满足所述切换规则时，利用所述本地链路从所述无人机设备接收切换本地链路命令；利用所述本地链路向所述无人机设备发送切换确认命令；在所述无人机设备接收到所述切换确认命令的情况下，将与所述无人机设备之间的连接链路切换为所述本地链路。Moreover, in an embodiment of the present invention, preferably, the reverse switching step includes: utilizing the local link from the none when one or more characteristics of the local link no longer satisfy the handover rule Receiving, by the human-machine device, a handover local link command; transmitting, by using the local link, a handover confirmation command to the drone device; and when the UAV device receives the handover confirmation command, The connection link between the drone devices switches to the local link.
此外，在本发明的一个实施方式涉及一种实时动态定位RTK设备的无线通信方法，所述RTK设备能够与无人机设备进行无线通信，所述无线通信方法包括：对消息队列遥测传输MQTT服务器进行登陆认证；接收由所述MQTT服务器分配的第一发布Topic；通过本地链路将本身的密钥Token和接收到的所述第一发布Topic发送给所述无人机设备；通过所述本地链路接收从所述无人机设备发送的第二Topic和所述无人机设备的Token，根据所述第二Topic和所述无人机设备的Token完成订阅从而进行所述移动通信链路的初始化。In addition, an embodiment of the present invention relates to a wireless communication method for a real-time dynamic positioning RTK device capable of wirelessly communicating with a drone device, the wireless communication method including: transmitting a MQTT server to a message queue telemetry Performing login authentication; receiving a first published Topic allocated by the MQTT server; transmitting the own key Token and the received first published Topic to the drone device through the local link; The link receives the second Topic sent from the drone device and the Token of the drone device, and completes the subscription according to the second Topic and the Token of the UAV device to perform the mobile communication link Initialization.
此外，在本发明的一个实施方式涉及一种实时动态定位RTK设备的无线通信方法，所述RTK设备能够与无人机设备进行无线通信，所述无线通信方法包括：对消息队列遥测传输MQTT服务器进行登陆认证；通过所述本地链路将本身的身份信息和第一发布Topic发送给所述无人机设备；通过所述本地链路从所述无人机设备接收所述无人机设备发送的第二发布Topic和所述无人机设备的身份信息；将接收到的所述第二发布Topic和所述无人机设备的身份信息发送给所述MQTT服务器从而进行所述移动通信链路的初始化。In addition, an embodiment of the present invention relates to a wireless communication method for a real-time dynamic positioning RTK device capable of wirelessly communicating with a drone device, the wireless communication method including: transmitting a MQTT server to a message queue telemetry Performing login authentication; transmitting identity information and the first published topic to the drone device through the local link; receiving, by the local link, the drone device from the drone device And transmitting the identity information of the second published Topic and the drone device to the MQTT server to perform the mobile communication link Initialization.
此外，在本发明的一个实施方式中，优选还包括：当所述本地链路的一个或多个特性满足切换规则时，通过所述移动通信链路经由MQTT服务器接收从所述无人机设备发送的切换移动通信链路命令；通过所述移动通信链路经由MQTT服务器向所述无人机设备发送切换确认命令；在所述无人机设备接收到所述切换确认命令的情况下，将与所述无人机设备之间的连接链路切换为所述移动通信链路。Moreover, in an embodiment of the present invention, preferably, the method further comprises: receiving, when the one or more characteristics of the local link satisfy a handover rule, from the drone device via the mobile communication link via an MQTT server Transmitting a handover mobile communication link command; transmitting, by the mobile communication link, a handover confirmation command to the drone device via the MQTT server; and if the drone device receives the handover confirmation command, A connection link with the drone device is switched to the mobile communication link.
此外，在本发明的一个实施方式中，优选还包括：当所述本地链路的一个或多个特性不再满足所述切换规则时，利用所述本地链路从所述无人机设备接收切换本地链路命令；利用所述本地链路向所述无人机设备发送 切换确认命令；在所述无人机设备接收到所述切换确认命令的情况下，将与所述无人机设备之间的连接链路切换为所述本地链路。In addition, in an embodiment of the present invention, preferably, the method further includes: receiving, by the local link, the UAV device when the one or more characteristics of the local link no longer satisfy the handover rule Switching a local link command; transmitting to the drone device using the local link Switching the confirmation command; if the drone device receives the handover confirmation command, switching the connection link with the drone device to the local link.
此外，在本发明的一个实施方式涉及一种实时动态定位RTK设备，包括处理器和存储器，在存储器中存储有计算机可执行指令，在所述指令被所述处理器执行时，使所述处理器执行上述任一项所述的无线通信方法。Moreover, an embodiment of the present invention is directed to a real-time dynamic positioning RTK device including a processor and a memory in which computer-executable instructions are stored, and when the instructions are executed by the processor, the processing is performed The wireless communication method of any of the above is performed.
此外，在本发明的一个实施方式涉及一种消息队列遥测传输MQTT服务器的无线通信方法，所述MQTT服务器能够与无人机设备以及实时动态定位RTK设备进行无线通信，所述无线通信方法包括：对所述无人机设备进行登陆认证；对所述RTK设备进行登陆认证；分别对所述无人机设备和所述RTK设备分配发布Topic。In addition, an embodiment of the present invention relates to a wireless communication method for a message queue telemetry transmission MQTT server, the MQTT server capable of wirelessly communicating with a drone device and a real-time dynamic positioning RTK device, the wireless communication method comprising: Performing login authentication on the UAV device; performing login authentication on the RTK device; and distributing a Topic to the UAV device and the RTK device respectively.
此外，在本发明的一个实施方式涉及一种消息队列遥测传输MQTT服务器的无线通信方法，所述MQTT服务器能够与无人机设备以及实时动态定位RTK设备进行无线通信，所述无线通信方法包括：对所述无人机设备进行登陆认证；对所述RTK设备进行登陆认证；从所述无人机设备接收所述RTK设备的身份信息；In addition, an embodiment of the present invention relates to a wireless communication method for a message queue telemetry transmission MQTT server, the MQTT server capable of wirelessly communicating with a drone device and a real-time dynamic positioning RTK device, the wireless communication method comprising: Performing login authentication on the UAV device; performing login authentication on the RTK device; and receiving identity information of the RTK device from the UAV device;
从所述RTK设备接收所述无人机设备的身份信息；对所述无人机设备和所述RTK设备的连接进行访问控制。Receiving identity information of the drone device from the RTK device; performing access control on a connection between the drone device and the RTK device.
此外，在本发明的一个实施方式涉及一种消息队列遥测传输MQTT服务器，包括处理器和存储器，在存储器中存储有计算机可执行指令，在所述指令被所述处理器执行时，使所述处理器执行上述任一项所述的无线通信方法。Further, an embodiment of the present invention relates to a message queue telemetry transmission MQTT server including a processor and a memory in which computer executable instructions are stored, when the instructions are executed by the processor, The processor performs the wireless communication method of any of the above.
此外，本发明提供一种计算机可读的记录介质，存储有可执行指令，该指令被处理器执行时使该处理器执行上述任一项所述的无线通信方法。Furthermore, the present invention provides a computer readable recording medium storing executable instructions that, when executed by a processor, cause the processor to perform the wireless communication method of any of the above.
此外，本发明提供一种用于使计算机执行上述任一项所述的无线通信方法的程序。Furthermore, the present invention provides a program for causing a computer to execute the wireless communication method of any of the above.
在本说明书的描述中，参考术语“一个实施方式”、“实施方式”等的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以 合适的方式结合。In the description of the present specification, the description of the terms "one embodiment", "an embodiment" or the like means that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment of the present invention. Or in the example. In the present specification, the schematic representation of the above terms does not necessarily mean the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be in any one or more embodiments or examples. Combine in a suitable way.
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本发明的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本发明的实施例所属技术领域的技术人员所理解。Any process or method description in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a particular logical function or process. And the scope of the preferred embodiments of the invention includes additional implementations, in which the functions may be performed in a substantially simultaneous manner or in an opposite order depending on the functions involved, in the order shown or discussed. It will be understood by those skilled in the art to which the embodiments of the present invention pertain.
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，“计算机可读的记录介质”可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读的记录介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读的记录介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。The logic and/or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer readable medium, Used in conjunction with, or in conjunction with, an instruction execution system, apparatus, or device (eg, a computer-based system, a system including a processor, or other system that can fetch instructions and execute instructions from an instruction execution system, apparatus, or device) Or use with equipment. For the purposes of this specification, a "computer-readable recording medium" can be any program that can contain, store, communicate, propagate, or transport the program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device. Device. More specific examples (non-exhaustive list) of computer readable recording media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM) ), read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer readable recording medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if necessary, Other suitable means of processing are to obtain the program electronically and then store it in computer memory.
应当理解，本发明的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。 It should be understood that portions of the invention may be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
本领域的普通技术人员可以理解实现上述实施方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读的记录介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。A person skilled in the art can understand that all or part of the steps carried in implementing the above implementation method can be completed by a program to instruct related hardware, and the program can be stored in a computer readable recording medium, and the program is executed. Including one or a combination of the steps of the method embodiments.
此外，在本发明各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. The integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.
上述提到的记录介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。The above-mentioned recording medium may be a read only memory, a magnetic disk or an optical disk or the like. Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The embodiments are subject to variations, modifications, substitutions and variations.
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者该专利披露。The disclosure of this patent document contains material that is subject to copyright protection. This copyright is the property of the copyright holder. The copyright owner has no objection to the reproduction of the patent document or the patent disclosure in the official records and files of the Patent and Trademark Office.
附图标号说明Description of the reference numerals
701…无线通信系统701...Wireless communication system
702…无人机设备702... drone equipment
703…RTK设备703...RTK equipment
801、901…处理器801, 901... processor
802、902…存储器 802, 902... memory

Claims (86)

  1. 一种无人机设备与实时动态定位RTK设备的无线通信方法，包括：A wireless communication method for a drone device and a real-time dynamic positioning RTK device, comprising:
    初始化步骤，所述无人机设备与所述RTK设备通过本地链路进行移动通信链路的初始化；An initialization step of initializing a mobile communication link between the UAV device and the RTK device via a local link;
    切换步骤，当所述本地链路的一个或多个特性满足切换规则时，所述无人机设备将与所述RTK设备之间的连接链路切换为所述移动通信链路；以及a handover step, when the one or more characteristics of the local link satisfy a handover rule, the UAV device switches a connection link with the RTK device to the mobile communication link;
    数据传输步骤，所述无人机设备与所述RTK设备通过所述移动通信链路传输数据。In the data transmission step, the drone device and the RTK device transmit data through the mobile communication link.
  2. 根据权利要求1所述的无线通信方法，其中，The wireless communication method according to claim 1, wherein
    所述初始化骤包括：The initialization step includes:
    所述无人机设备对消息队列遥测传输MQTT服务器进行登陆认证；The UAV device performs login authentication on the message queue telemetry transmission MQTT server;
    所述RTK设备对所述MQTT服务器进行登陆认证；The RTK device performs login authentication on the MQTT server;
    所述MQTT服务器分别对所述无人机设备和所述RTK设备分配发布主题即发布Topic；The MQTT server separately distributes a topic to the UAV device and the RTK device, that is, issues a Topic;
    所述无人机设备和所述RTK设备通过所述本地链路交换各自的发布Topic和各自的密钥Token。The UAV device and the RTK device exchange respective published Topics and respective key Tokens through the local link.
  3. 根据权利要求1所述的无线通信方法，其中，The wireless communication method according to claim 1, wherein
    所述初始化步骤包括：The initialization step includes:
    所述无人机设备对消息队列遥测传输MQTT服务器进行登陆认证；The UAV device performs login authentication on the message queue telemetry transmission MQTT server;
    所述RTK设备对所述MQTT服务器进行登陆认证；The RTK device performs login authentication on the MQTT server;
    所述无人机设备和所述RTK设备通过所述本地链路交换各自的发布Topic和各自的身份信息；The UAV device and the RTK device exchange respective published Topics and respective identity information through the local link;
    所述无人机设备和所述RTK设备分别将对方的所述发布Topic和对方的所述身份信息发送给所述MQTT服务器，由所述MQTT服务器进行访问控制从而进行所述移动通信链路的初始化。The UAV device and the RTK device respectively send the identity information of the publishing Topic and the other party to the MQTT server, and the MQTT server performs access control to perform the mobile communication link. initialization.
  4. 根据权利要求1所述的无线通信方法，其中，The wireless communication method according to claim 1, wherein
    所述切换步骤包括： The switching step includes:
    当所述本地链路的一个或多个特性满足切换规则时，所述无人机设备利用MQTT服务器通过所述移动通信链路分配给所述无人机设备的发布Topic，向所述RTK设备发送切换移动通信链路命令；When the one or more characteristics of the local link satisfy a switching rule, the UAV device utilizes a publishing Topic assigned to the UAV device by the MQTT server through the mobile communication link to the RTK device Sending a handover mobile communication link command;
    所述RTK设备利用MQTT服务器通过所述移动通信链路分配给所述RTK设备的发布Topic，向所述无人机设备发送切换确认命令；The RTK device sends a handover confirmation command to the UAV device by using an MQTP server to allocate a distribution topic to the RTK device through the mobile communication link;
    若所述无人机设备接收到所述切换确认命令，则将与所述RTK设备之间的连接链路切换为所述移动通信链路。And if the drone device receives the handover confirmation command, switching a connection link with the RTK device to the mobile communication link.
  5. 根据权利要求4所述的无线通信方法，其中，The wireless communication method according to claim 4, wherein
    所述无人机设备每隔预定时间向所述RTK设备发送所述切换移动通信链路命令。The UAV device transmits the handover mobile communication link command to the RTK device every predetermined time.
  6. 根据权利要求1所述的无线通信方法，其中，The wireless communication method according to claim 1, wherein
    在所述数据传输步骤中，通过所述无人机设备的发布Topic传输所述无人机设备的位置数据，并且由所述无人机设备从所订阅的所述RTK设备的发布Topic接收RTK数据。In the data transmission step, the location data of the drone device is transmitted by the publishing topic of the drone device, and the drone device receives the RTK from the published Topic of the subscribed RTK device. data.
  7. 根据权利要求1所述的无线通信方法，其中，The wireless communication method according to claim 1, wherein
    所述无线通信方法还包括：The wireless communication method further includes:
    逆切换步骤，当所述本地链路的一个或多个特性不再满足所述切换规则时，将所述无人机设备与所述RTK设备之间的连接链路切换为所述本地链路。An inverse handover step of switching a connection link between the UAV device and the RTK device to the local link when one or more characteristics of the local link no longer satisfy the handover rule .
  8. 根据权利要求7所述的无线通信方法，其中，The wireless communication method according to claim 7, wherein
    所述逆切换步骤包括：The reverse switching step includes:
    当所述本地链路的一个或多个特性不再满足所述切换规则时，所述无人机设备利用所述本地链路向所述RTK设备发送切换本地链路命令；When the one or more characteristics of the local link no longer satisfy the handover rule, the UAV device sends a handover local link command to the RTK device by using the local link;
    所述RTK设备利用所述本地链路向所述无人机设备发送切换确认命令；The RTK device sends a handover confirmation command to the drone device by using the local link;
    若所述无人机设备接收到所述切换确认命令，则将与所述RTK设备之间的连接链路切换为所述本地链路。And if the drone device receives the handover confirmation command, switching a connection link with the RTK device to the local link.
  9. 根据权利要求8所述的无线通信方法，其中，The wireless communication method according to claim 8, wherein
    所述无人机设备每隔预定时间向所述RTK设备发送所述切换本地链 路命令。The UAV device sends the switching local chain to the RTK device every predetermined time Road order.
  10. 根据权利要求1至9中任意一项所述的无线通信方法，其中，The wireless communication method according to any one of claims 1 to 9, wherein
    所述本地链路是软件定义无线电SDR链路，The local link is a software defined radio SDR link,
    所述初始化步骤包括SDR对频。The initialization step includes an SDR pair frequency.
  11. 根据权利要求1至9中任意一项所述的无线通信方法，其中，The wireless communication method according to any one of claims 1 to 9, wherein
    所述移动通信链路是4G链路。The mobile communication link is a 4G link.
  12. 根据权利要求1至9中任意一项所述的无线通信方法，其中，The wireless communication method according to any one of claims 1 to 9, wherein
    所述切换规则依据通过所述本地链路所接收到的信号的强度和/或质量。The switching rules are based on the strength and/or quality of signals received over the local link.
  13. 根据权利要求1至9中任意一项所述的无线通信方法，其中，The wireless communication method according to any one of claims 1 to 9, wherein
    所述切换规则是所述本地链路断开。The switching rule is that the local link is disconnected.
  14. 一种无人机设备与实时动态定位RTK设备的无线通信方法，包括：A wireless communication method for a drone device and a real-time dynamic positioning RTK device, comprising:
    所述无人机设备对消息队列遥测传输MQTT服务器进行登陆认证；The UAV device performs login authentication on the message queue telemetry transmission MQTT server;
    所述RTK设备对所述MQTT服务器进行登陆认证；The RTK device performs login authentication on the MQTT server;
    所述MQTT服务器分别对所述无人机设备和所述RTK设备分配发布主题即发布Topic；The MQTT server separately distributes a topic to the UAV device and the RTK device, that is, issues a Topic;
    所述无人机设备和所述RTK设备通过本地链路交换各自的发布Topic和各自的密钥Token。The UAV device and the RTK device exchange respective published Topics and respective key Tokens via a local link.
  15. 一种无人机设备与实时动态定位RTK设备的无线通信方法，包括：A wireless communication method for a drone device and a real-time dynamic positioning RTK device, comprising:
    所述无人机设备对消息队列遥测传输MQTT服务器进行登陆认证；The UAV device performs login authentication on the message queue telemetry transmission MQTT server;
    所述RTK设备对所述MQTT服务器进行登陆认证；The RTK device performs login authentication on the MQTT server;
    所述无人机设备和所述RTK设备通过本地链路交换各自的发布Topic和各自的身份信息；The UAV device and the RTK device exchange respective published Topic and respective identity information through a local link;
    所述无人机设备和所述RTK设备分别将对方的所述发布Topic和对方的所述身份信息发送给所述MQTT服务器，由所述MQTT服务器进行访问控制从而进行移动通信链路的初始化。The UAV device and the RTK device respectively transmit the identity information of the publishing Topic and the other party to the MQTT server, and the MQTT server performs access control to initialize the mobile communication link.
  16. 根据权利要求14或15所述的无线通信方法，其中还包括：The wireless communication method according to claim 14 or 15, further comprising:
    当所述本地链路的一个或多个特性满足切换规则时，所述无人机设备利用MQTT服务器通过所述移动通信链路分配给所述无人机设备的发布 Topic，向所述RTK设备发送切换移动通信链路命令；When the one or more characteristics of the local link satisfy a handover rule, the drone device utilizes an MQTT server to distribute the distribution to the drone device through the mobile communication link Topic, sending a handover mobile communication link command to the RTK device;
    所述RTK设备利用MQTT服务器通过所述移动通信链路分配给所述RTK设备的发布Topic，向所述无人机设备发送切换确认命令；The RTK device sends a handover confirmation command to the UAV device by using an MQTP server to allocate a distribution topic to the RTK device through the mobile communication link;
    若所述无人机设备接收到所述切换确认命令，则将与所述RTK设备之间的连接链路切换为所述移动通信链路。And if the drone device receives the handover confirmation command, switching a connection link with the RTK device to the mobile communication link.
  17. 根据权利要求16所述的无线通信方法，其中，The wireless communication method according to claim 16, wherein
    所述无人机设备每隔预定时间向所述RTK设备发送所述切换移动通信链路命令。The UAV device transmits the handover mobile communication link command to the RTK device every predetermined time.
  18. 根据权利要求14或15所述的无线通信方法，其中还包括：The wireless communication method according to claim 14 or 15, further comprising:
    当所述本地链路的一个或多个特性不再满足所述切换规则时，When one or more characteristics of the local link no longer satisfy the switching rule,
    所述无人机设备利用所述本地链路向所述RTK设备发送切换本地链路命令；The UAV device transmits a handover local link command to the RTK device by using the local link;
    所述RTK设备利用所述本地链路向所述无人机设备发送切换确认命令；The RTK device sends a handover confirmation command to the drone device by using the local link;
    若所述无人机设备接收到所述切换确认命令，则将与所述RTK设备之间的连接链路切换为所述本地链路。And if the drone device receives the handover confirmation command, switching a connection link with the RTK device to the local link.
  19. 根据权利要求18所述的无线通信方法，其中，The wireless communication method according to claim 18, wherein
    所述无人机设备每隔预定时间向所述RTK设备发送所述切换本地链路命令。The UAV device transmits the handover local link command to the RTK device every predetermined time.
  20. 根据权利要求14至19中任意一项所述的无线通信方法，其中，The wireless communication method according to any one of claims 14 to 19, wherein
    所述本地链路是软件定义无线电SDR链路，The local link is a software defined radio SDR link,
    所述无线通信方法还包括SDR对频。The wireless communication method also includes an SDR pair frequency.
  21. 根据权利要求14至19中任意一项所述的无线通信方法，其中，The wireless communication method according to any one of claims 14 to 19, wherein
    所述移动通信链路是4G链路。The mobile communication link is a 4G link.
  22. 一种无线通信系统，包括无人机设备和实时动态定位RTK设备，其中，A wireless communication system, including a drone device and a real-time dynamic positioning RTK device, wherein
    所述无人机设备与所述RTK设备通过本地链路进行移动通信链路的初始化，The UAV device and the RTK device perform initialization of a mobile communication link through a local link,
    当所述本地链路的一个或多个特性满足切换规则时，所述无人机设备 将与所述RTK设备之间的连接链路切换为所述移动通信链路，The drone device when one or more characteristics of the local link satisfy a switching rule Switching a connection link with the RTK device to the mobile communication link,
    所述无人机设备与所述RTK设备通过所述移动通信链路传输数据。The UAV device and the RTK device transmit data over the mobile communication link.
  23. 根据权利要求22所述的无线通信系统，其中，The wireless communication system according to claim 22, wherein
    所述无人机设备与所述RTK设备通过本地链路进行移动通信链路的初始化，包括：The UAV device and the RTK device perform initialization of a mobile communication link through a local link, including:
    所述无人机设备对消息队列遥测传输MQTT服务器进行登陆认证；The UAV device performs login authentication on the message queue telemetry transmission MQTT server;
    所述RTK设备对所述MQTT服务器进行登陆认证；The RTK device performs login authentication on the MQTT server;
    所述MQTT服务器分别对所述无人机设备和所述RTK设备分配发布主题即发布Topic；The MQTT server separately distributes a topic to the UAV device and the RTK device, that is, issues a Topic;
    所述无人机设备和所述RTK设备通过所述本地链路交换各自的发布Topic和各自的密钥Token。The UAV device and the RTK device exchange respective published Topics and respective key Tokens through the local link.
  24. 根据权利要求22所述的无线通信系统，其中，The wireless communication system according to claim 22, wherein
    所述无人机设备与所述RTK设备通过本地链路进行移动通信链路的初始化，包括：The UAV device and the RTK device perform initialization of a mobile communication link through a local link, including:
    所述无人机设备对消息队列遥测传输MQTT服务器进行登陆认证；The UAV device performs login authentication on the message queue telemetry transmission MQTT server;
    所述RTK设备对所述MQTT服务器进行登陆认证；The RTK device performs login authentication on the MQTT server;
    所述无人机设备和所述RTK设备通过所述本地链路交换各自的发布Topic和各自的身份信息；The UAV device and the RTK device exchange respective published Topics and respective identity information through the local link;
    所述无人机设备和所述RTK设备分别将对方的所述发布Topic和对方的所述身份信息发送给所述MQTT服务器，由所述MQTT服务器进行访问控制从而进行所述移动通信链路的初始化。The UAV device and the RTK device respectively send the identity information of the publishing Topic and the other party to the MQTT server, and the MQTT server performs access control to perform the mobile communication link. initialization.
  25. 根据权利要求22所述的无线通信系统，其中，The wireless communication system according to claim 22, wherein
    所述无人机设备将与所述RTK设备之间的连接链路切换为所述移动通信链路，包括：The UAV device switches the connection link with the RTK device to the mobile communication link, including:
    当所述本地链路的一个或多个特性满足切换规则时，When one or more characteristics of the local link satisfy a switching rule,
    所述无人机设备利用MQTT服务器通过所述移动通信链路分配给所述无人机设备的发布Topic，向所述RTK设备发送切换移动通信链路命令；The UAV device uses a publishing Topic allocated by the MQTT server to the UAV device through the mobile communication link, and sends a handover mobile communication link command to the RTK device;
    所述RTK设备利用MQTT服务器通过所述移动通信链路分配给所述RTK设备的发布Topic，向所述无人机设备发送切换确认命令； The RTK device sends a handover confirmation command to the UAV device by using an MQTP server to allocate a distribution topic to the RTK device through the mobile communication link;
    若所述无人机设备接收到所述切换确认命令，则将与所述RTK设备之间的连接链路切换为所述移动通信链路。And if the drone device receives the handover confirmation command, switching a connection link with the RTK device to the mobile communication link.
  26. 根据权利要求25所述的无线通信系统，其中，The wireless communication system according to claim 25, wherein
    所述无人机设备每隔预定时间向所述RTK设备发送所述切换移动通信链路命令。The UAV device transmits the handover mobile communication link command to the RTK device every predetermined time.
  27. 根据权利要求22所述的无线通信系统，其中，The wireless communication system according to claim 22, wherein
    所述无人机设备与所述RTK设备通过所述移动通信链路传输数据时，通过所述无人机设备的发布Topic传输所述无人机设备的位置数据，并且由所述无人机设备从所订阅的所述RTK设备的发布Topic接收RTK数据。When the UAV device and the RTK device transmit data through the mobile communication link, the location data of the UAV device is transmitted by the publishing Topic of the UAV device, and the UAV is used by the UAV The device receives RTK data from the published Topic of the subscribed RTK device.
  28. 根据权利要求22所述的无线通信系统，其中，The wireless communication system according to claim 22, wherein
    当所述本地链路的一个或多个特性不再满足所述切换规则时，将所述无人机设备与所述RTK设备之间的连接链路切换为所述本地链路。When one or more characteristics of the local link no longer satisfy the handover rule, the connection link between the UAV device and the RTK device is switched to the local link.
  29. 根据权利要求28所述的无线通信系统，其中，The wireless communication system according to claim 28, wherein
    所述无人机设备将与所述RTK设备之间的连接链路切换为所述本地链路，包括：The UAV device switches the connection link with the RTK device to the local link, including:
    当所述本地链路的一个或多个特性不再满足所述切换规则时，When one or more characteristics of the local link no longer satisfy the switching rule,
    所述无人机设备利用所述本地链路向所述RTK设备发送切换本地链路命令；The UAV device transmits a handover local link command to the RTK device by using the local link;
    所述RTK设备利用所述本地链路向所述无人机设备发送切换确认命令；The RTK device sends a handover confirmation command to the drone device by using the local link;
    若所述无人机设备接收到所述切换确认命令，则将与所述RTK设备之间的连接链路切换为所述本地链路。And if the drone device receives the handover confirmation command, switching a connection link with the RTK device to the local link.
  30. 根据权利要求29所述的无线通信系统，其中，The wireless communication system according to claim 29, wherein
    所述无人机设备每隔预定时间向所述RTK设备发送所述切换本地链路命令。The UAV device transmits the handover local link command to the RTK device every predetermined time.
  31. 根据权利要求22至30中任意一项所述的无线通信系统，其中，A wireless communication system according to any one of claims 22 to 30, wherein
    所述本地链路是软件定义无线电SDR链路，The local link is a software defined radio SDR link,
    所述初始化步骤包括SDR对频。The initialization step includes an SDR pair frequency.
  32. 根据权利要求22至30中任意一项所述的无线通信系统，其中， A wireless communication system according to any one of claims 22 to 30, wherein
    所述移动通信链路是4G链路。The mobile communication link is a 4G link.
  33. 根据权利要求22至30中任意一项所述的无线通信系统，其中，A wireless communication system according to any one of claims 22 to 30, wherein
    所述切换规则依据通过所述本地链路所接收到的信号的强度和/或质量。The switching rules are based on the strength and/or quality of signals received over the local link.
  34. 根据权利要求22至30中任意一项所述的无线通信系统，其中，A wireless communication system according to any one of claims 22 to 30, wherein
    所述切换规则是所述本地链路断开。The switching rule is that the local link is disconnected.
  35. 一种无线通信系统，包括无人机设备和实时动态定位RTK设备，其中，A wireless communication system, including a drone device and a real-time dynamic positioning RTK device, wherein
    所述无人机设备对消息队列遥测传输MQTT服务器进行登陆认证，The UAV device performs login authentication on the message queue telemetry transmission MQTT server.
    所述RTK设备对所述MQTT服务器进行登陆认证，The RTK device performs login authentication on the MQTT server,
    所述MQTT服务器分别对所述无人机设备和所述RTK设备分配发布主题即发布Topic，The MQTT server separately distributes a topic to the UAV device and the RTK device, that is, a Topic is released.
    所述无人机设备和所述RTK设备通过本地链路交换各自的发布Topic和各自的密钥Token。The UAV device and the RTK device exchange respective published Topics and respective key Tokens via a local link.
  36. 一种无线通信系统，包括无人机设备和实时动态定位RTK设备，其中，A wireless communication system, including a drone device and a real-time dynamic positioning RTK device, wherein
    所述无人机设备对消息队列遥测传输MQTT服务器进行登陆认证，The UAV device performs login authentication on the message queue telemetry transmission MQTT server.
    所述RTK设备对所述MQTT服务器进行登陆认证，The RTK device performs login authentication on the MQTT server,
    所述无人机设备和所述RTK设备通过本地链路交换各自的发布Topic和各自的身份信息，The UAV device and the RTK device exchange respective published Topic and respective identity information through a local link,
    所述无人机设备和所述RTK设备分别将对方的所述发布Topic和对方的所述身份信息发送给所述MQTT服务器，由所述MQTT服务器进行访问控制从而进行移动通信链路的初始化。The UAV device and the RTK device respectively transmit the identity information of the publishing Topic and the other party to the MQTT server, and the MQTT server performs access control to initialize the mobile communication link.
  37. 根据权利要求35或36所述的无线通信系统，其中，A wireless communication system according to claim 35 or 36, wherein
    当所述本地链路的一个或多个特性满足切换规则时，When one or more characteristics of the local link satisfy a switching rule,
    所述无人机设备利用MQTT服务器通过所述移动通信链路分配给所述无人机设备的发布Topic，向所述RTK设备发送切换移动通信链路命令，The UAV device uses a publishing Topic allocated by the MQTT server to the UAV device through the mobile communication link, and sends a handover mobile communication link command to the RTK device,
    所述RTK设备利用MQTT服务器通过所述移动通信链路分配给所述RTK设备的发布Topic，向所述无人机设备发送切换确认命令， The RTK device sends a handover confirmation command to the unmanned device by using an MQTP server to distribute a distribution topic to the RTK device through the mobile communication link,
    若所述无人机设备接收到所述切换确认命令，则将与所述RTK设备之间的连接链路切换为所述移动通信链路。And if the drone device receives the handover confirmation command, switching a connection link with the RTK device to the mobile communication link.
  38. 根据权利要求37所述的无线通信系统，其中，The wireless communication system according to claim 37, wherein
    所述无人机设备每隔预定时间向所述RTK设备发送所述切换移动通信链路命令。The UAV device transmits the handover mobile communication link command to the RTK device every predetermined time.
  39. 根据权利要求35或36所述的无线通信系统，其中，A wireless communication system according to claim 35 or 36, wherein
    当所述本地链路的一个或多个特性不再满足所述切换规则时，When one or more characteristics of the local link no longer satisfy the switching rule,
    所述无人机设备利用所述本地链路向所述RTK设备发送切换本地链路命令，The UAV device transmits a handover local link command to the RTK device by using the local link,
    所述RTK设备利用所述本地链路向所述无人机设备发送切换确认命令，The RTK device sends a handover confirmation command to the drone device by using the local link,
    若所述无人机设备接收到所述切换确认命令，则将与所述RTK设备之间的连接链路切换为所述本地链路。And if the drone device receives the handover confirmation command, switching a connection link with the RTK device to the local link.
  40. 根据权利要求39所述的无线通信系统，其中，The wireless communication system according to claim 39, wherein
    所述无人机设备每隔预定时间向所述RTK设备发送所述切换本地链路命令。The UAV device transmits the handover local link command to the RTK device every predetermined time.
  41. 根据权利要求35至40中任意一项所述的无线通信系统，其中，A wireless communication system according to any one of claims 35 to 40, wherein
    所述本地链路是软件定义无线电SDR链路，The local link is a software defined radio SDR link,
    所述无线通信系统还包括SDR对频。The wireless communication system also includes an SDR pair frequency.
  42. 根据权利要求35至40中任意一项所述的无线通信系统，其中，A wireless communication system according to any one of claims 35 to 40, wherein
    所述移动通信链路是4G链路。The mobile communication link is a 4G link.
  43. 一种计算机可读的记录介质，存储有可执行指令，该指令被处理器执行时使该处理器执行权利要求1至21中任一项所述的无线通信方法。A computer readable recording medium storing executable instructions that, when executed by a processor, cause the processor to perform the wireless communication method of any one of claims 1 to 21.
  44. 一种无人机设备的无线通信方法，所述无人机设备能够与实时动态定位RTK设备进行无线通信，所述无线通信方法包括：A wireless communication method for a drone device, the drone device capable of wirelessly communicating with a real-time dynamic positioning RTK device, the wireless communication method comprising:
    初始化步骤，通过本地链路与所述RTK设备进行移动通信链路的初始化；An initialization step of initializing a mobile communication link with the RTK device through a local link;
    切换步骤，当所述本地链路的一个或多个特性满足切换规则时，将与所述RTK设备之间的连接链路切换为所述移动通信链路；以及 a switching step of switching a connection link with the RTK device to the mobile communication link when one or more characteristics of the local link satisfy a handover rule;
    数据传输步骤，通过所述移动通信链路与所述RTK设备传输数据。a data transmission step of transmitting data with the RTK device over the mobile communication link.
  45. 根据权利要求44所述的无线通信方法，其中，The wireless communication method according to claim 44, wherein
    所述初始化步骤包括：The initialization step includes:
    对消息队列遥测传输MQTT服务器进行登陆认证；Perform login authentication on the message queue telemetry transmission MQTT server;
    接收由所述MQTT服务器分配的第一发布主题即第一发布Topic；Receiving, by the MQTT server, a first publishing topic, that is, a first publishing topic;
    通过所述本地链路将本身的密钥Token和接收到的所述第一发布Topic发送给所述RTK设备；Transmitting, by the local link, its own key Token and the received first published Topic to the RTK device;
    通过所述本地链路接收从所述RTK设备发送的第二发布Topic和所述RTK设备的Token，根据所述第二发布Topic和所述RTK设备的Token完成订阅从而进行所述移动通信链路的初始化。Receiving, by the local link, a second published Topic sent from the RTK device and a Token of the RTK device, performing subscription according to the second published Topic and the Token of the RTK device to perform the mobile communication link Initialization.
  46. 根据权利要求44所述的无线通信方法，其中，The wireless communication method according to claim 44, wherein
    所述初始化步骤包括：The initialization step includes:
    对消息队列遥测传输MQTT服务器进行登陆认证；Perform login authentication on the message queue telemetry transmission MQTT server;
    接收由所述MQTT服务器分配的第一发布主题即第一发布Topic；Receiving, by the MQTT server, a first publishing topic, that is, a first publishing topic;
    通过所述本地链路将本身的身份信息和所述第一发布Topic发送给所述RTK设备；Transmitting identity information and the first published Topic to the RTK device by using the local link;
    通过所述本地链路从所述RTK设备接收所述RTK设备发送的第二发布Topic和所述RTK设备的身份信息；Receiving, by the local link, the second published Topic and the identity information of the RTK device sent by the RTK device from the RTK device;
    将接收到的所述第二发布Topic和所述RTK设备的身份信息发送给所述MQTT服务器从而进行所述移动通信链路的初始化。And transmitting the received identity information of the second publishing topic and the RTK device to the MQTT server to perform initialization of the mobile communication link.
  47. 根据权利要求44所述的无线通信方法，其中，The wireless communication method according to claim 44, wherein
    所述切换步骤包括：The switching step includes:
    当所述本地链路的一个或多个特性满足切换规则时，When one or more characteristics of the local link satisfy a switching rule,
    利用MQTT服务器通过所述移动通信链路向所述RTK设备发送切换移动通信链路命令；Transmitting a handover mobile communication link command to the RTK device over the mobile communication link by using an MQTT server;
    利用MQTT服务器通过所述移动通信链路接收从所述RTK设备发送的切换确认命令；Receiving, by the MQTT server, a handover confirm command sent from the RTK device over the mobile communication link;
    若接收到所述切换确认命令，则将与所述RTK设备之间的连接链路切换为所述移动通信链路。 And if the handover confirmation command is received, the connection link with the RTK device is switched to the mobile communication link.
  48. 根据权利要求47所述的无线通信方法，其中，The wireless communication method according to claim 47, wherein
    每隔预定时间向所述RTK设备发送所述切换移动通信链路命令。The handover mobile communication link command is transmitted to the RTK device every predetermined time.
  49. 根据权利要求44所述的无线通信方法，其中，The wireless communication method according to claim 44, wherein
    在所述数据传输步骤中，通过发布Topic传输自身的位置数据，并且从所订阅的所述RTK设备的发布Topic接收RTK数据。In the data transmission step, the location data of the own is transmitted by publishing the Topic, and the RTK data is received from the published Topic of the subscribed RTK device.
  50. 根据权利要求44所述的无线通信方法，其中，The wireless communication method according to claim 44, wherein
    所述无线通信方法还包括：The wireless communication method further includes:
    逆切换步骤，当所述本地链路的一个或多个特性不再满足所述切换规则时，将与所述RTK设备之间的连接链路切换为所述本地链路。And an inverse handover step of switching a connection link with the RTK device to the local link when one or more characteristics of the local link no longer satisfy the handover rule.
  51. 根据权利要求50所述的无线通信方法，其中，The wireless communication method according to claim 50, wherein
    所述逆切换步骤包括：The reverse switching step includes:
    当所述本地链路的一个或多个特性不再满足所述切换规则时，When one or more characteristics of the local link no longer satisfy the switching rule,
    利用所述本地链路向所述RTK设备发送切换本地链路命令；Transmitting a handover local link command to the RTK device by using the local link;
    利用所述本地链路从所述RTK设备接收切换确认命令；Receiving a handover confirmation command from the RTK device by using the local link;
    若接收到所述切换确认命令，则将与所述RTK设备之间的连接链路切换为所述本地链路。And if the handover confirmation command is received, the connection link with the RTK device is switched to the local link.
  52. 根据权利要求51所述的无线通信方法，其中，The wireless communication method according to claim 51, wherein
    每隔预定时间向所述RTK设备发送所述切换本地链路命令。The handover local link command is sent to the RTK device every predetermined time.
  53. 根据权利要求44至52中任意一项所述的无线通信方法，其中，The wireless communication method according to any one of claims 44 to 52, wherein
    所述本地链路是软件定义无线电SDR链路，The local link is a software defined radio SDR link,
    所述初始化步骤包括SDR对频。The initialization step includes an SDR pair frequency.
  54. 根据权利要求44至52中任意一项所述的无线通信方法，其中，The wireless communication method according to any one of claims 44 to 52, wherein
    所述移动通信链路是4G链路。The mobile communication link is a 4G link.
  55. 根据权利要求44至52中任意一项所述的无线通信方法，其中，The wireless communication method according to any one of claims 44 to 52, wherein
    所述切换规则依据通过所述本地链路所接收到的信号的强度和/或质量。The switching rules are based on the strength and/or quality of signals received over the local link.
  56. 根据权利要求44至52中任意一项所述的无线通信方法，其中，The wireless communication method according to any one of claims 44 to 52, wherein
    所述切换规则是所述本地链路断开。The switching rule is that the local link is disconnected.
  57. 一种无人机设备的无线通信方法，所述无人机设备能够与实时动 态定位RTK设备进行无线通信，所述无线通信方法包括：A wireless communication method for a drone device, the drone device capable of moving with real time The state-of-the-art RTK device performs wireless communication, and the wireless communication method includes:
    对消息队列遥测传输MQTT服务器进行登陆认证；Perform login authentication on the message queue telemetry transmission MQTT server;
    接收由所述MQTT服务器分配的第一发布主题即第一发布Topic；Receiving, by the MQTT server, a first publishing topic, that is, a first publishing topic;
    通过所述本地链路将本身的密钥Token和接收到的所述第一发布Topic发送给所述RTK设备；Transmitting, by the local link, its own key Token and the received first published Topic to the RTK device;
    通过所述本地链路接收从所述RTK设备发送的第二发布Topic和所述RTK设备的Token，根据所述第二发布Topic和所述RTK设备的Token完成订阅从而进行所述移动通信链路的初始化。Receiving, by the local link, a second published Topic sent from the RTK device and a Token of the RTK device, performing subscription according to the second published Topic and the Token of the RTK device to perform the mobile communication link Initialization.
  58. 一种无人机设备的无线通信方法，所述无人机设备能够与实时动态定位RTK设备进行无线通信，所述无线通信方法包括：A wireless communication method for a drone device, the drone device capable of wirelessly communicating with a real-time dynamic positioning RTK device, the wireless communication method comprising:
    对消息队列遥测传输MQTT服务器进行登陆认证；Perform login authentication on the message queue telemetry transmission MQTT server;
    接收由所述MQTT服务器分配的第一发布主题即第一发布Topic；Receiving, by the MQTT server, a first publishing topic, that is, a first publishing topic;
    通过本地链路将本身的身份信息和所述第一发布Topic发送给所述RTK设备；Transmitting identity information and the first published Topic to the RTK device through a local link;
    通过所述本地链路从所述RTK设备接收所述RTK设备发送的第二发布Topic和所述RTK设备的身份信息；Receiving, by the local link, the second published Topic and the identity information of the RTK device sent by the RTK device from the RTK device;
    将接收到的所述第二发布Topic和所述RTK设备的身份信息发送给所述MQTT服务器从而进行所述移动通信链路的初始化。And transmitting the received identity information of the second publishing topic and the RTK device to the MQTT server to perform initialization of the mobile communication link.
  59. 根据权利要求57或58所述的无线通信方法，其中还包括：The wireless communication method according to claim 57 or 58, further comprising:
    当所述本地链路的一个或多个特性满足切换规则时，When one or more characteristics of the local link satisfy a switching rule,
    通过所述移动通信链路经由MQTT服务器向所述RTK设备发送切换移动通信链路命令；Transmitting a handover mobile communication link command to the RTK device via the MQTT server via the mobile communication link;
    通过所述移动通信链路经由MQTT服务器接收从所述RTK设备发送的切换确认命令；Receiving, by the mobile communication link, a handover confirm command sent from the RTK device via an MQTT server;
    若接收到所述切换确认命令，则将与所述RTK设备之间的连接链路切换为所述移动通信链路。And if the handover confirmation command is received, the connection link with the RTK device is switched to the mobile communication link.
  60. 根据权利要求59所述的无线通信方法，其中，The wireless communication method according to claim 59, wherein
    每隔预定时间向所述RTK设备发送所述切换移动通信链路命令。The handover mobile communication link command is transmitted to the RTK device every predetermined time.
  61. 根据权利要求57或58所述的无线通信方法，其中还包括： The wireless communication method according to claim 57 or 58, further comprising:
    当所述本地链路的一个或多个特性不再满足所述切换规则时，When one or more characteristics of the local link no longer satisfy the switching rule,
    利用所述本地链路向所述RTK设备发送切换本地链路命令；Transmitting a handover local link command to the RTK device by using the local link;
    利用所述本地链路从所述RTK设备接收切换确认命令；Receiving a handover confirmation command from the RTK device by using the local link;
    若接收到所述切换确认命令，则将与所述RTK设备之间的连接链路切换为所述本地链路。And if the handover confirmation command is received, the connection link with the RTK device is switched to the local link.
  62. 根据权利要求61所述的无线通信方法，其中，The wireless communication method according to claim 61, wherein
    每隔预定时间向所述RTK设备发送所述切换本地链路命令。The handover local link command is sent to the RTK device every predetermined time.
  63. 根据权利要求57至62中任意一项所述的无线通信方法，其中，The wireless communication method according to any one of claims 57 to 62, wherein
    所述本地链路是软件定义无线电SDR链路，The local link is a software defined radio SDR link,
    所述无线通信方法还包括SDR对频。The wireless communication method also includes an SDR pair frequency.
  64. 根据权利要求57至62中任意一项所述的无线通信方法，其中，The wireless communication method according to any one of claims 57 to 62, wherein
    所述移动通信链路是4G链路。The mobile communication link is a 4G link.
  65. 一种无人机设备，包括处理器和存储器，在存储器中存储有计算机可执行指令，在所述指令被所述处理器执行时，使所述处理器执行权利要求44至64中任一项所述的无线通信方法。A UAV device comprising a processor and a memory, the computer-executable instructions being stored in the memory, the processor being caused to perform any one of claims 44 to 64 when the instructions are executed by the processor The wireless communication method.
  66. 一种计算机可读的记录介质，存储有可执行指令，该指令被处理器执行时使该处理器执行权利要求44至64中任一项所述的无线通信方法。A computer readable recording medium storing executable instructions that, when executed by a processor, cause the processor to perform the wireless communication method of any one of claims 44 to 64.
  67. 一种实时动态定位RTK设备的无线通信方法，所述RTK设备能够与无人机设备进行无线通信，所述无线通信方法包括：A wireless communication method for real-time dynamic positioning of an RTK device, the RTK device capable of wirelessly communicating with a drone device, the wireless communication method comprising:
    初始化步骤，通过本地链路与所述无人机设备进行移动通信链路的初始化；An initialization step of initializing a mobile communication link with the drone device via a local link;
    切换步骤，当所述本地链路的一个或多个特性满足切换规则时，将与所述无人机设备之间的连接链路切换为所述移动通信链路；以及a switching step of switching a connection link with the drone device to the mobile communication link when one or more characteristics of the local link satisfy a handover rule;
    数据传输步骤，通过所述移动通信链路与所述无人机设备传输数据。a data transmission step of transmitting data with the drone device over the mobile communication link.
  68. 根据权利要求67所述的无线通信方法，其中，The wireless communication method according to claim 67, wherein
    所述初始化步骤包括：The initialization step includes:
    对消息队列遥测传输MQTT服务器进行登陆认证；Perform login authentication on the message queue telemetry transmission MQTT server;
    接收由所述MQTT服务器分配的第一发布主题即第一发布Topic； Receiving, by the MQTT server, a first publishing topic, that is, a first publishing topic;
    通过所述本地链路将本身的密钥Token和接收到的所述第一发布Topic发送给所述无人机设备；Transmitting, by the local link, its own key Token and the received first published Topic to the drone device;
    通过所述本地链路接收从所述无人机设备发送的第二发布Topic和所述无人机设备的Token，根据所述第二发布Topic和所述无人机设备的Token完成订阅从而进行所述移动通信链路的初始化。Receiving, by the local link, a second published Topic sent from the drone device and a Token of the drone device, completing a subscription according to the second published Topic and the Token of the drone device Initialization of the mobile communication link.
  69. 根据权利要求67所述的无线通信方法，其中，The wireless communication method according to claim 67, wherein
    所述初始化步骤包括：The initialization step includes:
    对消息队列遥测传输MQTT服务器进行登陆认证；Perform login authentication on the message queue telemetry transmission MQTT server;
    接收由所述MQTT服务器分配的第一发布主题即第一发布Topic；Receiving, by the MQTT server, a first publishing topic, that is, a first publishing topic;
    通过所述本地链路将本身的身份信息和所述第一发布Topic发送给所述无人机设备；Transmitting identity information and the first published Topic to the drone device through the local link;
    通过所述本地链路从所述无人机设备接收所述无人机设备发送的第二发布Topic和所述无人机设备的身份信息；Receiving, by the local link, the second published Topic and the identity information of the drone device sent by the UAV device from the UAV device;
    将接收到的所述第二发布Topic和所述无人机设备的身份信息发送给所述MQTT服务器从而进行所述移动通信链路的初始化。And transmitting the received second published Topic and the identity information of the drone device to the MQTT server to perform initialization of the mobile communication link.
  70. 根据权利要求67所述的无线通信方法，其中，The wireless communication method according to claim 67, wherein
    所述切换步骤包括：The switching step includes:
    当所述本地链路的一个或多个特性满足切换规则时，When one or more characteristics of the local link satisfy a switching rule,
    利用MQTT服务器通过所述移动通信链路接收从所述无人机设备发送的切换移动通信链路命令；Receiving, by the MQTT server, a handover mobile communication link command transmitted from the drone device through the mobile communication link;
    利用MQTT服务器通过所述移动通信链路向所述无人机设备发送切换确认命令；Transmitting, by the MQTT server, a handover confirmation command to the drone device through the mobile communication link;
    在所述无人机设备接收到所述切换确认命令的情况下，将与所述无人机设备之间的连接链路切换为所述移动通信链路。And in a case where the drone device receives the handover confirmation command, switching a connection link with the drone device to the mobile communication link.
  71. 根据权利要求67所述的无线通信方法，其中，The wireless communication method according to claim 67, wherein
    在所述数据传输步骤中，从所订阅的所述无人机设备的发布Topic接收所述无人机设备的位置数据，并且通过发布Topic传输RTK数据。In the data transmission step, the location data of the drone device is received from the published Topic of the subscribed UAV device, and the RTK data is transmitted by publishing the Topic.
  72. 根据权利要求67所述的无线通信方法，其中，The wireless communication method according to claim 67, wherein
    所述无线通信方法还包括： The wireless communication method further includes:
    逆切换步骤，当所述本地链路的一个或多个特性不再满足所述切换规则时，将与所述无人机设备之间的连接链路切换为所述本地链路。And an inverse handover step of switching a connection link with the drone device to the local link when one or more characteristics of the local link no longer satisfy the handover rule.
  73. 根据权利要求72所述的无线通信方法，其中，The wireless communication method according to claim 72, wherein
    所述逆切换步骤包括：The reverse switching step includes:
    当所述本地链路的一个或多个特性不再满足所述切换规则时，When one or more characteristics of the local link no longer satisfy the switching rule,
    利用所述本地链路从所述无人机设备接收切换本地链路命令；Receiving a handover local link command from the drone device using the local link;
    利用所述本地链路向所述无人机设备发送切换确认命令；Transmitting a handover confirmation command to the drone device by using the local link;
    在所述无人机设备接收到所述切换确认命令的情况下，将与所述无人机设备之间的连接链路切换为所述本地链路。And in a case where the drone device receives the handover confirmation command, switching a connection link with the drone device to the local link.
  74. 根据权利要求67至73中任意一项所述的无线通信方法，其中，The wireless communication method according to any one of claims 67 to 73, wherein
    所述本地链路是软件定义无线电SDR链路，The local link is a software defined radio SDR link,
    所述初始化步骤包括SDR对频。The initialization step includes an SDR pair frequency.
  75. 根据权利要求67至73中任意一项所述的无线通信方法，其中，The wireless communication method according to any one of claims 67 to 73, wherein
    所述移动通信链路是4G链路。The mobile communication link is a 4G link.
  76. 根据权利要求67至73中任意一项所述的无线通信方法，其中，The wireless communication method according to any one of claims 67 to 73, wherein
    所述切换规则依据通过所述本地链路所接收到的信号的强度和/或质量。The switching rules are based on the strength and/or quality of signals received over the local link.
  77. 根据权利要求67至73中任意一项所述的无线通信方法，其中，The wireless communication method according to any one of claims 67 to 73, wherein
    所述切换规则是所述本地链路断开。The switching rule is that the local link is disconnected.
  78. 一种实时动态定位RTK设备的无线通信方法，所述RTK设备能够与无人机设备进行无线通信，所述无线通信方法包括：A wireless communication method for real-time dynamic positioning of an RTK device, the RTK device capable of wirelessly communicating with a drone device, the wireless communication method comprising:
    对消息队列遥测传输MQTT服务器进行登陆认证；Perform login authentication on the message queue telemetry transmission MQTT server;
    接收由所述MQTT服务器分配的第一发布主题即第一发布Topic；Receiving, by the MQTT server, a first publishing topic, that is, a first publishing topic;
    通过本地链路将本身的密钥Token和接收到的所述第一发布Topic发送给所述无人机设备；Transmitting its own key Token and the received first published Topic to the drone device through a local link;
    通过所述本地链路接收从所述无人机设备发送的第二发布Topic和所述无人机设备的Token，根据所述第二发布Topic和所述无人机设备的Token完成订阅从而进行所述移动通信链路的初始化。Receiving, by the local link, a second published Topic sent from the drone device and a Token of the drone device, completing a subscription according to the second published Topic and the Token of the drone device Initialization of the mobile communication link.
  79. 一种实时动态定位RTK设备的无线通信方法，所述RTK设备能够 与无人机设备进行无线通信，所述无线通信方法包括：A wireless communication method for real-time dynamic positioning RTK device, the RTK device capable of Wirelessly communicating with the drone device, the wireless communication method comprising:
    对消息队列遥测传输MQTT服务器进行登陆认证；Perform login authentication on the message queue telemetry transmission MQTT server;
    接收由所述MQTT服务器分配的第一发布主题即第一发布Topic；Receiving, by the MQTT server, a first publishing topic, that is, a first publishing topic;
    通过所述本地链路将本身的身份信息和所述第一发布Topic发送给所述无人机设备；Transmitting identity information and the first published Topic to the drone device through the local link;
    通过所述本地链路从所述无人机设备接收所述无人机设备发送的第二发布Topic和所述无人机设备的身份信息；Receiving, by the local link, the second published Topic and the identity information of the drone device sent by the UAV device from the UAV device;
    将接收到的所述第二发布Topic和所述无人机设备的身份信息发送给所述MQTT服务器从而进行所述移动通信链路的初始化。And transmitting the received second published Topic and the identity information of the drone device to the MQTT server to perform initialization of the mobile communication link.
  80. 根据权利要求78或79所述的无线通信方法，其中还包括：The wireless communication method according to claim 78 or 79, further comprising:
    当所述本地链路的一个或多个特性满足切换规则时，When one or more characteristics of the local link satisfy a switching rule,
    通过所述移动通信链路经由MQTT服务器接收从所述无人机设备发送的切换移动通信链路命令；Receiving, by the mobile communication link, a handover mobile communication link command transmitted from the drone device via an MQTT server;
    通过所述移动通信链路经由MQTT服务器向所述无人机设备发送切换确认命令；Transmitting a handover confirmation command to the drone device via the MQTT server via the mobile communication link;
    在所述无人机设备接收到所述切换确认命令的情况下，将与所述无人机设备之间的连接链路切换为所述移动通信链路。And in a case where the drone device receives the handover confirmation command, switching a connection link with the drone device to the mobile communication link.
  81. 根据权利要求78或79所述的无线通信方法，其中还包括：The wireless communication method according to claim 78 or 79, further comprising:
    当所述本地链路的一个或多个特性不再满足所述切换规则时，When one or more characteristics of the local link no longer satisfy the switching rule,
    利用所述本地链路从所述无人机设备接收切换本地链路命令；Receiving a handover local link command from the drone device using the local link;
    利用所述本地链路向所述无人机设备发送切换确认命令；Transmitting a handover confirmation command to the drone device by using the local link;
    在所述无人机设备接收到所述切换确认命令的情况下，将与所述无人机设备之间的连接链路切换为所述本地链路。And in a case where the drone device receives the handover confirmation command, switching a connection link with the drone device to the local link.
  82. 根据权利要求78至81中任意一项所述的无线通信方法，其中，The wireless communication method according to any one of claims 78 to 81, wherein
    所述本地链路是软件定义无线电SDR链路，The local link is a software defined radio SDR link,
    所述无线通信方法还包括SDR对频。The wireless communication method also includes an SDR pair frequency.
  83. 根据权利要求78至81中任意一项所述的无线通信方法，其中，The wireless communication method according to any one of claims 78 to 81, wherein
    所述移动通信链路是4G链路。The mobile communication link is a 4G link.
  84. 一种实时动态定位RTK设备，包括处理器和存储器，在存储器中 存储有计算机可执行指令，在所述指令被所述处理器执行时，使所述处理器执行权利要求67至83中任一项所述的无线通信方法。A real-time dynamic positioning RTK device, including a processor and a memory, in a memory Computer-executable instructions are stored, which, when executed by the processor, cause the processor to perform the wireless communication method of any one of claims 67-83.
  85. 一种计算机可读的记录介质，存储有可执行指令，该指令被处理器执行时使该处理器执行权利要求67至83中任一项所述的无线通信方法。A computer readable recording medium storing executable instructions that, when executed by a processor, cause the processor to perform the wireless communication method of any one of claims 67 to 83.
  86. 一种用于使计算机执行权利要求1至21、44至64以及67至83中任一项所述的无线通信方法的程序。 A program for causing a computer to execute the wireless communication method according to any one of claims 1 to 21, 44 to 64, and 67 to 83.
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