WO2019113971A1

WO2019113971A1 - Wireless communication method, apparatus and system

Info

Publication number: WO2019113971A1
Application number: PCT/CN2017/116606
Authority: WO
Inventors: 张吉; 陈庭欣; 周毅; 洪泽钦
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-12-15
Filing date: 2017-12-15
Publication date: 2019-06-20
Also published as: CN109496435A; CN109496435B

Abstract

An unmanned aerial vehicle device, a real-time kinematic (RTK) base station device, a wireless communication system and a wireless communication method between an unmanned aerial vehicle device and an RTK base station device, a recording medium and a program thereof. The wireless communication method between an unmanned aerial vehicle device and an RTK base station device comprises: an RTK base station device transmitting first position information to a server (S201); an unmanned aerial vehicle device transmitting second position information to the server by means of an RTK client end (S202); the server performing differential calculation using the first position information and the second position information (S203); and the server transmitting third position information obtained by the calculation to the unmanned aerial vehicle device by means of the RTK client end (S204). Therefore, an unmanned aerial vehicle device can perform high-precision navigation effectively using an RTK base station device by means of an RTK client end to meet the operational requirements of an unmanned aerial vehicle.

Description

Wireless communication method, device and system

Technical field

The present invention relates to a wireless communication method, device and system, and more particularly to a wireless communication method, device and system for a drone device and an RTK base station device.

Background technique

Today, with the increasing popularity of drones, industry-class application drones are beginning to emerge. In the process of industry work, such as electric power, agriculture, surveying and mapping, etc., there is a high requirement for the accuracy of the geographical location, and the positioning of the general GPS (Global Positioning System) often brings a large error. , causing the route to drift, and even hit 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 positioning of industrial-grade application drones, etc., RTK technology is being actively studied.

However, the drone itself is difficult to transmit RTK data directly through the network due to hardware design, development difficulty and signal stability.

Summary of the invention

The present invention has been developed in view of the above problems, and aims to provide a wireless communication system for an unmanned aerial vehicle device and an RTK base station device, a wireless communication method, a drone device and a wireless communication method thereof, an RTK base station device, a wireless communication method thereof, and a recording The medium and program enable the UAV device to effectively utilize the RTK base station equipment for high-precision navigation through the RTK client, thereby completing the drone work requirements.

In order to solve the above problems, an aspect of the present invention relates to a wireless communication method for a UAV device and a real-time dynamic positioning RTK base station device, including: the RTK base station device transmitting first location information to a server; The device sends the second location information to the server via the RTK client; the server performs a difference calculation using the first location information and the second location information; the server passes the calculated third location information via The RTK The client sends the drone device.

Another aspect of the present invention relates to a wireless communication system including a drone device, a real-time dynamic positioning RTK base station device, an RTK client, and a server, wherein the RTK base station device transmits first location information to the server, Transmitting, by the UAV device, second location information to the server via the RTK client, the server performing differential calculation by using the first location information and the second location information, where the server calculates The obtained third location information is sent to the drone device via the RTK client.

Another aspect of the present invention relates to a drone system including a drone device and an RTK client, the drone device transmitting second location information to a server via an RTK client; the drone device via The RTK client receives third location information from the server, and the third location information is obtained by the server using the second location information and the first location information received from the RTK base station device for differential calculation.

Another aspect of the present invention relates to a system for dynamically locating an RTK base station device and a server, the RTK base station device transmitting first location information to the server; the server receiving a drone device transmitted via an RTK client Second location information; the server performs differential calculation using the first location information and the second location information; the server sends the calculated third location information to the unattended via the RTK client Machine equipment.

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 described above.

Another aspect of the invention relates to a program for causing a computer to execute the wireless communication method described above.

Effect of the invention

According to the present invention, the UAV device can efficiently utilize the RTK base station device for high-precision navigation through the RTK client to complete the drone work requirement. By combining network RTK technology with drone equipment, RTK equipment can be efficiently and conveniently managed to provide high-precision geo-navigation and positioning information for drone equipment.

DRAWINGS

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.

FIG. 1 is a schematic block diagram of a wireless communication system according to an embodiment of the present invention.

2 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.

3 is a schematic flow chart of authentication and communication of an RTK base station device according to an embodiment of the present invention.

4 is a schematic flow chart of authentication and communication of the drone device according to the embodiment of the present invention.

5 is a schematic flow chart showing communication between a drone device according to an embodiment of the present invention and a server via an RTK client.

FIG. 6 is a flowchart showing an outline of communication between an RTK base station device and a server according to an embodiment of the present invention.

Detailed ways

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.

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 "a plurality" is two or more unless specifically and specifically defined otherwise.

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.

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 settings of specific examples are described below. Said. 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.

Hereinafter, the wireless communication between the UAV device and the RTK base station device according to the embodiment of the present invention will be described in detail with reference to the drawings.

As shown in FIG. 1, the wireless communication system of the present embodiment includes a drone device 101, an RTK base station device 102, an RTK client 103, and a server 104. The RTK base station device 102 transmits the first location information to the server 104. The drone device 101 transmits the second location information to the server 104 via the RTK client 103. The server 104 performs differential calculation using the first location information and the second location information, and transmits the calculated third location information to the drone device 101 via the RTK client 103.

The location information may be various navigation information such as GPS information, GLONASS information, and Beidou navigation information.

As shown in FIG. 2, when the UAV device 101 performs wireless communication with the RTK base station device 102, the RTK base station device 102 transmits the first location information to the server 104 (step S201), and the drone device 101 passes the second location information via The RTK client 103 transmits to the server 104 (step S202), the server 104 performs differential calculation using the first location information and the second location information (step S203), and transmits the calculated third location information to the RTK client 103 via the RTK client 103. The drone device 101 (step S204).

A person skilled in the art can understand that there is no sequence relationship between step S201 and step S202 in the foregoing communication process, and the two may be executed sequentially or simultaneously.

According to the present invention, the drone device 101 can efficiently utilize the RTK base station device 102 for high-precision navigation through the RTK client 103 to complete the drone work requirements. In addition, by combining network RTK technology with drone equipment, RTK equipment can be managed efficiently and conveniently. It enables high-precision geo-navigation positioning information for drone equipment.

In the following, the authentication and use of the RTK base station device are described. In the embodiment, the certificate of the X.509 format certified by the company may be implanted by the company when the RTK base station device is shipped, and the certificate may be one machine, one card, one machine. A multi-certificate or multi-machine certificate is maintained by a company or a third-party certificate issuing agency. The certificate is safely stored. The example is not limited to the trustzone solution of the 1860 chip.

3 is a schematic flow chart of authentication and communication of an RTK base station device according to an embodiment of the present invention. In an embodiment, when the RTK base station device 102 is working, a secure communication link is first established through an SSL (Secure Sockets Layer) protocol, and a two-way SSL protocol verification scheme is used in the server SSL protocol handshake to verify the RTK base station device. The legality of 102 prevents the counterfeit RTK base station device from transmitting data. After the authentication is passed, the RTK base station device transmits the differential data for navigation to the server 104 through the Ntrip protocol (Networked Transport of RTCM via Internet Protocol). The verification scheme is not limited to the above scheme, and any applicable verification scheme can be adopted.

That is, before the RTK base station device 102 transmits the location information (first location information) to the server 104, the RTK base station device 102 and the server 104 authenticate the establishment of the SSL protocol link through the two-way SSL protocol. After the SSL protocol link is successfully established, the RTK base station device 102 transmits the location information (first location information) to the server 104 through the Ntrip protocol.

In some embodiments, the right to use the RTK client needs to be managed.

Specifically, in the embodiment of the present invention, the RTK usage right can be purchased by the user in the company's account. When using the RTK client, the secure link is also established with the server through the SSL protocol link, and the RTK client passes the server-side certificate authentication server. The server is authenticated by the Ntrip protocol to the RTK client.

4 is a schematic flow chart of authentication and communication of the drone device according to the embodiment of the present invention. In some embodiments, as shown in FIG. 4, the drone device 101 passes through the local link and the RTK client before the drone device 101 transmits the location information (second location information) to the server 104 via the RTK client 103. End 103 establishes a connection. In the present embodiment, as a local link, an SDR (Software Definition Radio) link is taken as an example, and the UAV device 101 can establish a connection with the RTK client 103 through the SDR link. However, the local link is not limited to the SDR link, but it can also be wifi (Wireless) Fidelity, Wireless Fidelity) links, Bluetooth links, etc. The RTK client 103 authenticates the server 104 through the server-side certificate, and the server authenticates the RTK client 103 through the Ntrip protocol handshake.

After the connection is established, the RTK client 103 provides a username and account number to the server 104 via the Ntrip protocol handshake. After the authentication is passed, the location information (second location information) is transmitted by using the TCP connection. If the server verification fails, the server disconnects the TCP connection.

That is, in one embodiment, the drone device 101 transmits location information (second location information) to the RTK client 103 via a local link, and the RTK client 103 transmits the location information to the server 104 using a TCP connection. .

In the present invention, the RTK base station device may be a single RTK base station device or a network RTK base station device or the like. The RTK client can be a remote control or a mobile phone.

5 is a schematic flow chart showing communication between a drone device according to an embodiment of the present invention and a server via an RTK client. In some embodiments, as shown in FIG. 5, in the wireless communication method for the drone device 101 for wireless communication with the RTK base station device 102, in step S501, the location information (second location information) is via The RTK client 103 sends it to the server 104. In step S502, third location information is received from the server 104 via the RTK client 103, the third location information being differentially calculated by the server 104 using the second location information and the location information (first location information) received from the RTK base station 102. And, and the RT client 103 completes the parsing and uploads it to the drone device.

FIG. 6 is a flowchart showing an outline of communication between an RTK base station device and a server according to an embodiment of the present invention. As shown in FIG. 6, in the wireless communication method for the RTK base station device for wireless communication with the drone device, the position information (first position information) is transmitted to the server 104 in step S601. In step S602, the server 104 transmits the third location information to the drone device 101 via the RTK client 103, the third location information being utilized by the server 104 from the drone device 101 using the first location information and via the RTK client 103. The received position information (second position information) is obtained by performing differential calculation.

In one embodiment of the invention, the drone device 101 can include a processor and a memory in which are stored computer-executable instructions that, when executed by the processor, cause the processor to execute A method of wireless communication of a human-machine device.

In an embodiment of the present invention, the drone device 101 may include a transmitting portion and receiving The transmitting unit transmits the location information (second location information) to the server 104 via the RTK client 103, and the receiving unit receives the third location information from the server 104 via the RTK client 103, the third location information being utilized by the server 104. The position information and the position information (first position information) received from the RTK base station 102 are obtained by differential calculation.

In one embodiment of the invention, the RTK device 102 can include a processor and a memory in which are stored computer-executable instructions that, when executed by the processor, cause the processor to execute an RTK device Wireless communication method.

In an embodiment of the present invention, the RTK device 102 may include a transmitting unit that transmits location information (first location information) to the server 104, and the server 104 transmits the third location information to the drone via the RTK client 103. The device 101 obtains the third location information by the server 104 using the first location information and the location information (second location information) received from the drone device 101 via the RTK client 103 for differential calculation.

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 described above.

Further, the present invention provides a program for causing a computer to execute the above-described wireless communication method.

In the description of the present specification, the descriptions of the terms "one embodiment", "an embodiment", "an embodiment", "an embodiment", and the like are intended to mean the specific features, structures, and materials described in connection with the embodiments or examples. Or features are included in at least one embodiment or example of the invention. 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 combined in a suitable manner in any one or more embodiments or examples.

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.

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, which may be embodied in In any computer readable medium for use in 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 Used in conjunction with these instructions to execute a system, device, or device. 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.

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.

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.

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 module can also be stored in a computer readable storage medium if it is implemented in the form of a software function module and sold or used as a standalone product. Quality.

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.

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.

Description of the reference numerals

101... drone equipment

102...RTK base station equipment

103...RTK client

104...server

Claims

A wireless communication method for a UAV device and a real-time dynamic positioning RTK base station device, comprising:

Transmitting, by the RTK base station device, first location information to a server;

The UAV device sends the second location information to the server via the RTK client;

The server performs differential calculation by using the first location information and the second location information;

The server sends the calculated third location information to the drone device via the RTK client.
The wireless communication method according to claim 1, wherein

Before the RTK base station device sends the first location information to the server, the method includes:

The RTK base station device and the server establish an SSL protocol link by using a two-way secure socket layer SSL protocol.
The wireless communication method according to claim 1, wherein the RTK base station device transmits the first location information to the server, comprising: the RTK base station device transmitting the first location information to the server by using an Ntrip protocol.
The wireless communication method according to claim 1, wherein

Before the drone device sends the second location information to the server via the RTK client, the method includes:

The UAV device establishes a connection with the RTK client through a local link;

The RTK client authenticates the server by using a certificate of the server end;

The server authenticates the RTK client by using an Ntrip protocol handshake.
The wireless communication method according to claim 4, wherein

When the server authenticates the RTK client through the Ntrip protocol handshake, the RTK client sends the username and account to the server through the Ntrip protocol handshake.
The wireless communication method according to claim 4, wherein

When the server authenticates the RTK client through the Ntrip protocol handshake, if the authentication succeeds, the server establishes a TCP connection with the RTK client, and if the authentication fails, the service The server disconnects the TCP connection from the RTK client.
The wireless communication method according to claim 1, wherein

The UAV device sends the second location information to the server via the RTK client, including:

The UAV device sends the second location information to the RTK client through a local link,

The RTK client sends the second location information to the server using a TCP connection.
The wireless communication method according to claim 7, wherein

The local link is a software defined radio SDR link,

The UAV device establishes a connection with the RTK client through an SDR link.
The wireless communication method according to any one of claims 1 to 8, wherein

The RTK base station device is a single RTK base station device or a network RTK base station device.
The wireless communication method according to any one of claims 1 to 8, wherein

The RTK client is a remote control or a mobile phone.
A wireless communication system, including a drone device, a real-time dynamic positioning RTK base station device, an RTK client, and a server, wherein

The RTK base station device sends the first location information to the server,

The UAV device sends the second location information to the server via the RTK client,

The server performs differential calculation by using the first location information and the second location information,

The server sends the calculated third location information to the drone device via the RTK client.
The wireless communication system according to claim 11, wherein

Before the RTK base station device sends the first location information to the server, the RTK base station device and the server establish an SSL protocol link by using a two-way secure socket layer SSL protocol.
The wireless communication system according to claim 11, wherein

The RTK base station device sends the first location information to the server by using an Ntrip protocol.
The wireless communication system according to claim 11, wherein

Before the drone device sends the second location information to the server via the RTK client,

The UAV device establishes a connection with the RTK client through a local link,

The RTK client authenticates the server by using a certificate of the server end,

The server authenticates the RTK client by using an Ntrip protocol handshake.
The wireless communication system according to claim 14, wherein

The RTK client sends a username and an account to the server through a Ntrip protocol handshake.
The wireless communication system according to claim 14, wherein

When the server authenticates the RTK client through the Ntrip protocol handshake, if the authentication succeeds, the server establishes a TCP connection with the RTK client, and if the authentication fails, the server disconnects the TCP from the RTK client. connection.
The wireless communication system according to claim 11, wherein

The UAV device sends the second location information to the RTK client through a local link,

The RTK client sends the second location information to the server using a TCP connection.
The wireless communication system according to claim 17, wherein

The local link is a software defined radio SDR link,

The UAV device establishes a connection with the RTK client through an SDR link.
A wireless communication system according to any one of claims 11 to 18, wherein

The RTK base station device is a single RTK base station device or a network RTK base station device.
A wireless communication system according to any one of claims 11 to 18, wherein

The RTK client is a remote control or a mobile phone.
An unmanned aerial vehicle system, including a drone device and an RTK client,

The UAV device sends the second location information to the server via the RTK client;

The UAV device receives third location information from the server via the RTK client, the third location information being utilized by the server to utilize the second location information and first location information received from an RTK base station device Obtained by differential calculation.
The drone system according to claim 21, wherein

Before the drone device sends the second location information to the server via the RTK client, the method includes:

The UAV device establishes a connection with the RTK client through a local link;

The RTK client authenticates the server by using a certificate of the server end;

The RTK client is authenticated by the server through a Ntrip protocol handshake.
The drone system according to claim 22, wherein

The RTK client is authenticated by the server by using an Ntrip protocol handshake, including: the RTK client sends a username and an account to the server by using an Ntrip protocol handshake.
The drone system according to claim 22, wherein

When the RTK client is authenticated by the server through the Ntrip protocol handshake, if the authentication succeeds, the RTK client establishes a TCP connection with the server, and if the authentication fails, the RTK client disconnects from the server. connection.
The drone system according to claim 21, wherein

The UAV device sends the second location information to the server via the RTK client, including:

The UAV device sends the second location information to the RTK client through a local link,

The RTK client sends the second location information to the server using a TCP connection.
The drone system according to claim 25, wherein

The local link is a software defined radio SDR link,

The UAV device establishes a connection with the RTK client through an SDR link.
The drone system according to any one of claims 21 to 26, wherein

The RTK base station device is a single RTK base station device or a network RTK base station device.
The drone system according to any one of claims 21 to 26, wherein

The RTK client is a remote control or a mobile phone.
A system for real-time dynamic positioning of RTK base station equipment and servers,

Transmitting, by the RTK base station device, first location information to the server;

The server receives second location information sent by the drone device via the RTK client;

The server performs differential calculation by using the first location information and the second location information;

The server sends the calculated third location information to the drone device via the RTK client.
The system of claim 29, wherein

Before the RTK base station device sends the first location information to the server, the method includes:

The RTK base station device and the server establish an SSL protocol link by using a two-way secure socket layer SSL protocol.
The system of claim 29, wherein

The RTK base station device sends the first location information to the server, where the RTK base station device sends the first location information to the server by using an Ntrip protocol.
The system of claim 29, wherein

Before the server receives the second location information sent by the drone device via the RTK client, the method includes:

The server accepts the authentication of the RTK client by using a certificate;

The server authenticates the RTK client by using an Ntrip protocol handshake.
The system of claim 32, wherein

The server authenticates the RTK client by using an Ntrip protocol handshake, including: receiving a username and an account of the RTK client by using an Ntrip protocol handshake.
The system of claim 32, wherein

When the server authenticates the RTK client through the Ntrip protocol handshake, if the authentication succeeds, a TCP connection with the RTK client is established, and if the authentication fails, the TCP connection with the RTK client is disconnected.
The system of claim 29, wherein

The server receives second location information sent by the drone device via the RTK client, the package include:

The server receives the second location information from the RTK client using a TCP connection, the second location information being received by the RTK client from the drone device over a local link.
A system according to any one of claims 29 to 35, wherein

The RTK base station device is a single RTK base station device or a network RTK base station device.
A system according to any one of claims 29 to 35, wherein

The RTK client is a remote control or a mobile phone.
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 10.
A program for causing a computer to execute the wireless communication method according to any one of claims 1 to 10.